Tools

This technology function realizes a blinker. Here it is possible to paramerize a several time for On period and off period. If input "x_Const_Out = TRUE" then the blinking output is an high level all the time. If an HL edge is detected at this input the blinker starts automatically.

This technology function realizes a blinker. Here it is possible to paramerize a several time for On period and off period. If input "x_Const_Out = TRUE" then the blinking output is an high level all the time. If an HL edge is detected at this input the blinker starts automatically.

This function block readout specified configuratoin parameters of a Baumüller drive. Please read the general description for further informations.

Actually this fuction block is usable for
Bmaxx 32xx, BmaXX 33xx, BmaXX 52xx, BmaXX 53xx

This function block readout specified configuratoin parameters of a Baumüller drive. Please read the general description for further informations.

Actually this fuction block is usable for
Bmaxx 32xx, BmaXX 33xx, BmaXX 52xx, BmaXX 53xx

With this fb it is possible to read all errors of a Baumüller drive. When the drive creates an error the fb read all errors and stores them in the array "a_ErrorList". Also the count of errors is stored. A succesfull reading is characterized by "x_ListDone = TRUE". A falling edge at the input "x_Acknowledge" deletes the content of "a_ErrorList" and the monitoring of new drive errors will start again.

With this fb it is also possible to read the actual error of drive continously. This function must be activated by "x_ContCheck = TRUE". When this function is used t_CheckCycle must be selected higher than 0. The activation and reactivation by "x_ContCheck" can be done at any time. Attention: The drive errors are readout via user data.

The functionblock detects itself which type of axis is connected!

Attention: Actually this fb is usable for:
BmaXX 32xx, BmaXX 33xx, BmaXX 44xx with Firmware-Version 3.11 or higher, BmaXX 52xx, BmaXX 53xx

With this fb it is possible to read all errors of a Baumüller drive. When the drive creates an error the fb read all errors and stores them in the array "a_ErrorList". Also the count of errors is stored. A succesfull reading is characterized by "x_ListDone = TRUE". A falling edge at the input "x_Acknowledge" deletes the content of "a_ErrorList" and the monitoring of new drive errors will start again.

With this fb it is also possible to read the actual error of drive continously. This function must be activated by "x_ContCheck = TRUE". When this function is used t_CheckCycle must be selected higher than 0. The activation and reactivation by "x_ContCheck" can be done at any time. Attention: The drive errors are readout via user data.

The functionblock detects itself which type of axis is connected!

Attention: Actually this fb is usable for:
BmaXX 32xx, BmaXX 33xx, BmaXX 44xx with Firmware-Version 3.11 or higher, BmaXX 52xx, BmaXX 53xx

With TB_FIFO (first in, first out), data records are saved sequentially and can be read out again in the same order at a later time. Up to 256 data records can be saved.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, data records can be saved and read. A data record consists of one to four data words.

Saving data:
The data record active at di_InVal0..3 is saved with the positive edge at input x_Put. If the data record was accepted, this is reported with TRUE at the x_PutDone output for one cycle. If the data record could not be saved (FIFO full), x_PutDone remains FALSE and an error is output. Up to 256 data records can be saved.

Reading data:
With a positive edge at the x_Get input, the oldest data set is read, output at di_OutVal0..3 and deleted internally. This means that a read data record cannot be read out a second time. Successful output is indicated with TRUE at the x_GetDone output for one cycle. If no data records could be read (FIFO empty), x_GetDone remains FALSE and an error is output.

Deleting FIFO:
When the enable is cancelled (x_Enable = FALSE), the FIFO is deleted and all saved data records are deleted.

Acknowledging errors:
Errors are deleted automatically via a valid command. If, for example, a data record is saved after an error -2 (FIFO empty), x_Error becomes FALSE and i_Error becomes 0.

With TB_FIFO (first in, first out), data records are saved sequentially and can be read out again in the same order at a later time. Up to 256 data records can be saved.

When x_Enable = TRUE, the module is activated. Successful activation is signaled with TRUE at the x_Active output. From this point, data records can be saved and read. A data record consists of one to four data words.

Saving data:
The data record active at di_InVal0..3 is saved with the positive edge at input x_Put. If the data record was accepted, this is reported with TRUE at the x_PutDone output for one cycle. If the data record could not be saved (FIFO full), x_PutDone remains FALSE and an error is output. Up to 256 data records can be saved.

