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EncoderET200S1Count.scl
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EncoderET200S1Count.scl
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FUNCTION_BLOCK FB126
TITLE ='Input driver for ET200S 1Count'
AUTHOR : EMC
FAMILY : EMC2
NAME : Enc1CTR
VERSION : '2.1'
VAR_INPUT
EncErr : BOOL ; //1=Encoder error
DOut_1 : BOOL ; //Digital output 1
DOut_2 : BOOL ; //Digital output 2
END_VAR
VAR_OUTPUT
DIn : BOOL ; //Digital input
END_VAR
VAR_IN_OUT
Axis : UDT1 ;
Init : BOOL := TRUE; //1=Initialize block
END_VAR
VAR
Status : STRUCT
STS_LOAD : BOOL ; //1=Load function active
ERR_LOAD : BOOL ; //1=Load function error
RES_STS_A : BOOL ; //1=Resetting of status bit active
ERR_ENCODER : BOOL ; //(1COUNT5V only) 1=Short circuit / wire break of the sensor-signal
ERR_DO2 : BOOL ; //(1COUNT5V only) 1=DO2: Short circuit / wire break / overtemperature
ERR_PARA : BOOL ; //1=Parameter assignment error
ERR_DO1 : BOOL ; //DO1: 1=Short circuit / wire break / overtemperature
ERR_24V : BOOL ; //1=Short circuit of the sensor supply
STS_GATE : BOOL ; //Internal gate status
STS_DI : BOOL ; //DI status
bit18 : BOOL ;
STS_DO1 : BOOL ; //DO1 status
STS_DO2 : BOOL ; //DO2 status
bit21 : BOOL ;
STS_C_UP : BOOL ; //Up direction status
STS_C_DN : BOOL ; //Down direction status
STS_SYN : BOOL ; //Synchronization status
bit09 : BOOL ;
bit10 : BOOL ;
STS_CMP1 : BOOL ; //Comparator status 1
STS_CMP2 : BOOL ; //Comparator status 2
STS_OFLW : BOOL ; //Upper count limit
STS_UFLW : BOOL ; //Lower count limit
STS_ND : BOOL ; //Zero-crossing in the count range in counting without a main counting direction
byte3 : BYTE ;
END_STRUCT ;
Status_dw AT Status : DWORD;
GeberAlt_DI : DINT ; //internal use
Addr_ActPos_DI : INT ; //internal use
Addr_Status : INT ; //internal use
Addr_LoadVal_DI : INT ; //internal use
Addr_Steuer : INT ; //internal use
Richtungsanpassung : INT := 1; //internal use
v_Faktor : REAL ; //internal use
MaxZahl : DINT ; //internal use
MaxZahlHalb : DINT ; //internal use
PASteuer : WORD ; //internal use #AJ
PASteuer_b AT PASteuer : ARRAY[0..15] OF BOOL;
RefPointInt : REAL ; //internal use
LoadVal_DW : DWORD ; //internal use
EncoderZustand : INT ; //internal use
RefZustand : INT ; //internal use
aufl : REAL ; //internal use
EncErr_alt : BOOL ; //internal use
Taktsynchron : BOOL ; //internal use
END_VAR
VAR_TEMP
Geber_DI : DINT ; //internal use
LageDiff_DI : DINT ; //internal use
