Motion extension

Links a technology function to a Motion Control axis. For this purpose, the setpoint value specified from the technology function is transformed with the specified ratio and transmitted to the axis as a position setpoint value.

Attention:
The TB_DriveEncoder function module can only be used in conjunction with Motion Control. Can only be used in a synchronized setpoint event task.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, the planned velocity (in 1/100th user units/Ts) is converted with the gear ratio ud_Units/u_Revolution and output to the connected axis.

Example for determining the ratio: Spindle with slope 12.5mm/R on a gear with i = 4. 1/1,000th mm is the desired user unit. The ratio is yielded as 12.5 mm/R * 1,000 Units/mm = 12,500 Units/R. Thus ud_Units = 12,500 and u_Revolution = 4.

Links a technology function to a Motion Control axis. For this purpose, the setpoint value specified from the technology function is transformed with the specified ratio and transmitted to the axis as a position setpoint value.

Attention:
The TB_DriveEncoder function module can only be used in conjunction with Motion Control. Can only be used in a synchronized setpoint event task.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, the planned velocity (in 1/100th user units/Ts) is converted with the gear ratio ud_Units/u_Revolution and output to the connected axis.

Example for determining the ratio: Spindle with slope 12.5mm/R on a gear with i = 4. 1/1,000th mm is the desired user unit. The ratio is yielded as 12.5 mm/R * 1,000 Units/mm = 12,500 Units/R. Thus ud_Units = 12,500 and u_Revolution = 4.

The TB_DriveState function module makes available all required information on the status of the drive.

This function module reads the drive status, i.e. all relevant information, such as hardware inputs, status word, errors and warnings. Using this information, it is possible to check whether the drive is ready to be switched on before switching on with MC_PowerOn, for example. In addition, constant checking of whether errors or warnings arise can be carried out.

The TB_DriveState function module makes available all required information on the status of the drive.

This function module reads the drive status, i.e. all relevant information, such as hardware inputs, status word, errors and warnings. Using this information, it is possible to check whether the drive is ready to be switched on before switching on with MC_PowerOn, for example. In addition, constant checking of whether errors or warnings arise can be carried out.

Generates the actual mechanical position in user units from the increment position of a connected encoder.

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 and added to the position variable connected to di_Pos. The position should be set once by the user.

Generates the actual mechanical position in user units from the increment position of a connected encoder.

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 and added to the position variable connected to di_Pos. The position should be set once by the user.

With this function, the current mechanical position of an axis equipped with an absolute value encoder can be calculated. For this purpose, the encoder position and the accompanying mechanical position must be determined during commissioning of the axis.

With this function, the current mechanical position of an axis equipped with an absolute value encoder can be calculated. For this purpose, the encoder position and the accompanying mechanical position must be determined during commissioning of the axis.

The TB_MasterEncoder function module generates a master position and velocity in user units from a Motion Control axis (AXIS_REF) generated by the TB_MasterEngine or TB_PhysicalEncoder function module. The module is used to generate the master position for the respective "technology" axis (from the TechLib library) from a master axis. This position is used as a master value for the SyncLin und SyncRot technology modules, for example.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, the positional changes (in user units/Ts) of the connected axis are detected, output (di_MasterVel) and added to the connected position variable (di_MasterPos). The position should be set once by the user. If TB_MasterEncoder is used in conjunction with a technology module (e.g. SyncLin or SyncRot), the position of the technology module is manipulated. See the description of the technology modules for this purpose.

The TB_MasterEncoder function module generates a master position and velocity in user units from a Motion Control axis (AXIS_REF) generated by the TB_MasterEngine or TB_PhysicalEncoder function module. The module is used to generate the master position for the respective "technology" axis (from the TechLib library) from a master axis. This position is used as a master value for the SyncLin und SyncRot technology modules, for example.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, the positional changes (in user units/Ts) of the connected axis are detected, output (di_MasterVel) and added to the connected position variable (di_MasterPos). The position should be set once by the user. If TB_MasterEncoder is used in conjunction with a technology module (e.g. SyncLin or SyncRot), the position of the technology module is manipulated. See the description of the technology modules for this purpose.

This function module can be used to generate a new virtual master. Any user units (Unit) can be used; it is thus possible to present the machinery in mm or °. In addition, any period can be specified, that can be 360° for example, to generate a rotary movement.

This function module can be used to generate a new virtual master. Any user units (Unit) can be used; it is thus possible to present the machinery in mm or °. In addition, any period can be specified, that can be 360° for example, to generate a rotary movement.

Generates the actual mechanical position of a Motion Control axis in user units from the axis.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, the positional changes of the connected axis are detected, converted into user units, output at di_Vel and added to the position variable connected to di_Pos. The position should be set once by the user.

Generates the actual mechanical position of a Motion Control axis in user units from the axis.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, the positional changes of the connected axis are detected, converted into user units, output at di_Vel and added to the position variable connected to di_Pos. The position should be set once by the user.

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 360°/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".

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 360°/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".

The function block TB_ReadActualTorque calculates the actual torque of the axis, including saturation. Upon activation with x_Enable = TRUE, the FB reads essential motor parameters via service data communication and initiates the conversion of the input variable r_ActualCurrent into the actual drive torque. The calculated value is then output through the output variable r_ActualTorque.

