The following code shows an example for the initialization of a MultiBeltModule. 4 trains and 3 stations are configured.
fbMultiBeltModule.InitModuleInterface(iq_stMultiBeltModuleItf:= stMultiBeltItf);// Standard Interface astSubModuleInterface[c_udiMultiBelt].i_sModuleName:= CONCAT(STR1:= iq_stStandardModuleItf.i_sModuleName, STR2:= ': MultiBelt'); astSubModuleInterface[c_udiMultiBelt].i_xLogEnable:= TRUE; astSubModuleInterface[c_udiMultiBelt].i_wLogDataFilter:= UDINT_TO_WORD(TPL.ET_LogDataFilter.ModuleDefault); etDiag:= GD.ET_Diag.Ok;// General initialisations
stMultiBeltItf.stMain.i_rstParameter.uiNumOfBelts := 4; stMultiBeltItf.stMain.i_rstParameter.uiNumOfStations := 3; stMultiBeltItf.stMain.i_rstParameter.uiTrainsPerBelt := 1; stMultiBeltItf.stMain.i_rstParameter.lrCrashDistance := 5; stMultiBeltItf.stMain.i_rstParameter.lrBeltLength := 9000; stMultiBeltItf.stMain.i_rstParameter.lrTrainLength := 500; stMultiBeltItf.stMain.i_alrMotionActiveVelLimit[0] := 1;stMultiBeltItf.stMain.i_aetMotionActiveVelType[0] := MTBM.ET_VelocityType.RefVelocity;//Loading Station
stMultiBeltItf.astStation[1].i_rstParameter.sName := 'Beladestation'; stMultiBeltItf.astStation[1].i_rstParameter.etStationType := MTB.ET_StationType.Indexed; stMultiBeltItf.astStation[1].i_rstParameter.lrStationPos := 0; stMultiBeltItf.astStation[1].i_rstParameter.alrSteps[0] := 100.0; stMultiBeltItf.astStation[1].i_rstParameter.uiNumOfSteps := 5; stMultiBeltItf.astStation[1].i_rstParameter.lrAdditionalStep := 0; stMultiBeltItf.astStation[1].i_rstParameter.lrWarningDistance := 75; stMultiBeltItf.astStation[1].i_rstParameter.lrStopDistance := 50; stMultiBeltItf.astStation[1].i_rstParameter.lrTrainsDistance := 10; stMultiBeltItf.astStation[1].i_rstParameter.etStartLock := MTB.ET_StartLock.AllSignals; stMultiBeltItf.astStation[1].i_rstParameter.ifTpStart := TP_1; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.lencHelp := LE_StartDelayStation1; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.lrStartDelayTime := 50; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.lrMinProductTime := 20; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.lrLockOutTime := 10; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stStepMove.lrAcc := 5000; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stStepMove.lrDec := 5000; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stStepMove.lrVel := 500; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stStepMove.lrJerk := 1000000; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stDepartureMove.lrAcc := 5000; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stDepartureMove.lrDec := 5000; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stDepartureMove.lrVel := 1000; stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stDepartureMove.lrJerk:= 1000000; stMultiBeltItf.astStation[1].iq_plrTeachStationPosRetain:= ADR(lrLoadPosRetainStation1); //PassBy StationstMultiBeltItf.astStation[2].i_rstParameter.sName := 'SlowDownStation'; stMultiBeltItf.astStation[2].i_rstParameter.etStationType := MTB.ET_StationType.PassBy; stMultiBeltItf.astStation[2].i_rstParameter.lrStationPos := 3000; stMultiBeltItf.astStation[2].i_rstParameter.uiNumOfSteps := 1; stMultiBeltItf.astStation[2].i_rstParameter.alrSteps[0] := 500.0; stMultiBeltItf.astStation[2].i_rstParameter.lrAdditionalStep := 0; stMultiBeltItf.astStation[2].i_rstParameter.lrTrainsDistance := 10; stMultiBeltItf.astStation[2].i_rstParameter.etStartLock := MTB.ET_StartLock.BoolOnly; stMultiBeltItf.astStation[2].i_rstParameter.stPassBy.stMove:= stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stStepMove; stMultiBeltItf.astStation[2].i_rstParameter.stPassBy.stMove.lrVel:= 500; stMultiBeltItf.astStation[2].i_rstParameter.stPassBy.stDepartureMove:= stMultiBeltItf.astStation[1].i_rstParameter.stIndexed.stDepartureMove; stMultiBeltItf.astStation[2].i_rstParameter.stPassBy.lrPassByMoveOffset:= -100; stMultiBeltItf.astStation[2].iq_plrTeachStationPosRetain:= ADR(lrLoadPosRetainStation2);//Unloading StationstMultiBeltItf.astStation[3].i_rstParameter.sName := 'Unloading