Addr_InChannel : INT ; //internal use
Addr_OutChannel : INT ; //internal use
TruncKorr : REAL ; //internal use
TruncKorr_DI : DINT ; //internal use
Err_DW : DWORD ; //internal use
Err_DW_str AT Err_DW : STRUCT
SWLimitMinExceeded : BOOL ; //1=Min. SW limit switch exceeded
SWLimitMaxExceeded : BOOL ; //1=Max. SW limit switch exceeded
TargetErr : BOOL ; //1=Target beyond travel range
NoSync : BOOL ; //1=Axis not synchronized
DirectionErr : BOOL ; //1=Motion not allowed in direction entered
DataErr : BOOL ; //1=Invalid motion FB parameter
StartErr : BOOL ; //1=Start not possible in current axis state
DistanceErr : BOOL ; //1=Motion is too far
MasterErr : BOOL ; //1=Master axis error with hard stop or wrong axis status
bit09 : BOOL ;
bit10 : BOOL ;
bit11 : BOOL ;
bit12 : BOOL ;
bit13 : BOOL ;
bit14 : BOOL ;
bit15 : BOOL ;
StoppedMotion : BOOL ; //1=Axis is in stop and must be acknowledged
EnableDriveErr : BOOL ; //1=Drive enable missing
FollowingDistErr : BOOL ; //1=Max. following distance exceeded
StandstillErr : BOOL ; //1=Outside standstill range
TargetApproachErr : BOOL ; //1=Target approach error
EncoderErr : BOOL ; //1=Encoder error
OutputErr : BOOL ; //1=Output driver error
ConfigErr : BOOL ; //1=Axis data incorrectly configured
DriveErr : BOOL ; //1=Drive error
bit25 : BOOL ;
bit26 : BOOL ;
bit27 : BOOL ;
bit28 : BOOL ;
bit29 : BOOL ;
bit30 : BOOL ;
bit31 : BOOL ;
END_STRUCT ;
SFCErr : INT ; //Rьckgabewert des SFC6 (RD_SINFO) lokal, da keine relevante Info
TOP_SI : STRUCT
EV_CLASS : BYTE ;
EV_NUM : BYTE ;
PRIORITY : BYTE ;
NUM : BYTE ;
TYP2_3 : BYTE ;
TYP1 : BYTE ;
ZI1 : WORD ;
ZI2_3 : DWORD ;
END_STRUCT ;
START_UP_SI : STRUCT
EV_CLASS : BYTE ;
EV_NUM : BYTE ;
PRIORITY : BYTE ;
NUM : BYTE ;
TYP2_3 : BYTE ;
TYP1 : BYTE ;
ZI1 : WORD ;
ZI2_3 : DWORD ;
END_STRUCT ;
Sim : BOOL ; //internal use
END_VAR
BEGIN
Sim:=Axis.Sim;
IF NOT Init AND NOT EncErr AND EncErr_alt THEN
Init:=true;
Axis.Err.EncoderErr:=true;
Axis.Error:=true;
END_IF;
IF Init THEN
Addr_InChannel:=Axis.InputModuleInAddr;
Addr_Status:=Addr_InChannel+4;
Addr_ActPos_DI:=Addr_InChannel;
Addr_OutChannel:=Axis.InputModuleOutAddr;
Addr_LoadVal_DI:=Addr_OutChannel;
Addr_Steuer:=Addr_LoadVal_DI+4;
Status_dw:=DW#16#0;
PASteuer:=W#16#0;
Axis.EinInitLaeuft:=true;
Axis.EinQuittungLaeuft:=false;
Axis.EintreiberFahrbereit:=false;
EncErr_alt:=false;
Axis.DoneRef:=false;
Axis.ExecRef:=0;
RefPointInt:=Axis.RefPoint;
aufl:=Axis.aufl;
v_Faktor:=aufl/Axis.Sample_T;