The function block can be called from any motion state and can be instantiated as many times as needed.

Note: The function block cannot be used for drives with hollow shaft and belt transmission.

The function block TB_ReadActualTorque calculates the actual torque of the axis, including saturation. Upon activation with x_Enable = TRUE, the FB reads essential motor parameters via service data communication and initiates the conversion of the input variable r_ActualCurrent into the actual drive torque. The calculated value is then output through the output variable r_ActualTorque.

The function block can be called from any motion state and can be instantiated as many times as needed.

Note: The function block cannot be used for drives with hollow shaft and belt transmission.

The function block "TB_ReadAxisStatus" reads various status information of the axis. After activating the function block with x_Enable = TRUE, the reading of the drive status is initiated.

The function block can be called from any motion state and can be instantiated as many times as needed.

The function block "TB_ReadAxisStatus" reads various status information of the axis. After activating the function block with x_Enable = TRUE, the reading of the drive status is initiated.

The function block can be called from any motion state and can be instantiated as many times as needed.

The function block BM_ReadWriteBM5Parameter enables read & write access to all drive parameters of the BmaXX 5000 family. The service data communication with the slave runs via CAN over Ethercat (CoE); by using its own communication channel, the FB is completely independent of Motion Control.

Because the function block has a resource dependency, this must be configured accordingly in the POU (process object environment) in which the function block is instantiated.

On a rising edge of the input x_Execute, the read/write operation is initiated. The block reads or writes a parameter value to or from a motion control axis specified by the input variable_Axis. The drive parameter is determined by parameter IDs i_ParaID0 to i_ParaID3.

The output x_Busy indicates whether the block is actively processing. Upon successful processing, the output x_Done is set. If an error occurs, the output x_Error is set, and the corresponding error number is displayed in the output w_ErrorID. The error description can be found in the Baumüller Motion Control Help or in the "MC_ErrorInfo" function block.

The block supports various types of parameters, including DWORD, REAL, and STRING. The respective type is indicated by the input variable si_ValueType. The number of transmitted bytes is displayed in the output si_ByteLength, depending on the selected parameter type.

The function block BM_ReadWriteBM5Parameter enables read & write access to all drive parameters of the BmaXX 5000 family. The service data communication with the slave runs via CAN over Ethercat (CoE); by using its own communication channel, the FB is completely independent of Motion Control.

Because the function block has a resource dependency, this must be configured accordingly in the POU (process object environment) in which the function block is instantiated.

On a rising edge of the input x_Execute, the read/write operation is initiated. The block reads or writes a parameter value to or from a motion control axis specified by the input variable_Axis. The drive parameter is determined by parameter IDs i_ParaID0 to i_ParaID3.

The output x_Busy indicates whether the block is actively processing. Upon successful processing, the output x_Done is set. If an error occurs, the output x_Error is set, and the corresponding error number is displayed in the output w_ErrorID. The error description can be found in the Baumüller Motion Control Help or in the "MC_ErrorInfo" function block.

The block supports various types of parameters, including DWORD, REAL, and STRING. The respective type is indicated by the input variable si_ValueType. The number of transmitted bytes is displayed in the output si_ByteLength, depending on the selected parameter type.

The status of the axis modules TB_xxx_CY is available as a structure variable at the _Result output. The TB_Result function module is used to break down and display this status. Thus not only the status of the axis module is available, but also the status of the drive in its entirety.

This function module is used for the diagnosis of the axis module and the drive. The _Result structure, which is available at the output of the axis module, is used as an interface.

The outputs that describe the status of the drive were generated in the axis module of TB_DriveState.
The outputs that describe the status of the axis module are generated in the "output" action. The error messages can be expanded or modified, depending on the application. The error code is structured as follows:

dw_Result:
Bits 0 to 15: error number of the faulty function module
Bits 16 to 23: number of the module/function module

Thus it is possible to transmit the following fault message:
In "Automatic" mode (bits 24 to 32), the "third" function module (bits 16 to 23) has the error number "-110" (bits 0 to 15).

The status of the axis modules TB_xxx_CY is available as a structure variable at the _Result output. The TB_Result function module is used to break down and display this status. Thus not only the status of the axis module is available, but also the status of the drive in its entirety.

This function module is used for the diagnosis of the axis module and the drive. The _Result structure, which is available at the output of the axis module, is used as an interface.

The outputs that describe the status of the drive were generated in the axis module of TB_DriveState.
The outputs that describe the status of the axis module are generated in the "output" action. The error messages can be expanded or modified, depending on the application. The error code is structured as follows:

dw_Result:
Bits 0 to 15: error number of the faulty function module
Bits 16 to 23: number of the module/function module

Thus it is possible to transmit the following fault message:
In "Automatic" mode (bits 24 to 32), the "third" function module (bits 16 to 23) has the error number "-110" (bits 0 to 15).

Generates a motion control axis and the actual mechanical position of the axis in user units from a speed in 1/100 user units / Ts.

Generates a motion control axis and the actual mechanical position of the axis in user units from a speed in 1/100 user units / Ts.