TB_CamSwitch - Overview

General Information

This module can create a cam with which an event is triggered at a cam position. The cam can be pre-controlled for time to compensate for dead times.

In conjunction with the TB_MasterEngine function module, the dead time compensation can also be calculated exactly during the acceleration and braking phases. When using a real axis, only one velocity compensation can be used.

Recommended task:	Event
Libraries used:
Additional data type definitions:	....todo
Use of Static-Variables:	....todo

General description

see detailed information

InOut Parameter

none

Input Parameter

Marking:	Data type:	Default:	Data range:	Description:
x_Enable	BOOL	...	...	TRUE: Enabling of the module. Control is active. FALSE: Module is deactivated; the outputs are set to FALSE.
x_Start	BOOL	...	...	TRUE: Start of cam generation. With the positive edge, the position di_Pos is set to the position di_StartPos.
x_Ready	BOOL	...	...	TRUE: Actuator is ready. If a cam is to be output (x_CamOut = TRUE), the input must be TRUE. Otherwise, an error is output.
di_Vel	DINT	...	...	Actual velocity of the encoder in user units/Ts.
di_StartPos	DINT	...	...	Start or reference position of the encoder. If x_Start = TRUE, x_Pos is set to this position.
di_CamPos	DINT	...	...	Position of the encoder at which the cam is to take effect. This position minus the path ud_Travel, which is traversed during the dead time, yields the position at which the cam switches.
di_Period	DINT	...	...	Period of the position in user units. Whenever the cam switches, the position di_Pos is reset by di_Period.
u_Delay_ms	DINT	...	...	Dead time in ms. All deceleration times of the system are combined here. Maximum times up to 5,000 ms are possible. If a larger value is connected, it is limited to 5,000 ms internally.
ud_TimeAcc_ms	DINT	...	...	Remaining acceleration time in ms from the TB_MasterEngine module when using the virtual master. Otherwise, leave open.
di_VelSet_s	DINT	...	...	Setpoint velocity in user units/s from the TB_MasterEngine module when using the virtual master. Otherwise, leave open.
di_VelAct_s	DINT	...	...	Actual velocity in user units/s. This value must be connected for the dead time compensation. The actual velocity is either from a real master or a virtual master (TB_MasterEngine function module).

Output Parameter

Marking:	Data type:	Description:
x_Active	BOOL	TRUE: Module is active.
x_Running	BOOL	TRUE: Cam calculation is active. x_Running is FALSE if x_Start = FALSE and the cam position of the last cam has been reached. This output can be used to determine whether all cams to be processed are ready. To stop a process, x_Start is set to FALSE. If all cams are processed, x_Running is FALSE. The axis can now be stopped.
x_CamOut	BOOL	Cam output. x_Running is TRUE for one cycle.
di_Pos	DINT	Position of the encoder in user units.
ud_Travel	UDINT	Path of the encoder during the deceleration time di_Delay_ms. This path depends on the velocity of the encoder and is recalculated cyclically.
x_Error	BOOL	TRUE: Error detected.
i_Error	INT	Error number of the module. See error table.

i_Error	Description:
0	No error.
-1	Actuator not ready. This error occurs if the cam is to switch, but the x_Ready input is FALSE.
-2	Overrun. This error occurs if StartPos is located more than one period after CamPos.
-3	The cam position of the last cam has not been reached. This error occurs if x_Start = FALSE and the time u_Delay_ms has expired without the cam position having been reached as a result of di_Vel being too small or 0.