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EncoderFM450.scl
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EncoderFM450.scl
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FUNCTION_BLOCK FB122
TITLE ='Input driver for FM450'
AUTHOR : EMC
FAMILY : EMC2
NAME : EncFM450
VERSION : '2.0'
VAR_INPUT
EncErr : BOOL ; //1=Encoder error
END_VAR
VAR_OUTPUT
DI_0 : BOOL ; //Digital input 0
DI_1 : BOOL ; //Digital input 1
DI_2 : BOOL ; //Digital input 2
END_VAR
VAR_IN_OUT
Axis : UDT1 ; //Global axis data
Init : BOOL := TRUE; //1=Initialize block
ReadDiagErr : BOOL := TRUE; //1=Read data record 1 (DS1)
END_VAR
VAR
Koord : STRUCT
DA_ERR_W : WORD ; //Data error word
OT_ERR_B : BYTE ; //Operating error byte
bit0 : BOOL ;
STS_TFB : BOOL ; //Status test free
DIAG : BOOL ; //internal use
OT_ERR : BOOL ; //internal use
DATA_ERR : BOOL ; //Data error bit
FM_NEUSTQ : BOOL ; //internal use
FM_NEUST : BOOL ; //internal use
PARA : BOOL ; //1=Module configured
END_STRUCT ;
Koord_dw AT Koord : DWORD;
Status : STRUCT
byte0 : BYTE ;
STS_RUN : BOOL ; //Status counter working
STS_DIR : BOOL ; //Status count direction
STS_ZERO : BOOL ; //Status zero pass
STS_OFLW : BOOL ; //Status overflow
STS_UFLW : BOOL ; //Status underflow
STS_SYNC : BOOL ; //Status counter synchronized
STS_GATE : BOOL ; //Status internal gate
STS_SW_G : BOOL ; //Status software gate
STS_SET : BOOL ; //Status software gate
bit9 : BOOL ;
STS_STA : BOOL ; //Status digital input START
STS_STP : BOOL ; //Status digital input STOP
STS_CMP1 : BOOL ; //Status output comparison value 1
STS_CMP2 : BOOL ; //Status output comparison value 2
bit14 : BOOL ;
bit15 : BOOL ;
LoadInCounter : BOOL ; //internal use
LoadInLoad : BOOL ; //internal use
Comp1Set : BOOL ; //internal use
Comp2Set : BOOL ; //internal use
NoSync : BOOL ; //internal use
NoZero : BOOL ; //internal use
bit6 : BOOL ;
bit7 : BOOL ;
END_STRUCT ;
Status_dw AT Status : DWORD;
JobErr : INT ; //Error reported while reading DS1
DiagStatus : STRUCT
MDL_DEFECT : BOOL ; //Module defective
INT_FAULT : BOOL ; //Internal fault
EXT_FAULT : BOOL ; //External fault
PNT_INFO : BOOL ; //Point information
EXT_VOLTAGE : BOOL ; //External voltage low
FLD_CONNCTR : BOOL ; //Field wiring connector missing
NO_CONFIG : BOOL ; //Module has no configuration data
CONFIG_ERR : BOOL ; //Module has configuration error
MDL_TYPE : BYTE ; //Type of module
SUB_NDL_ERR : BOOL ; //Sub-Module is missing or has error
COMM_FAULT : BOOL ; //Communication fault
MDL_STOP : BOOL ; //Module is stopped
WTCH_DOG_FLT : BOOL ; //Watch dog timer stopped module
INT_PS_FLT : BOOL ; //Internal power supply fault
PRIM_BATT_FLT : BOOL ; //Primary battery is in fault
BCKUP_BATT_FLT : BOOL ; //Backup battery is in fault
RESERVED_2 : BOOL ; //Reserved for system
RACK_FLT : BOOL ; //Rack fault, only for bus interface module
