FB_EndlessFeedIls

FB_EndlessFeedIls - General Information

Overview

Type:	Program / function block / function
Available as of:	V1.0.3.0
Inherits from:	-
Implements:	-
Versions:	Current version

Task

Intelligent Line Shaft

Carry out an infinite motion of a master axis when considering the velocity and acceleration limit of the slave axes.

Description

During operation, the data that is transferred at input iq_stIlsData on the motion sequences from up to 10 slave axes is evaluated and velocity or acceleration limits that may have been parameterized are maintained by the intermittent reduction of the surface velocity of the master axis. The function block attempts to compensate the resulting position backlog by increasing the surface speed up until a maximum value that can be set. This means that the set velocity i_lrVel is interpreted as the effective velocity.

NOTE: The function block needs to allocate a big amount of memory in the dynamic memory storage. The size of the dynamic memory storage can be seen and changed in the Application build options view (View -> Properties... -> Application build options). This is NOT the dynamic data storage which can be managed via the DynIECData... properties of the controller.

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_ifDrive	IF_Drive	Input for the axis that shall be controlled.
i_lrVel	LREAL	Effective velocity in units/s. Value range: 0 ... MaxVel
i_lrAcc	LREAL	Acceleration of the surface velocity in units/s². Value range: >0 ... MaxAcc
i_lrDec	LREAL	Delay of the surface velocity or stand still in units/s2. Value range: >0 ... MaxAcc
i_lrJerk	LREAL	Jerk in units/s². Is assigned to the variable lrMasterMaxAbsJerk from iq_stIlsData.i_stRunTime.
i_lrPeriod	LREAL	With a value of <> 0, the position is kept within the period value (0 … i_lrPeriod). If a period value is too high or two low, the position is manipulated by the period value. Only positive values are valid.
i_lrStopPosition	LREAL	Stop position in units. Only positive values are valid. The StopPosition must be in the range of 0 … Period.
i_xStart	BOOL	FALSE -> TRUE: Start of endless motion according to set parameters.

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_xWarning	BOOL	TRUE: Function block has detected a warning. The outputs q_etDiag, q_etDiagExt and q_sMsg are to be regarded as warnings.
q_etDiag	GD.ET_Diag	General library-independent statement on the diagnostic. A value not equal to ET_Diag.Ok corresponds to an diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = ET_Diag.Ok -> Status message q_etDiag <> ET_Diag.Ok -> Diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.
q_xMotionInstructionActive	BOOL	TRUE: Axis in motion.
q_xInVelocity	BOOL	Velocity i_lrVel reached. (RefVelocity > i_lrVel * 0.99 AND RefVelocity < i_lrVel* 1.01)
q_lrPosition	LREAL	Position of the axis.

Input/Output	Data type	Description
iq_stIlsData	ST_IlsData	Information for the motion sequence of the slave axes as well as the parameterized limits and feedback variables. See data type PDL_ST_ILS_Data.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	9	The POU is disabled.
OK	EndlessPositioning	213	Endless positioning.
OK	Initializing	4	The POU is being initialized.
OK	Stopping	7	Active motion commands are stopped.
OK	WaitForStart	5	Waiting for starting command.
OK	WaitUntilDisabled	8	Waiting until the POU is deactivated.
DriveConditionInvalid	DriveNotReady	10	The drive is not ready for motion commands.
ExecutionAborted	DynIecDataSizeTooSmall	75	There is not enough dynamic memory reserved.
InputParameterInvalid	AccRange	12	Acc is outside the valid range.
InputParameterInvalid	DecRange	13	Dec is outside the valid range.
InputParameterInvalid	DriveInvalid	3	The connected drive is invalid.
InputParameterInvalid	HysteresisRange	205	Hysteresis is outside the valid range.
InputParameterInvalid	MasterMaxAbsAccRange	199	MasterMaxAbsAcc is outside the valid range.
InputParameterInvalid	MasterMaxAbsJerkRange	200	MasterMaxAbsJerk is outside the valid range.
InputParameterInvalid	MasterPeriodInitRange	208	MasterPeriodInit is outside the valid range.
InputParameterInvalid	NegAccRange	212	NegAcc is outside the valid range.
InputParameterInvalid	NegVelRange	210	NegVel is outside the valid range.
InputParameterInvalid	NumberOfMasterPeriodsRange	207	MNumberOfMasterPeriods is outside the valid range.
InputParameterInvalid	NumberOfSlavesRange	198	NumberOfSlaves is outside the valid range.
InputParameterInvalid	PeriodRange	201	Period is outside the valid range.
InputParameterInvalid	PosAccRange	211	PosAcc is outside the valid range.
InputParameterInvalid	PositionGridSizeRange	203	PositionGridSize is outside the valid range.
InputParameterInvalid	PosVelRange	209	PosVel is outside the valid range.
InputParameterInvalid	ProfileIdInvalid	114	The ProfileId is invalid.
InputParameterInvalid	StopPositionRange	202	StopPosition is outside the valid range.
InputParameterInvalid	TimeGridSizeRange	204	TimeGridSize is outside the valid range.
InputParameterInvalid	VelRange	11	Vel is outside the valid range.
InputParameterInvalid	YFactorRange	206	YFactor is outside the valid range.
UnexpectedProgramBehavior	ProfileAlreadyInUse	116	The profile is already in use.
UnexpectedProgramBehavior	UnexpectedFeedback	1	An unintended detected error occurred during execution.
UnexpectedProgramBehavior	UnknownState	2	The POU is in an undefined state.

