FB_HomeOnTP - General Information

Overview

Type:	Function block
Available as of:	V1.0.0.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Reference run of a MultiBelt with Touchprobe signals. The module can process one or more signals per train.

Description

The module runs the trains past their homing sensors and registers the signals. If the correct number of signals is recognized, then the positions of the trains are reset to the value specified in iq_stMutliBelt.astTrain[x].lrHomeTPOffset. Now, the trains are moved to the specified station. After calling up the function block the train 1 stands in i_stParameter.uiStation and the rest of the trains are in the defined distance behind it. The motion parameters can be set via the respective inputs. If all trains have reached their end position, q_xHomeOk is set to TRUE. Then the module can be deactivated.

NOTE: If you use touchprobes of TM5 modules, you can capture either the rising edge or the falling edge, depending on the setting in ST_Station.xSensorEdge. The value of the ST_StationFeedback.lrLengthOfLastProduct variable remains 0 in this case.

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU. A deactivated POU does not execute any actions.
i_xStart	BOOL	FALSE -> TRUE: Reference run is started.
i_stParameter	ST_HomeOnTpParameter	Parameter structure to reference the MultiBelt network.

Input

Data type

Description

i_xEnable

BOOL

A rising edge FALSE -> TRUE activates the POU, a falling edge TRUE -> FALSE deactivates the POU.

A deactivated POU does not execute any actions.

i_xStart

BOOL

FALSE -> TRUE: Reference run is started.

i_stParameter

ST_HomeOnTpParameter

Parameter structure to reference the MultiBelt network.

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 POU is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.
q_xHomeOk	BOOL	TRUE: The reference run has been completed successfully.

Input/Output	Data type	Description
iq_stMultiBelt	ST_MultiBelt	Parameter structure of the MultiBelt network.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	0	The POU is disabled.
OK	WaitAllTrainsReady	1	Wait until all the trains are ready.
OK	WaitAllTrainsStopped	10	Wait until all the trains are stopped.
OK	WaitForCaptureOk	12	Wait for CaptureOk of the trains.
OK	WaitForHomeDone	16	Wait until the homing is completed.
OK	WaitForSortTrains	13	Wait until the trains are sorted.
OK	WaitForStart	2	Waiting for starting command.
OK	WaitForStartOff	11	Wait for the reset of the start.
ControllerConditionInvalid	SystemLibDiag	21	Diagnostic of the SystemLib
InputParameterInvalid	ControllerStopInterfaceInvalid	101	The ControllerStopInterface is invalid.
InputParameterInvalid	DriveLogAdrInvalid	26	The interface of the axis is invalid.
InputParameterInvalid	DriveNotSet	81	The axis has not been set.
InputParameterInvalid	HomeAccelerationRange	85	The acceleration for the homing is outside the valid range.
InputParameterInvalid	HomeDecelerationRange	86	The deceleration for the homing is outside the valid range.
InputParameterInvalid	HomeJerkRange	87	The jerk for the homing is outside the valid range.
InputParameterInvalid	HomeOffsetInvalid	30	The distance between two trains is invalid.
InputParameterInvalid	HomeTpNotSet	82	HomeTp has not been set.
InputParameterInvalid	HomeTPOffsetRange	29	HomeTPOffset is outside the valid range.
InputParameterInvalid	HomeVelocityRange	84	The velocity for the homing is outside the valid range.
InputParameterInvalid	LimitInterfaceInvalid	36	The interface Limit is invalid.
InputParameterInvalid	MaxTPSignalDistanceRange	89	MaxTPSignalDistance is outside the valid range.
InputParameterInvalid	MinTPSignalDistanceRange	90	MinTPSignalDistance is outside the valid range.
InputParameterInvalid	NumOfStationsRange	43	NumOfStations is outside the valid range.
InputParameterInvalid	RefActValuesInterfaceInvalid	80	The interface RefActValues is invalid.
InputParameterInvalid	SetLimitInterfaceInvalid	42	The interface SetLimit is invalid.
InputParameterInvalid	TpInterfaceInvalid	41	The interface of the Touchprobe is invalid.
InputParameterInvalid	TPSignalsPerTrainRange	88	TPSignalsPerTrain is outside the valid range.
InputParameterInvalid	TrainOrderInvalid	31	The sequence of the trains is invalid.
LimitReached	MaxTPSignalDistance	37	Excessive distance between two Touchprobe signals.
LimitReached	TpMissing	38	The Touchprobe cannot be found.
SercosConditionInvalid	SercosInterfaceInvalid	24	The Sercos interface is invalid.
UnexpectedProgramBehavior	UnknownState	25	Indeterminable state.