PROC_FLT : BOOL ; //Processor fault
EPROM_FLT : BOOL ; //EPROM fault
RAM_FLT : BOOL ; //RAM fault
ADU_FLT : BOOL ; //ADU fault
FUSE_FLT : BOOL ; //Fuse fault
HW_INTR_FLT : BOOL ; //Hardware interupt input in fault
RESERVED_3 : BOOL ; //Reserved for system
CH_TYPE : BYTE ; //Channel type
LGTH_DIA : BYTE ; //Diagnostics data length per channel
CH_NO : BYTE ; //Channel number
GRP_ERR1 : BOOL ; //Group error channel 1
GRP_ERR2 : BOOL ; //Group error channel 2
bit7_2 : BOOL ;
bit7_3 : BOOL ;
bit7_4 : BOOL ;
bit7_5 : BOOL ;
bit7_6 : BOOL ;
bit7_7 : BOOL ;
CH1_SIGA : BOOL ; //Channel 1, error signal A
CH1_SIGB : BOOL ; //Channel 1, error signal B
CH1_SIGZ : BOOL ; //Channel 1, error signal zero
CH1_BETW : BOOL ; //Channel 1, error between channels
CH1_5V2 : BOOL ; //Channel 1, error in 5.2 V encoder supply
byte9 : BYTE ;
CH2_SIGA : BOOL ; //Channel 2, error signal A
CH2_SIGB : BOOL ; //Channel 2, error signal B
CH2_SIGZ : BOOL ; //Channel 2, error signal zero
CH2_BETW : BOOL ; //Channel 2, error between channels
CH2_5V2 : BOOL ; //Channel 2, error in 5.2 V encoder supply
byte11 : BYTE ;
END_STRUCT ;
DiagStatus_dw AT DiagStatus : DWORD ;
DiagStatus_b AT DiagStatus : ARRAY[0..31] OF BOOL ;
GeberAlt_DI : DINT ; //internal use
Addr_Status : INT ; //internal use
Addr_Koord : INT ; //internal use
Addr_ActPos_DI : INT ; //internal use
Addr_LoadVal_DI : INT ; //internal use
Addr_Steuer : INT ; //internal use
KanalNr : INT ; //internal use
v_Faktor : REAL ; //internal use
PASteuer : DWORD ; //internal use
PASteuer_b AT PASteuer : ARRAY[0..31] OF BOOL ;
RefPointInt : REAL ; //internal use
Richtungsanpassung : INT := 1; //internal use
LoadVal_DW : DWORD ; //internal use
RefZustand : INT ; //internal use
DiagFehler : BOOL ; //internal use
EncErr_alt : BOOL ; //internal use
Diag_alt : BOOL ; //internal use
END_VAR
VAR_TEMP
Geber_DI : DINT ; //internal use
LageDiff_DI : DINT ; //internal use
Addr_InChannel : 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 ;
Sim : BOOL ; //internal use
END_VAR
BEGIN
IF NOT Init AND NOT EncErr AND EncErr_alt THEN
Init:=true;
Axis.Err.EncoderErr:=true;
Axis.Error:=true;
END_IF;
IF Init THEN
KanalNr:=Axis.InputChannelNo;
Addr_InChannel:=Axis.InputChannelNo*32+AXis.InputModuleInAddr;
Addr_Status:=Addr_InChannel+12;
Addr_ActPos_DI:=Addr_InChannel+4;
Addr_Koord:=Addr_InChannel+8;
Addr_LoadVal_DI:=Addr_InChannel;
Addr_Steuer:=Addr_LoadVal_DI+12;
v_Faktor:=Axis.aufl/Axis.Sample_T;
Koord_dw:=DW#16#0;
Status_dw:=DW#16#0;
PASteuer:=DW#16#0;
DiagFehler:=false;
ReadDiagErr:=true;
Axis.EinInitLaeuft:=true;
Axis.EintreiberFahrbereit:=false;
EncErr_alt:=false;
Diag_alt:=false;
Axis.DoneRef:=false;
RefPointInt:=Axis.RefPoint;
Axis.ExecRef:=0;
Axis.Sync:=false;
Axis.EncoderType:=false;
Richtungsanpassung:=Axis.PolarityEncoder;
RefZustand:=0;
END_IF;