AccRange

Enumeration name:	AccRange
Enumeration value:	12
Description:	Acc is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrAcc, an invalid value has been transferred.	The following must hold: i_lrAcc >1 For the valid value range for i_lrAcc, see output q_sMsg

Issue

Cause

Solution

At the input i_lrAcc, an invalid value has been transferred.

The following must hold: i_lrAcc >1

For the valid value range for i_lrAcc, see output q_sMsg

DecRange

Enumeration name:	DecRange
Enumeration value:	13
Description:	Dec is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrDec, an invalid value has been transferred.	The following must hold: i_lrDec >1 For the valid value range for i_lrDec, see output q_sMsg

Issue

Cause

Solution

At the input i_lrDec, an invalid value has been transferred.

The following must hold: i_lrDec >1

For the valid value range for i_lrDec, see output q_sMsg

Disabled

Enumeration name:	Disabled
Enumeration value:	9
Description:	The POU is disabled.

The function block is disabled and executes no actions whatsoever. i_xEnable and q_xActive are set to FALSE

DriveInvalid

Enumeration name:	DriveInvalid
Enumeration value:	3
Description:	The connected drive is invalid.

Issue	Cause	Solution
-	At the input i_ifDrive, no drive was applied.	At the input i_ifDrive, a valid drive must be transferred.
-	The connected drive does not support all required functionalities.	Establish which functionalities are not supported by the drive by means of output q_sMsg. Use a drive which supports all required functionalities.

Issue

Cause

Solution

At the input i_ifDrive, no drive was applied.

At the input i_ifDrive, a valid drive must be transferred.

The connected drive does not support all required functionalities.

Establish which functionalities are not supported by the drive by means of output q_sMsg.

Use a drive which supports all required functionalities.

DriveNotReady

Enumeration name:	DriveNotReady
Enumeration value:	10
Description:	The drive is not ready for motion commands.

Issue	Cause	Solution
-	The axis is not in position control.	Verify the state of the axis.

DynIecDataSizeTooSmall

Enumeration name:	DynIecDataSizeTooSmall
Enumeration value:	75
Description:	There is not enough dynamic memory reserved.

Issue	Cause	Solution
-	There was not enough free space in the dynamic memory storage	Expand the dynamic memory storage. The needed space of the function block is given in the message q_sMessage of the exception. The size of the dynamic memory storage can be seen and changed in the Applicaiton build options view (View -> Properties... -> Application build options). This is NOT the dynamic data sorage which is managed via the DynIECData... properties of the controller.

EndlessPositioning

Enumeration name:	EndlessPositioning
Enumeration value:	213
Description:	Endless positioning.

The axis is being positioned endlessly.

HysteresisRange

Enumeration name:	HysteresisRange
Enumeration value:	205
Description:	Hysteresis is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stConfig.lrHysteresis, an invalid value has been applied.	At the input iq_stIlsData.i_stConfig.lrHysteresis, a value greater than or equal to 0.001 and smaller than or equal to 50.0 must be transferred.

Initializing

Enumeration name:	Initializing
Enumeration value:	4
Description:	The POU is being initialized.

The function block is being initialized and thus is not yet ready to receive commands at its inputs.

The function block will signalize that it is ready for operation with the signal q_xReady = TRUE.

MasterMaxAbsAccRange

Enumeration name:	MasterMaxAbsAccRange
Enumeration value:	199
Description:	MasterMaxAbsAcc is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stRunTime.lrMasterMaxAbsAcc, an invalid value has been transferred.	At the input iq_stIlsData.i_stRunTime.lrMasterMaxAbsAcc, a value greater than or equal to 1.0 must be transferred.

MasterMaxAbsJerkRange

Enumeration name:	MasterMaxAbsJerkRange
Enumeration value:	200
Description:	MasterMaxAbsJerk is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stRunTime.lrMasterMaxAbsJerk, an invalid value has been transferred.	At the input iq_stIlsData.i_stRunTime.lrMasterMaxAbsJerk, a value greater than or equal to 1.0 must be transferred.

MasterPeriodInitRange

Enumeration name:	MasterPeriodInitRange
Enumeration value:	208
Description:	MasterPeriodInit is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_astCamData[ ].diMasterPeriodInit, an invalid value has been applied.	At the input iq_stIlsData.i_astCamData[ ].diMasterPeriodInit, a value greater than 0 must be transferred.