ControllerStopInterfaceInvalid

Enumeration name:	ControllerStopInterfaceInvalid
Enumeration value:	101
Description:	The ControllerStopInterface is invalid.

Issue	Cause	Solution
The ControllerStopInterface is invalid.	Incorrect drive type.	Select a correct drive type.

Disabled

Enumeration name:	Disabled
Enumeration value:	0
Description:	The POU is disabled.

Issue	Cause	Solution
The POU is disabled.	Status message - Function block is not activated. The input i_xEnable is FALSE.	Set the input i_xEnable to TRUE.

Issue

Cause

Solution

The POU is disabled.

Status message - Function block is not activated.

The input i_xEnable is FALSE.

Set the input i_xEnable to TRUE.

DriveLogAdrInvalid

Enumeration name:	DriveLogAdrInvalid
Enumeration value:	26
Description:	The interface of the axis is invalid.

Issue	Cause	Solution
The drive interface is invalid.	stMultiBelt.astTrain[x].ifDrive.stLogAdr is not assigned or invalid value.	Assign or modify stMultiBelt.astTrain[x].ifDrive.stLogAdr.

DriveNotSet

Enumeration name:	DriveNotSet
Enumeration value:	81
Description:	The axis has not been set.

Issue	Cause	Solution
The drive interface is invalid.	The parameter stMultiBelt.astTrain[x].ifDrive is not assigned.	Assign the parameter stMultiBelt.astTrain[x].ifDrive.

HomeAccelerationRange

Enumeration name:	HomeAccelerationRange
Enumeration value:	85
Description:	The acceleration for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomeOnTpParameter.stMove.lrAcc is invalid.	The parameter stHomeOnTpParameter.stMove.lrAcc is outside its value range.	The parameter stHomeOnTpParameter.stMove.lrAcc must be > Gc_lrMinAcceleration.

HomeDecelerationRange

Enumeration name:	HomeDecelerationRange
Enumeration value:	86
Description:	The deceleration for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomeOnTpParameter.stMove.lrDec is invalid.	The parameter stHomeOnTpParameter.stMove.lrDec is outside its value range.	The parameter stHomeOnTpParameter.stMove.lrDec must be > Gc_lrMinAcceleration.

HomeJerkRange

Enumeration name:	HomeJerkRange
Enumeration value:	87
Description:	The jerk for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomeOnTpParameter.stMove.lrJerk is invalid.	The parameter stHomeOnTpParameter.stMove.lrJerk is outside its value range.	The parameter stHomeOnTpParameter.stMove.lrJerk must be > Gc_lrMinJerk.

HomeOffsetInvalid

Enumeration name:	HomeOffsetInvalid
Enumeration value:	30
Description:	The distance between two trains is invalid.

Issue	Cause	Solution
The distance between two trains is invalid.	The distance between two trains is smaller than the train length.	The trains must be homed. The train positions are lost (retain variables) and must be set again.

HomeTpNotSet

Enumeration name:	HomeTpNotSet
Enumeration value:	82
Description:	HomeTp has not been set.

Issue	Cause	Solution
Touchprobe interface invalid.	The parameter stMultiBelt.astTrain[x].ifTpHome is not assigned.	Assign the parameter stMultiBelt.astTrain[x].ifTpHome.

