Behavior in the Operating Modes
A successful executed command is displayed as follows:
q_xCMDActive = FALSE
q_diCMDActive = last command
q_xCMDDone = TRUE
iq_diCMD = 0
Operation mode commands are not possible if an error reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL or TPL.ET_Reaction.SyncStopEH is pending.
You cannot enable the position control via the DriveEnableOn command if an error reaction TPL.ET_Reaction.AsyncStop, TPL.ET_Reaction.SyncStopEL is pending.
oNoOp
No operation mode choosen. The module is in wait state.
The technology POU PDL.FB_DriveEnable is activated for each slave axis managed by the module.
The diagnostic messages of all managed slave axes are monitored.
Possible state commands
oDriveEnableOn -> The position control of all managed slave axes is enabled.
oDriveEnableOff -> The position control of all managed slave axes is disabled.
Possible operation mode commands
oManual -> Change to operation mode Manual takes place.
oAuto -> Change to operation mode Automatic.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode Manual is selected. The slave axes of the infeed distance managed by the module can be activated in jogging mode.
The operation mode is parameterized in the structures ST_Manual and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Jogging are being activated.
Via the array ST_Manual.i_axBeltSelect, the axes are selected that are to be moved in jogging mode. The first element selects belt one, the second element belt two, etc. Only the elements of those belts are checked that are driven by an axis managed by the module.
The diagnostic messages of all managed slave axes are monitored.
Possible state commands
oi_xJogForw and i_xJogBack of the ST_Manual structure move the selected axes in positive and in negative direction.
oDriveEnableOn -> The position control of all managed slave axes is enabled.
oDriveEnableOff -> The position control of all managed slave axes is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oAuto -> Change to operation mode Automatic.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode Automatic is selected. The axes are moved in the infeed mode according to the algorithm.
The operation mode is parameterized in the structures ST_Automatic and ST_Main.
The technology POUs PDL.FB_DriveEnable and SI.FB_Infeed are being activated.
If ST_Automatic.i_xEnableFeedForw is set to TRUE, the technology POU SI.FB_MasterVelFeedForward is additionally activated.
If ST_Simulation.i_xEnableSimulaiton is set to TRUE, the technology POU SI.FB_InfeedSimulation is additionally activated.
The diagnostic messages of all managed slave axes are monitored.
Possible state commands
oStart -> Infeed is started.
oHold -> The infeed is stopped.
oDriveEnableOn -> The position control of all managed slave axes is enabled.
oDriveEnableOff -> The position control of all managed slave axes is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
oManual -> Change to operation mode Manual takes place.
oBrakeRelease -> Change to operation mode BrakeRelease takes place.
The operation mode BrakeRelease is selected. The slave axes of the infeed distance managed by the module are not moved. Only the holding brakes of the axes are released and engaged.
The operation mode is parameterized in the structures ST_BrakeRelease and ST_Main.
The technology POUs PDL.FB_DriveEnable and PDL.FB_Brake are being activated.
Via the array ST_BrakeRelease.i_axDriveSelect, the axes are selected at which the brake is to be released. The first element selects the drive of the first belt, the second element the drive of the second belt, etc. Only the elements of those belts are checked that are driven by an axis managed by the module.
The diagnostic messages of all managed slave axes are monitored.
Possible state commands
oStart -> The selected holding brakes are released.
oHold -> All holding brakes are engaged.
oDriveEnableOn -> The position control of all managed slave axes is enabled.
oDriveEnableOff -> The position control of all managed slave axes is disabled.
Possible operation mode commands
oStop -> Change to operation mode NoOp takes place.