Richtungsanpassung:=Axis.PolarityEncoder;
Axis.EncoderType:=false;
Axis.Sync:=false;
EncoderZustand:=0;
SFCErr:=RD_SINFO(TOP_SI := TOP_SI
,START_UP_SI := START_UP_SI
);
SFCErr:=BYTE_TO_INT(TOP_SI.NUM);
Taktsynchron:=SFCErr>=61 AND SFCErr<=64;
LoadVal_DW:=DW#16#0;
IF NOT (Sim OR EncErr) THEN
IF Taktsynchron THEN
QD[Addr_LoadVal_DI]:=LoadVal_DW;
ELSE
PQD[Addr_LoadVal_DI]:=LoadVal_DW;
END_IF;
END_IF;
RefZustand:=0;
END_IF;
IF Sim OR EncErr THEN
PASteuer:=W#16#0;
EncoderZustand:=4;
Axis.EinInitLaeuft:=false;
ELSE
IF Taktsynchron THEN
Status_dw:=ID[Addr_Status];
Axis.EncoderValue:=DWORD_TO_DINT(ID[Addr_ActPos_DI]);
ELSE
Status_dw:=PID[Addr_Status];
Axis.EncoderValue:=DWORD_TO_DINT(PID[Addr_ActPos_DI]);
END_IF;
END_IF;
IF EncErr THEN
Status_dw:=DW#16#0;
END_IF;
Geber_DI:=Axis.EncoderValue;
DIn:=Status.STS_DI;
IF EncoderZustand<>4 OR Init THEN
GeberAlt_DI:=Geber_DI;
Axis.LageIstwert_DI:=Geber_DI;
Axis.PositionOffset:=Geber_DI;
Axis.InternalNomPosition:=Axis.InternalActPos;
Axis.LastNomPosition:=Axis.InternalActPos;
Axis.VLastNomPosition:=Axis.InternalActPos;
Init:=false;
END_IF;
IF EncoderZustand=4 THEN
IF EncErr THEN
Axis.Err.EncoderErr:=true;
Axis.Error:=true;
EncErr_alt:=true;
Axis.Sync:=false;
END_IF;
IF Status.ERR_ENCODER OR
Status.ERR_DO2 OR
Status.ERR_PARA OR
Status.ERR_DO1 OR
Status.ERR_24V
THEN
Axis.Err.EncoderErr:=true;
Axis.Error:=true;
Axis.Sync:=false;
IF NOT PASteuer_b[7] THEN
PASteuer_b[7]:=Axis.ErrorAck;
Axis.EinQuittungLaeuft:=Axis.ErrorAck;
END_IF;
ELSE
PASteuer_b[7]:=false;
Axis.EinQuittungLaeuft:=false;
END_IF;
IF NOT EncErr THEN
IF Axis.ExecRef=2 THEN
IF RefZustand=0 THEN
IF Status.STS_DI THEN
LoadVal_DW:=DINT_TO_DWORD(Geber_DI);
RefZustand:=5;
ELSE
IF Sim THEN
RefZustand:=2;
ELSE
PASteuer_b[2]:=true;
RefZustand:=1;
END_IF;
END_IF;
ELSIF RefZustand=1 THEN
IF Status.RES_STS_A THEN
PASteuer_b[2]:=false;
RefZustand:=2;
END_IF;
ELSIF RefZustand=2 THEN
LoadVal_DW:=DINT_TO_DWORD(Geber_DI) XOR DW#16#50000000;
LoadVal_DW:=LoadVal_DW AND DW#16#F0000000;
LoadVal_DW:=LoadVal_DW OR DW#16#2000000;
IF Sim THEN
RefZustand:=5;
ELSE
IF Taktsynchron THEN
QD[Addr_LoadVal_DI]:=LoadVal_DW;
ELSE
PQD[Addr_LoadVal_DI]:=LoadVal_DW;
END_IF;
PASteuer_b[9]:=true;
RefZustand:=3;
END_IF;
ELSIF RefZustand=3 THEN
IF Status.STS_LOAD THEN
PASteuer_b[9]:=false;
RefZustand:=4;
END_IF;
ELSIF RefZustand=4 THEN
IF NOT Status.STS_LOAD THEN
PASteuer_b[1]:=true;
RefZustand:=5;
END_IF;
ELSIF RefZustand=5 THEN