HomeTPOffsetRange

Enumeration name:	HomeTPOffsetRange
Enumeration value:	29
Description:	HomeTPOffset is outside the valid range.

Issue	Cause	Solution
The parameter stMultiBelt.astTrain[x].lrHomeTPOffset is invalid.	The parameter stMultiBelt.astTrain[x].lrHomeTPOffset is outside its value range.	The value range of the parameter stMultiBelt.astTrain[x].lrHomeTPOffset goes from -stMultiBelt.stGeneral.lrBeltLength to stMultiBelt.stGeneral.lrBeltLength.

HomeVelocityRange

Enumeration name:	HomeVelocityRange
Enumeration value:	84
Description:	The velocity for the homing is outside the valid range.

Issue	Cause	Solution
The parameter stHomeOnTpParameter.stMove.lrVel is invalid.	The parameter stHomeOnTpParameter.stMove.lrVel is outside its value range.	The parameter stHomeOnTpParameter.stMove.lrVel must be > Gc_lrMinVelocity.

LimitInterfaceInvalid

Enumeration name:	LimitInterfaceInvalid
Enumeration value:	36
Description:	The interface Limit is invalid.

Issue	Cause	Solution
The interface Limit is invalid.	Incorrect drive type.	Select a correct drive type.

MaxTPSignalDistance

Enumeration name:	MaxTPSignalDistance
Enumeration value:	37
Description:	Excessive distance between two Touchprobe signals.

Issue	Cause	Solution
The distance of two Touchprobe signals is invalid.	The distance of two Touchprobe signals is too large.	Increase the parameter stHomeOnTpParameter.lrMaxTPSignalDistance. Decrease the distance of the Touchprobe signals.

Issue

Cause

Solution

The distance of two Touchprobe signals is invalid.

The distance of two Touchprobe signals is too large.

Increase the parameter stHomeOnTpParameter.lrMaxTPSignalDistance.

Decrease the distance of the Touchprobe signals.

MaxTPSignalDistanceRange

Enumeration name:	MaxTPSignalDistanceRange
Enumeration value:	89
Description:	MaxTPSignalDistance is outside the valid range.

Issue	Cause	Solution
The parameter stHomeOnTpParameter.lrMaxTPSignalDistance is invalid.	The parameter stHomeOnTpParameter.lrMaxTPSignalDistance is outside its value range.	The parameter stHomeOnTpParameter.lrMaxTPSignalDistance must be > 0.

MinTPSignalDistanceRange

Enumeration name:	MinTPSignalDistanceRange
Enumeration value:	90
Description:	MinTPSignalDistance is outside the valid range.

Issue	Cause	Solution
The parameter stHomeOnTpParameter.lrMinTPSignalDistance is invalid.	The parameter stHomeOnTpParameter.lrMinTPSignalDistance is outside its value range.	The parameter stHomeOnTpParameter.lrMinTPSignalDistance must be >= 0.

NumOfStationsRange

Enumeration name:	NumOfStationsRange
Enumeration value:	43
Description:	NumOfStations is outside the valid range.

Issue	Cause	Solution
The parameter stMultiBelt.stGeneral.uiNumOfStations is invalid.	The parameter stMultiBelt.stGeneral.uiNumOfStations is outside its value range.	The parameter stMultiBelt.stGeneral.uiNumOfStations must be in the range from 1 to Gc_uiMaxNumberOfStations.

RefActValuesInterfaceInvalid

Enumeration name:	RefActValuesInterfaceInvalid
Enumeration value:	80
Description:	The interface RefActValues is invalid.

Issue	Cause	Solution
The interface RefActValues is invalid.	Incorrect drive type.	Select a correct drive type.

SercosInterfaceInvalid

Enumeration name:	SercosInterfaceInvalid
Enumeration value:	24
Description:	The Sercos interface is invalid.