Station'; stMultiBeltItf.astStation[3].i_rstParameter.etStationType := MTB.ET_StationType.Synchron; stMultiBeltItf.astStation[3].i_rstParameter.lrStationPos := 6000; stMultiBeltItf.astStation[3].i_rstParameter.uiNumOfSteps := 1; stMultiBeltItf.astStation[3].i_rstParameter.alrSteps[0] := 500.0; stMultiBeltItf.astStation[3].i_rstParameter.lrAdditionalStep := 0; stMultiBeltItf.astStation[3].i_rstParameter.lrTrainsDistance := 10; stMultiBeltItf.astStation[3].i_rstParameter.etStartLock := MTB.ET_StartLock.BoolOnly; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.etEventTrigger := MTB.ET_EventTrigger.SyncOnPhase; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.ifMaster := DRV_Slave3; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lencHelp := LE_Master; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lrLockOutDistance := 0; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lrMasterPeriod := 360; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lrMinProductLength := 10; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lrPhase := 30; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lrStartDelayDistance := 0; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lrSynchronStart := 30; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.lrSynchronEnd := 30; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.stDepartureMove.lrVel := 1000; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.stDepartureMove.lrAcc := 5000; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.stDepartureMove.lrDec := 5000; stMultiBeltItf.astStation[3].i_rstParameter.stSynchron.stDepartureMove.lrJerk := 50000; stMultiBeltItf.astStation[3].iq_plrTeachStationPosRetain:= ADR(lrLoadPosRetainStation3); //TrainsstMultiBeltItf.astTrain[1].i_rstParameter.ifDrive := DRV_Train1; stMultiBeltItf.astTrain[1].i_rstParameter.ifTpHome := TP_0; stMultiBeltItf.astTrain[2].i_rstParameter.ifDrive := DRV_Train2; stMultiBeltItf.astTrain[2].i_rstParameter.ifTpHome := TP_1; stMultiBeltItf.astTrain[3].i_rstParameter.ifDrive := DRV_Train3; stMultiBeltItf.astTrain[3].i_rstParameter.ifTpHome := TP_2; stMultiBeltItf.astTrain[4].i_rstParameter.ifDrive := DRV_Train4; stMultiBeltItf.astTrain[4].i_rstParameter.ifTpHome := TP_3; //Warmstart ParameterstMultiBeltItf.stMain.i_rstParameter.stWarmStartMove.lrAcc := 5000; stMultiBeltItf.stMain.i_rstParameter.stWarmStartMove.lrDec := 5000; stMultiBeltItf.stMain.i_rstParameter.stWarmStartMove.lrVel := 1000; stMultiBeltItf.stMain.i_rstParameter.stWarmStartMove.lrJerk := 100000; //Manual ParameterstMultiBeltItf.stManual.i_stMove.lrVel := 1000; stMultiBeltItf.stManual.i_stMove.lrAcc := 1000; stMultiBeltItf.stManual.i_stMove.lrDec := 10000; stMultiBeltItf.stManual.i_stMove.lrJerk := 100000; stMultiBeltItf.stManual.i_lrMaxJogDistance := 5000;//Homing ParameterstMultiBeltItf.stHome.i_etMode:= MTBM.ET_HomeMode.SetPos; stMultiBeltItf.stHome.i_stOnTpParameter.uiTPSignalsPerTrain := 1; stMultiBeltItf.stHome.i_stOnTpParameter.lrMaxTPSignalDistance := stMultiBeltItf.stMain.i_rstParameter.lrBeltLength; stMultiBeltItf.stHome.i_stOnTpParameter.lrMinTPSignalDistance := 10; stMultiBeltItf.stHome.i_stOnTpParameter.xTpNegEdge := FALSE; stMultiBeltItf.stHome.i_stOnTpParameter.stMove.lrVel := 400; stMultiBeltItf.stHome.i_stOnTpParameter.stMove.lrAcc := 2000; stMultiBeltItf.stHome.i_stOnTpParameter.stMove.lrDec := 2000; stMultiBeltItf.stHome.i_stOnTpParameter.stMove.lrJerk := 100000; stMultiBeltItf.stHome.astSetPosParameter[1].iq_pstRestorePosRetain := ADR(astRestoreTrain[1]); stMultiBeltItf.stHome.astSetPosParameter[2].iq_pstRestorePosRetain := ADR(astRestoreTrain[2]); stMultiBeltItf.stHome.astSetPosParameter[3].iq_pstRestorePosRetain := ADR(astRestoreTrain[3]); stMultiBeltItf.stHome.astSetPosParameter[4].iq_pstRestorePosRetain := ADR(astRestoreTrain[4]); stMultiBeltItf.stHome.astSetPosParameter[1].i_lrHomePosition := 0; stMultiBeltItf.stHome.astSetPosParameter[2].i_lrHomePosition := -510; stMultiBeltItf.stHome.astSetPosParameter[3].i_lrHomePosition := -1020; stMultiBeltItf.stHome.astSetPosParameter[4].i_lrHomePosition := -1530;