Reading data:
With a positive edge at the x_Get input, the oldest data set is read, output at di_OutVal0..3 and deleted internally. This means that a read data record cannot be read out a second time. Successful output is indicated with TRUE at the x_GetDone output for one cycle. If no data records could be read (FIFO empty), x_GetDone remains FALSE and an error is output.

Deleting FIFO:
When the enable is cancelled (x_Enable = FALSE), the FIFO is deleted and all saved data records are deleted.

Acknowledging errors:
Errors are deleted automatically via a valid command. If, for example, a data record is saved after an error -2 (FIFO empty), x_Error becomes FALSE and i_Error becomes 0.

The function block TB_FilterReal implements a low-pass filter with a programmable time constant (T) for REAL values. In each cycle, the block calculates the filtered value based on the current input value and the previous filtered value. The time constant T determines how quickly the filter responds to changes in the input value. The filtered value is provided at the output Y.

The FB is suitable for attenuating high-frequency input values and generating smoothed output values. The choice of the time constant T influences the filter's response speed. A larger T value results in a slower response to changes.

The function block TB_FilterReal implements a low-pass filter with a programmable time constant (T) for REAL values. In each cycle, the block calculates the filtered value based on the current input value and the previous filtered value. The time constant T determines how quickly the filter responds to changes in the input value. The filtered value is provided at the output Y.

The FB is suitable for attenuating high-frequency input values and generating smoothed output values. The choice of the time constant T influences the filter's response speed. A larger T value results in a slower response to changes.

This module creates the data point table of the standard cams for use in technology modules such as TB_SyncLin, TB_SyncRot and TB_CamStretch.

The cam data points for the technology modules are saved in the data point table.

The table provides space for 32 cams with 512 data points each. The first 16 spots are reserved. Spots 17 to 32 can be filled with user cams. Modules with CamId input (e.g. TB_CamStretch) can process the user cams. See description of the corresponding modules.

This module creates the data point table of the standard cams for use in technology modules such as TB_SyncLin, TB_SyncRot and TB_CamStretch.

The cam data points for the technology modules are saved in the data point table.

The table provides space for 32 cams with 512 data points each. The first 16 spots are reserved. Spots 17 to 32 can be filled with user cams. Modules with CamId input (e.g. TB_CamStretch) can process the user cams. See description of the corresponding modules.

This module generates cyclical setpoint positions in user units and can execute additional positioning in conjunction with technology modules such as TB_SyncRot or TB_SyncLin.

The module generates setpoint positions based on a master position. The movement starts from a rest as soon as the master position (di_xPos) is the same as the start position (di_xOffs). The movement of the axis (di_yFact) is executed while the master path covers di_xFact. A velocity profile without a velocity plateau is generated.

This module generates cyclical setpoint positions in user units and can execute additional positioning in conjunction with technology modules such as TB_SyncRot or TB_SyncLin.

The module generates setpoint positions based on a master position. The movement starts from a rest as soon as the master position (di_xPos) is the same as the start position (di_xOffs). The movement of the axis (di_yFact) is executed while the master path covers di_xFact. A velocity profile without a velocity plateau is generated.

This function block is used to read the G-Code buffer of the MC_MovePath. The G-Code commands are sorted in ascending order, starting with the rently active command. The table is updated automatically by changing the ArrayIndex of the G-Code Buffer.

This function block is used to read the G-Code buffer of the MC_MovePath. The G-Code commands are sorted in ascending order, starting with the rently active command. The table is updated automatically by changing the ArrayIndex of the G-Code Buffer.

The function block TB_RtcDateToString converts the RTC date from HEX to a string.

The output is in two formats:

The function block TB_RtcDateToString converts the RTC date from HEX to a string.

The output is in two formats:

The function block TB_RtcTimeToString converts the received RTC time (in HEX format) into a HH:MM:SS format. Optionally, a display in 12h format is possible, in this case the AM/PM suffix is added accordingly.

The function block TB_RtcTimeToString converts the received RTC time (in HEX format) into a HH:MM:SS format. Optionally, a display in 12h format is possible, in this case the AM/PM suffix is added accordingly.

The function block TB_Select_PT1 is used to select between two input values (r_InValue_1 and r_InValue_2) based on the switch x_Switch. When x_Switch is set to FALSE, the value of r_InValue_1 is selected; otherwise, the value of r_InValue_2 is selected. The selected value is then processed through a PT1 transfer element with time constants t_Time_1 or t_Time_2 (depending on the selection) and the gain factor r_Multiplier.