Issue	Cause	Solution
The global Sercos interface is invalid.	Incorrect drive bus or controller.	Modify the drive bus or the controller.

SetLimitInterfaceInvalid

Enumeration name:	SetLimitInterfaceInvalid
Enumeration value:	42
Description:	The interface SetLimit is invalid.

Issue	Cause	Solution
The interface SetLimit is invalid.	Incorrect drive type.	Select a correct drive type.

SystemLibDiag

Enumeration name:	SystemLibDiag
Enumeration value:	21
Description:	Diagnostic of the SystemLib

Issue	Cause	Solution
Diagnostic of the SystemLib	Diagnostic message from a System library.	See q_sMsg for more details.

TpInterfaceInvalid

Enumeration name:	TpInterfaceInvalid
Enumeration value:	41
Description:	The interface of the Touchprobe is invalid.

Issue	Cause	Solution
The interface of the Touchprobe is invalid.	Incorrect Touchprobe type.	Modify the Touchprobe type.

TpMissing

Enumeration name:	TpMissing
Enumeration value:	38
Description:	The Touchprobe cannot be found.

Issue	Cause	Solution
The Touchprobe cannot be found.	No Touchprobe signal is detected.	A Touchprobe signal is expected within the route stMultiBelt.stGeneral.lrBeltLength.

TPSignalsPerTrainRange

Enumeration name:	TPSignalsPerTrainRange
Enumeration value:	88
Description:	TPSignalsPerTrain is outside the valid range.

Issue	Cause	Solution
The parameter stHomeOnTpParameter.uiTPSignalsPerTrain is invalid.	The parameter stHomeOnTpParameter.uiTPSignalsPerTrain is outside its value range.	The parameter stHomeOnTpParameter.uiTPSignalsPerTrain must be >= 1.

TrainOrderInvalid

Enumeration name:	TrainOrderInvalid
Enumeration value:	31
Description:	The sequence of the trains is invalid.

Issue	Cause	Solution
The sequence of the trains is incorrect.	The trains must be positioned one after the other.	The trains must be homed.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	25
Description:	Indeterminable state.

Issue	Cause	Solution
Indeterminable state.	An invalid state occurred during the program processing.	Contact your local Schneider Electric service representative.

WaitAllTrainsReady

Enumeration name:	WaitAllTrainsReady
Enumeration value:	1
Description:	Wait until all the trains are ready.

Issue

Cause

Solution

Wait until all the trains are ready.

Status message - When activating, the function block waits until all the trains (axes) are in position control.

The axes have to be activated externally.

There must be no errors pending.

WaitAllTrainsStopped

Enumeration name:	WaitAllTrainsStopped
Enumeration value:	10
Description:	Wait until all the trains are stopped.

Issue

Cause

Solution

Wait until all the trains are stopped.

Status message - Stop when deactivating the function block.

Input i_xEnable = FALSE.

Set input i_xEnable to TRUE.

WaitForCaptureOk

Enumeration name:	WaitForCaptureOk
Enumeration value:	12
Description:	Wait for CaptureOk of the trains.

Status message - Wait for the Touchprobe signal.

WaitForHomeDone

Enumeration name:	WaitForHomeDone
Enumeration value:	16
Description:	Wait until the homing is completed.

Status message - Wait until the homing is completed.

WaitForSortTrains

Enumeration name:	WaitForSortTrains
Enumeration value:	13
Description:	Wait until the trains are sorted.

Status message - Internal state.

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	2
Description:	Waiting for starting command.

Issue

Cause

Solution

Waiting for starting command.

Status message - The function block waits for start.

The input i_xStart is FALSE.

Set the input i_xStart to TRUE.

WaitForStartOff

Enumeration name:	WaitForStartOff
Enumeration value:	11
Description:	Wait for the reset of the start.

Issue	Cause	Solution
Wait for the reset of the start.	Status message - Wait for i_xStart = FALSE.	Set the input i_xStart to FALSE.