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MC_Home.scl
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FUNCTION_BLOCK FB104
TITLE ='Reference search / setting'
AUTHOR : EMC
FAMILY : EMC2
NAME : MC_Home
VERSION : '2.0'
VAR_INPUT
Execute : BOOL ; //Start the motion / set reference point at rising edge
Position : REAL ; //Reference point coordinate [u]
Velocity : REAL ; //Maximum velocity [u/s]
Acceleration : REAL := 1.000000e-001; //Acceleration [u/sІ]
Deceleration : REAL := 1.000000e-001; //Deceleration [u/sІ]
Direction : INT := 1; //Initial direction: 1=positive, -1=negative
END_VAR
VAR_OUTPUT
Busy : BOOL ; //1=Referencing
Done : BOOL ; //1=Standstill has been reached / Function completed
CommandAborted : BOOL ; //1=Command was aborted by another command
Error : BOOL ; //1=Error has occurred within FB
END_VAR
VAR_IN_OUT
Axis : UDT1; //Global axis data
Init : BOOL := TRUE; //1=Initialize block
END_VAR
VAR
v_max : REAL ; //internal use
a_1 : REAL ; //internal use
b : REAL ; //internal use
ta : REAL ; //internal use
taHalbe : REAL ; //internal use
Zustand : INT ; //internal use
Bereich : INT ; //internal use
Coord : DINT ; //internal use
Grenze : REAL ; //internal use
aufl : REAL ; //internal use
Error_alt : BOOL ; //internal use
DoneRef_alt : BOOL ; //internal use
END_VAR
VAR_TEMP
over : REAL ; //internal use
vk : REAL ; //internal use
sk : REAL ; //internal use
vk1 : REAL ; //internal use
sk1 : REAL ; //internal use
vv : REAL ; //internal use
v_over : REAL ; //internal use
Bremspunkt : REAL ; //internal use
Hilf_R : REAL ; //internal use
Hilf_DI : DINT ; //internal use
StrichZahl : REAL ; //internal use
Err_DW : DWORD ; //internal use
Err_w AT Err_DW : STRUCT
w0 : WORD;
w1 : WORD;
END_STRUCT ;
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 ;
END_VAR
BEGIN
IF Init
THEN
Init:=false;
Done:=false;
Busy:=false;
CommandAborted:=false;
Error:=false;
Error_alt:=false;
Zustand:=1;
Bereich:=5;
ta:=Axis.Sample_T;
taHalbe:=ta*5.000000e-001;
aufl:=Axis.aufl;
Grenze:=aufl*1.6777216e+007;
END_IF;
IF Zustand=7 OR Zustand=2 OR Zustand=3 OR Zustand=6
THEN
vk:=Axis.LastNomVelocity;
sk:=Axis.LastNomPosition;
IF Axis.ExecRef<>0
THEN
Bremspunkt:=vk*vk*0.5/b+sk;
IF ABS(Bremspunkt)>=Grenze
THEN
Axis.Error:=true;
Axis.Err.DistanceErr:=true;
END_IF;
END_IF;
IF Axis.Error
THEN
Err_DW_str:=Axis.Err;
IF NOT Error_alt
THEN
Error:=true;
Error_alt:=true;
IF Err_w.w1<>W#16#0
THEN
Zustand:=4;
ELSE
IF Zustand=2
THEN
Axis.ExecRef:=0;
END_IF;
END_IF;
END_IF;
END_IF;
IF Axis.Coord<>Coord OR Axis.ManEnable
THEN
CommandAborted:=true;
Zustand:=4;
END_IF;
END_IF;
IF Zustand=1
THEN
IF NOT Busy AND Execute
THEN
Busy:=true;
Done:=false;
CommandAborted:=false;
Error:=false;
Error_alt:=false;
DoneRef_alt:=false;
Coord:=Axis.Coord+1;
a_1:=Axis.MaxAcceleration;
b:=Axis.MaxDeceleration;
v_max:=Axis.MaxVelocity;
IF v_max>Velocity THEN v_max:=Velocity; END_IF;
IF a_1>Acceleration THEN a_1:=Acceleration; END_IF;
IF b>Deceleration THEN b:=Deceleration; END_IF;
Err_DW_str:=Axis.Err;
Err_DW_str.SWLimitMinExceeded:=false;
Err_DW_str.SWLimitMaxExceeded:=false;
Axis.Err.StartErr:=Err_DW<>DW#16#0 OR Axis.AxisState<>2 OR Axis.ManEnable;
IF NOT Axis.Err.StartErr
THEN
StrichZahl:=Position/aufl;