NegAccRange

Enumeration name:	NegAccRange
Enumeration value:	212
Description:	NegAcc is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegAcc, an invalid value has been applied.	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegAcc, a value smaller than or equal to -1.0 must be transferred.

NegVelRange

Enumeration name:	NegVelRange
Enumeration value:	210
Description:	NegVel is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegVel, an invalid value has been applied.	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrNegVel, a value smaller than or equal to -1.0 must be transferred.

NumberOfMasterPeriodsRange

Enumeration name:	NumberOfMasterPeriodsRange
Enumeration value:	207
Description:	MNumberOfMasterPeriods is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_astCamData[ ].diNumberOfMasterPeriods, an invalid value has been applied.	At the input iq_stIlsData.i_astCamData[ ].diNumberOfMasterPeriods, a value greater than 1 must be transferred.

NumberOfSlavesRange

Enumeration name:	NumberOfSlavesRange
Enumeration value:	198
Description:	NumberOfSlaves is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stConfig.diNumberOfSlaves, an invalid value has been applied.	At the input iq_stIlsData.i_stConfig.diNumberOfSlaves, a value greater than or equal to 0 and smaller than or equal to Gc_diMaxNumberOfSlaves must be transferred.

PeriodRange

Enumeration name:	PeriodRange
Enumeration value:	201
Description:	Period is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrPeriod, an invalid value has been applied.	At the input i_lrPeriod, a value greater than or equal to 1.0 must be transferred.

PosAccRange

Enumeration name:	PosAccRange
Enumeration value:	211
Description:	PosAcc is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosAcc, an invalid value has been applied.	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosAcc, a value greater than or equal to 1.0 must be transferred.

PositionGridSizeRange

Enumeration name:	PositionGridSizeRange
Enumeration value:	203
Description:	PositionGridSize is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stConfig.diPositionGridSize, an invalid value has been applied.	At the input iq_stIlsData.i_stConfig.diPositionGridSize, a value greater than or equal to 1 and smaller than or equal to Gc_diMaxGridSize must be transferred.

PosVelRange

Enumeration name:	PosVelRange
Enumeration value:	209
Description:	PosVel is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosVel, an invalid value has been applied.	At the input iq_stIlsData.i_stRunTime.astSlaveLimits[ ].lrPosVel, a value greater than or equal to 1 must be transferred.

ProfileAlreadyInUse

Enumeration name:	ProfileAlreadyInUse
Enumeration value:	116
Description:	The profile is already in use.

Issue	Cause	Solution
-	The motion profile is already in use.	Verify the motion data.

ProfileIdInvalid

Enumeration name:	ProfileIdInvalid
Enumeration value:	114
Description:	The ProfileId is invalid.

Issue	Cause	Solution
-	The profile does not exist.	Verify the values at the inputs iq_stMultiCamData.astCamPoint[ ].diProfileId.

Stopping

Enumeration name:	Stopping
Enumeration value:	7
Description:	Active motion commands are stopped.

The axis is stopped.

StopPositionRange

Enumeration name:	StopPositionRange
Enumeration value:	202
Description:	StopPosition is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrStopPosition, a negative value has been transferred.	At the input i_lrStopPosition, a value greater than or equal to 0 must be transferred.
-	At the input i_lrStopPosition, a value outside of the period has been transferred.	At the input i_lrStopPosition, a value smaller than or equal to the value at the input i_lrPeriod must be transferred.

TimeGridSizeRange

Enumeration name:	TimeGridSizeRange
Enumeration value:	204
Description:	TimeGridSize is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_stConfig.diTimeGridSize, an invalid value has been applied.	At the input iq_stIlsData.i_stConfig.diTimeGridSize, a value greater than 0 and smaller than 100 must be applied.

UnexpectedFeedback

Enumeration name:	UnexpectedFeedback
Enumeration value:	1
Description:	An unintended detected error occurred during execution.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

UnknownState

Enumeration name:	UnknownState
Enumeration value:	2
Description:	The POU is in an undefined state.

Issue	Cause	Solution
-	An error occurred in the internal execution.	Please inform the support team about this error.

VelRange

Enumeration name:	VelRange
Enumeration value:	11
Description:	Vel is outside the valid range.

Issue	Cause	Solution
-	At the input i_lrVel, an invalid value has been applied.	For i_lrVel, enter a value between 0 and the axis parameter MaxVel.

WaitForStart

Enumeration name:	WaitForStart
Enumeration value:	5
Description:	Waiting for starting command.

The function block has completed its initialization and is waiting for a positive edge at the input i_xStart before continuing the processing.

WaitUntilDisabled

Enumeration name:	WaitUntilDisabled
Enumeration value:	8
Description:	Waiting until the POU is deactivated.

YFactorRange

Enumeration name:	YFactorRange
Enumeration value:	206
Description:	YFactor is outside the valid range.

Issue	Cause	Solution
-	At the input iq_stIlsData.i_astCamData[ ].lrYFactor, a number < 1 has been transferred.	The YFactor must be at least 1.