BM_FindNotchPosRAFS

Description

The "BM_FindNotchPosRAFS" function carries out a notch position search (parameter 127.008.0.0) with the "standing wave and variable current feed angle" mode. The axis must not be freely movable during this measuring; after measuring successfully the redetermined notch position is displayed.

The redetermined value already is valid in the RAM controller, a takeover into the controller flash can be made with the BM_DataSetHandling class.

Further information referring to the notch position search is to be found in the "Parameter manual of the basic unit bmaXX 5000" chapter 3.9.8

Parameter input	Data type	Description
Execute	BOOL	Edge-sensitive execution
CurrentRise	REAL	Current rise [A/s]
CurrentDrop	REAL	Current drop [A/s]
TimeConstCurrent	REAL	Time constant current [s]
CurrentRef	REAL	Current set value notch position search [%]
Angle Rising	REAL	Angle rising [U/min]
MaxAngle	REAL	Maximum positioning angle [degrees]
ErrLimitMechDeltaAnlge	REAL	Error limit mechanical angle change [degrees]
Averaging0SpeedDetect	REAL	Averaging zero speed detection

Parameter output	Data type	Description
Done	BOOL	Notch position search successful.
Moving	BOOL	Notch position search is running.
Busy	BOOL	Parameter Read/write active.
CommandAborted	BOOL	Abort by another motion control command, BM_Stop or error stop
Error	BOOL	Parameter Read/write error; Error ID is valid
ErrorID	DWORD	Communication error ID Siemens error list

Parameter

Input and output

Data type

Description

Axis

UDT

BM Motion Control Axis Variable

Description

Before activating the command "BM_FindNotchPosRAFS" BM_Power must be switched off and the axis must be freely movable.

The command �Execute = 1� switches on the Axis notch position search, by an edge-sensitive execution all of the input values are taken over and the command is started at the axis. A new command switching requires a change from FALSE to TRUE at the input �Execute whereby this change can be carried out at the executing time of the command.

Movement command:

The edge-sensitive execution in switched-off BM_Power state. The execution of abort is aborted with BM_Stop, missing operational readiness or Errorstop. In the result message, only one of the output bits Done, Busy, CommandAborted is active

Edge-sensitive execution:

In order to carry out the command the Execute input can be TRUE during one cycle. Then the command is processed. The result is Done = 1 after the successful notch position search, the output parameter Busy, the Command Aborted Error and the Error Id are reset, if the input Execute = 0 (see diagram 1)

Diagram of an edge-sensitive execution:

Diagram 1:

State control by BM_ReadStatus:
Off state: Standstill.
After state: -

Recommended task: OB1.

Note:

"BM_Power" and other function block must be switched off and the axis must be freely movable.

A command from "BM_FindNotchPosRAFS" must not be activated before a command from another function block has been not successfully executed.

If an error occurs during the command execution, the error must be reset with �BM_Reset�. Function block command will be executed successfully at "BM" .AXIS [x] .DRIVE.BM_AXIS_STATUS.ParmRW_Active = 0.

Input Execute:

TRUE: Edge-sensitive execution, the input parameters and the start notch position search are taken over.

FALSE: No execution or resetting of the FC outputs of Error & Error ID.

Input CurrentRise:

Current rise in the A/s unit.

Minimum: 0.001 [A/s], maximum: 100.0 [A/s]

Default: 1.0 [A/s], if CurrentRise =0.0

Input CurrentDrop:

Current drop in the A/s unit.

Minimum: 0.001 [A/s], maximum: 100.0 [A/s]

Default: 5.0 [A/s], if CurrentDrop =0.0

Input TimeConstCurrent:

The parameter sets the time which is at least required of the constant current phase during notch position search.

Minimum: 0.01 [s] = 0.0[s], maximum: 10.0 [s]

Default: 1.0 [s], if TimeConstCurrent =0.0

Input CurrentRef:

Current of the notch position search. Standardization: 100% comply with the motor nominal current.

Minimum: 0.01 [%] = 0.0[%], maximum: 100.0 [%]

Default: 50.0 [%], if parameter CurrentRef=0.0

Input AngleRising:

The parameter specifies the change of the angle, where the electrical angle is corrected during the notch position search with "standing wave and a more variable current feed angle".

Minimum: 1.0 [U/min], maximum: 59999.0 [U/min]

Default: 1.0 [U/min], if parameter AngleRising =0.0

Input MaxAngle:

Setting of the window for permitted mechanical motion during notch position search with "standing wave and a more variable current feed angle", before the correction of the electrical angle is carried out.

Minimum: 0.05 [degrees], maximum: 360.00 [degrees]

Default: 8.00 [degrees], if the parameter MaxAngle =0.0

Input ErrLimitMechDeltaAngle:

Setting of the window for permitted mechanical motion during notch position search with "standing wave and more variable current feed angle" before an error is released.

Minimum: 0.05 [degrees], maximum: 360.00 [degrees]

Default: 0.50 [degrees], if the parameter MaxAngle =0.0

Input Averaging0SpeedDetect:

This parameter is used to detect 0 speed during notch position search with "standing wave and more variable current feed angle". The higher the width the lower the measured motion of the motor may be.

Requirement for 0 speed: Averaging0SpeedDetect x_Delta_Phi /ms < MaxAngle.

Minimum: 1.0, maximum: 1024.0

Default: 100.0, if parameter Averaging0SpeedDetect =0.0

Output Done:

TRUE: Notch position search is executed. Drive state changes from Enable operation to Ready-to-switch-on.

FALSE: Not activated.

Output Moving:

TRUE: Notch position search is running.

FALSE: not activated.

Output Busy:

TRUE: The service communication of the parameter Read/write actvie or Target position not reached, yet during an initiated positioning.

FALSE: Not activated.

Output CommandAborted:

TRUE: Abort due to another motion control command, BM_Stop command, error stop or a missing operating availability to BM_Power.

FALSE: Not activated.

Output Error:

TRUE: An error at the service communication of the parameter Read/write is available. Information to error ID is valid and error information, refer to S7 in the manual.

FALSE: No error activated.

Output ErrorID:

The information of service communication error (detailed information refer to S7 in the manual)

Input and output Axis:

Symbolic BM Motion Control axis variable of an UDT type.

While programming the data module template DDB5 (symbolic �BM�) it is to be written with the following symbol text: "BM".AXIS[x] (x is drive axis number).