FB_UnwinderModuleController

FB_UnwinderModuleController - General Information

Overview

Type:	Function block
Available as of:	V.1.0.0.0

Task

Managing jogging jobs of all the modules of the FB_UnwinderModule type in one node.

Description

Jogging jobs of the inputs i_xJogForw and i_xJogBack of the StandardMotionInterface are transferred to the module defined at i_udiAxisSelect. If an exception is active in the exception list, then all jogging jobs are canceled.

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge (FALSE -> TRUE) activates the POU, a falling edge (TRUE -> FALSE) deactivates the POU, clearing all errors and resetting the POU to its default state. A deactivated POU does not execute any actions.

Input

Data type

Description

i_xEnable

BOOL

A rising edge (FALSE -> TRUE) activates the POU, a falling edge (TRUE -> FALSE) deactivates the POU, clearing all errors and resetting the POU to its default state.

A deactivated POU does not execute any actions.

Output	Data type	Description
q_xActive	BOOL	TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive.
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The function block is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output for the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message that gives additional information on the diagnostic state.

Input/Output	Data type	Description
iq_stStandardModuleItf	TPL.ST_StandardModuleInterface	The StandardModuleInterface of the node in which the controller is integrated.
Iq_stStandardMotionItf	TPL.ST_StandardMotionInterface	The StandardMotionInterface of the node in which the controller is integrated.
iq_stExceptionList	TPL.ST_ExceptionList	The exception list of the node in which the controller is integrated.
iq_stLogDataList	TPL.ST_LogDataList	The logger list of the node in which the controller is integrated.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	36	The POU is disabled.
OK	Working	22	In process.
InputParameterInvalid	MissingExtInit	23	The additional interface has not been correctly initialized.
SercosConditionInvalid	GlobalSercosInterfaceInvalid	24	Global Sercos interface is invalid.

Disabled

Enumeration name:	Disabled
Enumeration value:	36
Description:	The POU is disabled.

Module controller is disabled and does not execute any actions.

GlobalSercosInterfaceInvalid

Enumeration name:	GlobalSercosInterfaceInvalid
Enumeration value:	24
Description:	Global Sercos interface is invalid.

Issue	Cause	Solution
-	Global Sercos interface G_ifSercos is invalid	Ensure that Global Sercos interface G_ifSercos is not overwritten in the application.

MissingExtInit

Enumeration name:	MissingExtInit
Enumeration value:	23
Description:	The additional interface has not been correctly initialized.

Issue	Cause	Solution
-	Related TPL.StandardModuleInterfaceExt is not initialized.	Initialize related TPL.StandardModuleInterfaceExt Ensure to call FC_UpdateAddInterfaceStruct() for related UnwinderModules.

Issue

Cause

Solution

Related TPL.StandardModuleInterfaceExt is not initialized.

Initialize related TPL.StandardModuleInterfaceExt

Ensure to call FC_UpdateAddInterfaceStruct() for related UnwinderModules.

Working

Enumeration name:	Working
Enumeration value:	22
Description:	In process.

Module controller manages the data of the connected UnwinderModules.