IF ABS(StrichZahl)>2.147483648e+009
THEN
Axis.Err.DataErr:=true;
ELSE
StrichZahl:=DINT_TO_REAL(ROUND(StrichZahl))*aufl;
Axis.Err.DataErr:=v_max<0.0 OR
v_max>0.0 AND (a_1<=0.0 OR b<=0.0 OR Axis.EncoderType) OR
ABS(StrichZahl)>1.6777216e+007;
Axis.Err.TargetErr:=(NOT Axis.AxisType AND Axis.SWLimitEnable) AND
(StrichZahl>=Axis.AxisLimitMax OR StrichZahl<=Axis.AxisLimitMin) OR
(StrichZahl>=Axis.AxisLimitMax OR StrichZahl<Axis.AxisLimitMin) AND
Axis.AxisType;
END_IF;
END_IF;
Err_DW_str:=Axis.Err;
Err_DW_str.SWLimitMinExceeded:=false;
Err_DW_str.SWLimitMaxExceeded:=false;
IF Err_DW<>DW#16#0
THEN
Axis.Error:=true;
Error:=true;
Zustand:=4;
ELSE
Axis.Sync:=false;
Axis.RemainingDistance:=0.0;
Axis.RefPoint:=StrichZahl;
Axis.AxisState:=9;
Axis.Coord:=Coord;
IF v_max=0.0
THEN
Zustand:=6;
Axis.ExecRef:=1;
ELSE
Zustand:=7;
Axis.ExecRef:=2;
sk:=Axis.LastNomPosition;
IF Axis.AxisType
THEN
Hilf_DI:=Axis.LageIstwert_DI;
Axis.LageIstwert_DI:=(Axis.LageIstwert_DI-Axis.PositionOffset) MOD
Axis.AchsLaenge_DI+Axis.PositionOffset;
Hilf_DI:=Hilf_DI-Axis.LageIstwert_DI;
Hilf_R:=DINT_TO_REAL(Hilf_DI)*aufl;
sk:=sk-Hilf_R;
Axis.InternalActPos:=Axis.InternalActPos-Hilf_R;
END_IF;
Axis.InternalPosOffset:=Axis.InternalPosOffset+sk;
Axis.InternalActPos:=Axis.InternalActPos-sk;
Axis.InternalNomPosition:=0.0;
Axis.LastNomPosition:=0.0;
Axis.LastNomDeceleration:=b;
IF Direction<=-1
THEN
a_1:=-a_1;
b:=-b;
v_max:=-v_max;
END_IF;
END_IF;
END_IF;
END_IF;
ELSIF Zustand=6
THEN
IF Axis.DoneRef
THEN
Axis.ExecRef:=0;
Zustand:=8;
END_IF;
ELSIF Zustand=8
THEN
Axis.Sync:=true;
Done:=true;
Busy:=false;
Zustand:=5;
Axis.AxisState:=2;
ELSIF Zustand=7
THEN
IF Axis.EintreiberFahrbereit
THEN
Zustand:=2;
END_IF;
IF Axis.DoneRef
THEN
Axis.ExecRef:=0;
Zustand:=8;
END_IF;
ELSIF Zustand=2
THEN
IF Axis.DoneRef
THEN
Axis.ExecRef:=0;
END_IF;
over:=ABS(Axis.Override)/100.0;
IF over>1.0
THEN
over:=1.0;
END_IF;
v_over:=v_max*over;
IF v_over<>0.0
THEN
vv:=vk/v_over;
ELSE
vv:=2.0;
END_IF;
IF Axis.ExecRef<>0
THEN
IF vv<1.0
THEN
Bereich:=1;
vk1:=a_1*ta+vk;
ELSIF vv=1.0
THEN
Bereich:=2;
vk1:=vk;
ELSE
Bereich:=6;
vk1:=vk-b*ta;
IF vk1*vk<=0.0 OR
(vk=0.0 AND v_over=0.0)
THEN
vk1:=0.0;
END_IF;
END_IF;
ELSE
IF NOT DoneRef_alt AND Axis.DoneRef
THEN
Bereich:=7;
DoneRef_alt:=true;
ELSE
Bereich:=3;
END_IF;
END_IF;
IF Bereich=1 OR Bereich=2 OR Bereich=6
THEN
IF (vk1-v_over)*(vk-v_over)<=0.0 AND vk<>v_over
THEN
vk1:=v_over;
END_IF;
sk1:=(vk+vk1)*taHalbe+sk;
END_IF;
IF Bereich=3
THEN
vk1:=vk-b*ta;
IF vk1*vk<=0.0 OR (vk=0.0 AND v_over=0.0)
THEN
vk1:=0.0;
END_IF;
sk1:=(vk+vk1)*taHalbe+sk;
IF vk1=0.0 AND v_over<>0.0
THEN
Zustand:=3;
Bereich:=5;
END_IF;
ELSIF Bereich=7
THEN
vk1:=vk;
sk1:=DINT_TO_REAL(Axis.LageIstwert_DI-Axis.PositionOffset)*aufl+sk;
END_IF;
Axis.InternalNomPosition:=sk1;
Axis.NomVelocity:=vk1;
ELSIF Zustand=3
THEN
IF Axis.AxisState=2
THEN
IF NOT Axis.Error
THEN
Done:=true;
Axis.Sync:=true;
END_IF;
Busy:=false;
Zustand:=5;
ELSIF Error_alt
THEN
Axis.AxisState:=8;
ELSE
Axis.AxisState:=5;
END_IF;
ELSIF Zustand=4
THEN
Busy:=false;
Axis.ExecRef:=0;
Zustand:=5;
ELSIF Zustand=5
THEN
IF NOT Execute
THEN
Done:=false;
CommandAborted:=false;
Error:=false;
Busy:=false;
Zustand:=1;
END_IF;
END_IF;
END_FUNCTION_BLOCK