The function block monitors the value transfer and sets the status signals x_Busy and x_Done accordingly. When the transfer is active (i.e., the difference between the output and input values is greater than 0.25), x_Busy is set to TRUE. When the target value is reached (i.e., x_Switch is active, and the difference between the output and input values is less than or equal to 0.25), x_Done is set to TRUE.

The function block can be enabled or disabled with the input x_Enable. When x_Enable is set to FALSE, all outputs are reset, and the function block is inactive.

Note: If the value of r_Multiplier is less than or equal to 0, the gain factor is set to 1 to ensure correct functionality.

The function block TB_Select_PT1 is used to select between two input values (r_InValue_1 and r_InValue_2) based on the switch x_Switch. When x_Switch is set to FALSE, the value of r_InValue_1 is selected; otherwise, the value of r_InValue_2 is selected. The selected value is then processed through a PT1 transfer element with time constants t_Time_1 or t_Time_2 (depending on the selection) and the gain factor r_Multiplier.

The function block monitors the value transfer and sets the status signals x_Busy and x_Done accordingly. When the transfer is active (i.e., the difference between the output and input values is greater than 0.25), x_Busy is set to TRUE. When the target value is reached (i.e., x_Switch is active, and the difference between the output and input values is less than or equal to 0.25), x_Done is set to TRUE.

The function block can be enabled or disabled with the input x_Enable. When x_Enable is set to FALSE, all outputs are reset, and the function block is inactive.

Note: If the value of r_Multiplier is less than or equal to 0, the gain factor is set to 1 to ensure correct functionality.

TB_ShiftReg makes available a shift register with which product tracking can be implemented. Four DINT variables can be shifted. The shift register can contain up to 256 slots.

When x_Enable = TRUE, the module is activated. All data is deleted here (set to 0). Successful activation is signaled with TRUE at the x_Active output. From this point, data records can be saved and read. A data record consists of one to four data words.

Saving data:
The data record active at di_InVal0..3 is saved with the positive edge at input x_Put at position us_Position. If the data record was accepted, this is reported with TRUE at the x_PutDone output for one cycle.

Reading data:
With a positive edge at input x_Get, the data record at position us_Position is output at di_OutVal0..3. Successful output is indicated with TRUE at the x_GetDone output for one cycle.

Deleting FIFO:
With a positive edge at the x_Clock input, all data records are shifted to the next position.

Acknowledging errors:
When the enable is cancelled (x_Enable = FALSE), the shift register is deleted and all saved data records are deleted.

TB_ShiftReg makes available a shift register with which product tracking can be implemented. Four DINT variables can be shifted. The shift register can contain up to 256 slots.

When x_Enable = TRUE, the module is activated. All data is deleted here (set to 0). Successful activation is signaled with TRUE at the x_Active output. From this point, data records can be saved and read. A data record consists of one to four data words.

Saving data:
The data record active at di_InVal0..3 is saved with the positive edge at input x_Put at position us_Position. If the data record was accepted, this is reported with TRUE at the x_PutDone output for one cycle.

Reading data:
With a positive edge at input x_Get, the data record at position us_Position is output at di_OutVal0..3. Successful output is indicated with TRUE at the x_GetDone output for one cycle.

Deleting FIFO:
With a positive edge at the x_Clock input, all data records are shifted to the next position.

Acknowledging errors:
When the enable is cancelled (x_Enable = FALSE), the shift register is deleted and all saved data records are deleted.

In feeding systems, e.g. film feeding, slipping can occur due to faulty friction. This slippage is compensated for using the TB_SlipCtrl function module. For this purpose the actual velocity value of the encoder of the feed motor is compared to the actual velocity value of an additional encoder, which is situated directly on the material, e.g. film, via an encoder wheel.

Due to the highly suited control algorithm, it is possible to compensate for slippage up to approx. 50%. This occurs without any persistent control deviation.

The maximum influence regarding velocity can be limited with di_CtrlLim. Using the di_SlipPerc output, the current slippage can be monitored and, if necessary, responded to if the slippage is excessive, e.g. torn film or material backup.

