TB_PhysicalEncoder

General Information

Generates the actual mechanical position in user units from increment position of a connected encoder and outputs this as a Motion Control axis. With this module, a mechanical encoder can be used as a master encoder for synchronous movements. For this purpose, the 32-bit angle position (in increments) of the encoder is available as a cyclical value.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, the angle changes of the connected encoder are detected, converted into user units, output, added to the position variable connected to di_Pos and saved in the _Master axis. The position should be set once by the user. The master axis can be used directly in Motion Control. The di_Pos position is available for using technology modules (SyncLin, SyncRot etc.).

If you would like to use the real master axis to couple Motion Control function modules such as MC_GearIn or MC_CamIn, you must specify a resolution to create the reference of user units per MC_Periode. This resolution is specified per break, e.g. in 360Â°/1 MC_Periode or 54,554 mm/1,000 MC_Periods. If you use the virtual master axis with function modules from the technology library, such as TB_SyncLin or TB_SyncRot, you do not need to specify the resolution, as these function modules work with user units.

With the TB_MasterEncoder function module, a unique master position for each individual technology axis is generated from the _Master (AXIS_REF) structure occupied by the TB_PhysicalEncoder function module. For this purpose, see "Application Manual Encoder Concept".

Recommended task:	EVENT
Libraries used:	MOTION_MULTI_AXIS_xxbd00 or greater ARITHMETIC_30bd00 or greater MOTION_TYPES_xxbd07
Additional data type definitions:	...
Use of Static-Variables:	...

InOut Parameter

none

Input Parameter

Marking:	Data type:	Default:	Data range:	Description:
x_Enable	BOOL	...	...	TRUE: Enabling of the module. The position is changed based on the velocity of the connected axis. Setting of the position does not occur, however.
d_Encoder	DWORD	...	...	Angle position of the encoder in increments. 2³² increments correspond to one revolution of the encoder.
ud_Units	UDINT	...	...	Number of user units for the specified motor revolutions (u_Revolution).
u_Revolution	UINT	...	...	The internal processing precision of the master axis depends on u_Revolution. The smaller the u_Revolution, the greater the resolution: u_Revolution Resolution of the master axis 1 30 bits >= 2 29 bits >= 4 28 bits >= 8 27 bits >= 16 26 bits >= 32 25 bits >= 2^x 32-(x+2) bits = 30-x bits >= 4,096 18 bits >= 8,192 17 bits >= 16,384 16 bits >= 32,768 15 bits 0 = 65,536 14 bits
i_T_Cycle	INT	...	...	Configured cycle time of setpoint event task in ms. 1, 2, 4 or 8 ms is possible.
us_Filter	USINT	...	...	Filter parameter for the angle change. Zero means filter inactive. The larger the value, the greater the filter effect.
ud_Units_1	UDINT	...	...	Number of user units for the specified Motion Control periods (u_MC_Periode).
u_MC_Periode	UINT	...	...	Number of Motion Control periods for the specified user units (ud_Units_1).
di_Pos	DINT	...	...	Mechanical position of the encoder in user units.
_Master	AXIS_REF	...	...	Motion Control master axis.

Output Parameter

Marking:	Data type:	Description:
x_Active	BOOL	TRUE: Module active; positional changes of master axis cause positional changes at di_MasterPos.
di_Vel_s	DINT	Output of the current velocity in user units/Ts. Ts is the configured cycle time of the setpoint event task.
di_Vel_Ts	DINT	Output of the current velocity in user units/s.
di_Pos	DINT	Position of the axis in user units
_Master	AXIS_REF	Motion Control master axis