Sim:=Axis.Sim;
IF Sim OR EncErr THEN
Koord_dw:=DW#16#80;
PASteuer:=DW#16#0;
Axis.EinInitLaeuft:=false;
ReadDiagErr:=false;
ELSE
Status_dw:=PID[Addr_Status];
Koord_dw:=PID[Addr_Koord];
IF (Koord_dw AND DW#16#60) = DW#16#40 THEN
PASteuer:=DW#16#40000000;
Init:=true;
Axis.EinInitLaeuft:=true;
Axis.Sync:=false;
Axis.EintreiberFahrbereit:=false;
ELSE
PASteuer_b[6]:=false;
Axis.EncoderValue:=DWORD_TO_DINT(PID[Addr_ActPos_DI]);
IF Koord.DIAG XOR Diag_alt THEN
ReadDiagErr:=true;
Diag_alt:=Koord.DIAG;
END_IF;
IF ReadDiagErr THEN
JobErr:=RD_REC(REQ := true
,IOID := B#16#54
,LADDR := INT_TO_WORD(Axis.InputModuleInAddr)
,RECNUM := 1
,BUSY := ReadDiagErr
,RECORD := DiagStatus
);
IF (INT_TO_DINT(JobErr)>=32930 AND
INT_TO_DINT(JobErr)<=32932) OR
(INT_TO_DINT(JobErr)>=32960 AND
INT_TO_DINT(JobErr)<=32975)
THEN
ReadDiagErr:=true;
END_IF;
IF NOT ReadDiagErr THEN
IF JobErr>=0 THEN
IF DiagStatus.MDL_DEFECT THEN
IF (DW#16#F000FFFF AND DiagStatus_dw) <> 0 THEN
DiagFehler:=true;
ELSE
DiagFehler:=DiagStatus_b[INT_TO_DINT(KanalNr)+56];
END_IF;
ELSE
DiagFehler:=false;
END_IF;
ELSE
DiagFehler:=true;
END_IF;
END_IF;
END_IF;
END_IF;
END_IF;
Geber_DI:=Axis.EncoderValue;
DI_0:=Status.STS_STA;
DI_1:=Status.STS_STP;
DI_2:=Status.STS_SET;
IF EncErr THEN
Axis.Err.EncoderErr:=true;
Axis.Error:=true;
EncErr_alt:=true;
Axis.Sync:=false;
ELSE
IF Init THEN
GeberAlt_DI:=Geber_DI;
Axis.LageIstwert_DI:=Geber_DI;
Axis.PositionOffset:=Geber_DI;
END_IF;
IF (Koord.OT_ERR OR Koord.DATA_ERR) OR
(NOT Koord.PARA AND Koord.FM_NEUSTQ) OR
DiagFehler
THEN
Axis.Err.EncoderErr:=true;
Axis.Error:=true;
Axis.Sync:=false;
ELSE
IF Axis.ExecRef=2 THEN
IF RefZustand=0 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 Status.STS_SET THEN
RefZustand:=5;
LoadVal_DW:=DINT_TO_DWORD(Geber_DI);
ELSE
IF Sim THEN
RefZustand:=5;
ELSE
PQD[Addr_LoadVal_DI]:=LoadVal_DW;
PASteuer_b[25]:=true;
RefZustand:=3;
END_IF;
END_IF;
ELSIF RefZustand=3 THEN
IF Status.LoadInLoad THEN
PASteuer_b[25]:=false;
RefZustand:=4;
END_IF;
ELSIF RefZustand=4 THEN
IF PID[Addr_LoadVal_DI]=LoadVal_DW THEN
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)*Axis.aufl)
-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:=PASteuer AND DW#16#FFFCFFFF;
RefZustand:=0;
ELSE
PASteuer:=PASteuer OR DW#16#30000;
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:=PASteuer AND DW#16#FFFCFFFF;
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)
*Axis.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;
END_IF;
END_IF;
IF Init THEN
Axis.InternalNomPosition:=Axis.InternalActPos;
Axis.LastNomPosition:=Axis.InternalActPos;
Axis.VLastNomPosition:=Axis.InternalActPos;
IF PASteuer=DW#16#0 THEN
IF NOT ReadDiagErr THEN
Init:=false;
Axis.EinInitLaeuft:=false;
END_IF;
END_IF;
END_IF;
IF NOT (Sim OR EncErr) THEN
PQD[Addr_Steuer]:=PASteuer;
END_IF;
END_FUNCTION_BLOCK