IF (LoadVal_DW AND DW#16#F0000000) = (DINT_TO_DWORD(Geber_DI) AND DW#16#F0000000) THEN
Axis.DoneRef:=true;
Axis.InternalPosOffset:=Axis.InternalPosOffset-DINT_TO_REAL(Axis.LageIstwert_DI-Axis.PositionOffset)*aufl;
Axis.InternalPosOffset:=Axis.InternalPosOffset-RefPointInt+Axis.RefPoint;
RefPointInt:=Axis.RefPoint;
Axis.PositionOffset:=DWORD_TO_DINT(LoadVal_DW);
Axis.LageIstwert_DI:=DWORD_TO_DINT(LoadVal_DW);
GeberAlt_DI:=DWORD_TO_DINT(LoadVal_DW);
PASteuer_b[1]:=false;
RefZustand:=0;
ELSE
Axis.EintreiberFahrbereit:=true;
END_IF;
END_IF;
ELSIF Axis.ExecRef=1 THEN
RefPointInt:=Axis.RefPoint;
Axis.InternalPosOffset:=RefPointInt;
Axis.InternalNomPosition:=0.0;
Axis.LastNomPosition:=0.0;
Axis.LageIstwert_DI:=Geber_DI;
Axis.PositionOffset:=Geber_DI;
Axis.DoneRef:=true;
ELSE
Axis.DoneRef:=false;
Axis.EintreiberFahrbereit:=false;
PASteuer_b[1]:=false;
RefZustand:=0;
END_IF;
END_IF;
ELSIF EncoderZustand=0 THEN
IF NOT Status.STS_LOAD THEN
PASteuer_b[8]:=true;
EncoderZustand:=1;
END_IF;
ELSIF EncoderZustand=1 THEN
IF Status.STS_LOAD THEN
PASteuer_b[8]:=false;
EncoderZustand:=2;
END_IF;
ELSIF EncoderZustand=2 THEN
IF NOT Status.STS_LOAD THEN
PASteuer_b[0]:=true;
EncoderZustand:=3;
END_IF;
ELSIF EncoderZustand=3 THEN
IF Status.STS_GATE THEN
Axis.EinInitLaeuft:=false;
EncoderZustand:=4;
PASteuer_b[4]:=true;
PASteuer_b[6]:=true;
END_IF;
END_IF;
LageDiff_DI:=(Geber_DI-GeberAlt_DI)*INT_TO_DINT(Richtungsanpassung);
Axis.LageIstwert_DI:=LageDiff_DI+Axis.LageIstwert_DI;
Axis.ActPosition:=DINT_TO_REAL(Axis.LageIstwert_DI-Axis.PositionOffset)*
aufl+RefPointInt;
Axis.InternalActPos:=Axis.ActPosition-Axis.InternalPosOffset;
GeberAlt_DI:=Geber_DI;
Axis.ActVelocity:=DINT_TO_REAL(LageDiff_DI)*v_Faktor;
IF Axis.AxisType THEN
TruncKorr:=(Axis.ActPosition-Axis.AxisLimitMin)/Axis.AchsLaenge;
TruncKorr_DI:=TRUNC(TruncKorr);
IF TruncKorr<0.0 AND DINT_TO_REAL(TruncKorr_DI)<>TruncKorr THEN
TruncKorr_DI:=TruncKorr_DI-1;
END_IF;
Axis.ActPosition:=Axis.ActPosition-DINT_TO_REAL(TruncKorr_DI)*Axis.AchsLaenge;
ELSE
Axis.Err.SWLimitMinExceeded:=Axis.SWLimitEnable and Axis.Sync AND
Axis.ActPosition<=Axis.AxisLimitMin;
Axis.Err.SWLimitMaxExceeded:=Axis.SWLimitEnable and Axis.Sync AND
Axis.ActPosition>=Axis.AxisLimitMax;
Err_DW_str:=Axis.Err;
Axis.Error:=Err_DW<>0;
END_IF;
IF NOT (Sim OR EncErr) THEN
PASteuer_b[3]:=DOut_1;
PASteuer_b[5]:=DOut_2;
IF Taktsynchron THEN
QW[Addr_Steuer]:=PASteuer;
ELSE
PQW[Addr_Steuer]:=PASteuer;
END_IF;
END_IF;
END_FUNCTION_BLOCK