The figure below shows how the function block behaves when the material speed (e.g. encoder wheel) is slower than the feed.
Then the di_Vel output is compensated in that its value is increased by the same amount, so that the material feed remains constant.

In feeding systems, e.g. film feeding, slipping can occur due to faulty friction. This slippage is compensated for using the TB_SlipCtrl function module. For this purpose the actual velocity value of the encoder of the feed motor is compared to the actual velocity value of an additional encoder, which is situated directly on the material, e.g. film, via an encoder wheel.

Due to the highly suited control algorithm, it is possible to compensate for slippage up to approx. 50%. This occurs without any persistent control deviation.

The maximum influence regarding velocity can be limited with di_CtrlLim. Using the di_SlipPerc output, the current slippage can be monitored and, if necessary, responded to if the slippage is excessive, e.g. torn film or material backup.

The figure below shows how the function block behaves when the material speed (e.g. encoder wheel) is slower than the feed.
Then the di_Vel output is compensated in that its value is increased by the same amount, so that the material feed remains constant.

This block can be used to monitor and log the states of a state machine (CASE) in a POU

This block can be used to monitor and log the states of a state machine (CASE) in a POU

With this module, the synchronous movement of the TB_SyncLin und TB_SyncRot technology modules can be replaced. By default, a straight line is used so that the axis moves in sync with the master with regard to both angle and velocity.

The following conditions are to be complied with for user synchronization cams.
-The slope at the beginning and end must be the same.
-The curve at the beginning and end must be zero.
-The cam must consist of 512 data points

The cam must be normalized to 0 to 16,777,216 in the x- and y-directions.

x-direction:
512 data points for the x-positions [0]0, [1]32,768, [2]65,536, …, [511]16,744,448 are specified, and the accompanying y-value is saved in the _SyncCam table. The x-value is not saved.

y-direction:
The y-value for the first x-position is _SyncCam[0] = 0. The value is always 0. The last value of the cam would be the 513th value, i.e. _SyncCam[512] = 16,777,216. Since the cam is only defined up to _SyncCam[511], however, the points are to be normalized in such a way that the 513th value is 16,777,216. For a simple straight line, _SyncCam[511] is thus 16,744,448.

When using the user synchronization cam, note that the SEP may occur at the earliest at the end of the user synchronization cam, as otherwise a jerk or impact could result upon reversing. The movement after the user synchronization cam up to the SEP occurs with a straight line.

With this module, the synchronous movement of the TB_SyncLin und TB_SyncRot technology modules can be replaced. By default, a straight line is used so that the axis moves in sync with the master with regard to both angle and velocity.

The following conditions are to be complied with for user synchronization cams.
-The slope at the beginning and end must be the same.
-The curve at the beginning and end must be zero.
-The cam must consist of 512 data points

The cam must be normalized to 0 to 16,777,216 in the x- and y-directions.

x-direction:
512 data points for the x-positions [0]0, [1]32,768, [2]65,536, …, [511]16,744,448 are specified, and the accompanying y-value is saved in the _SyncCam table. The x-value is not saved.

y-direction:
The y-value for the first x-position is _SyncCam[0] = 0. The value is always 0. The last value of the cam would be the 513th value, i.e. _SyncCam[512] = 16,777,216. Since the cam is only defined up to _SyncCam[511], however, the points are to be normalized in such a way that the 513th value is 16,777,216. For a simple straight line, _SyncCam[511] is thus 16,744,448.

When using the user synchronization cam, note that the SEP may occur at the earliest at the end of the user synchronization cam, as otherwise a jerk or impact could result upon reversing. The movement after the user synchronization cam up to the SEP occurs with a straight line.

To compensate for or pre-control dead times, it is necessary to calculate the path covered by an axis during a specified time in advance. The TB_TimeToTravel function calculates this path (UDINT type). In conjunction with the TB_MasterEngine function module, the path can also be calculated exactly during the acceleration and braking phases.

The function calculates the travel range in units covered by an axis during a specified time.

Real master axis:
If a real master axis is used, for example, only the current velocity is available. Since no information on the duration of the acceleration is available, the calculation is only precise for constant operation; an error occurs during acceleration. Only the di_VelAct_s input can be connected.

Virtual master axis:
Since the velocity to be reached and the level and duration of acceleration are known when a virtual master axis is used (TB_MasterEngine function module), calculation of the travel range occurs without incident. All inputs must be used; they are available at the TB_MasterEngine function module.

To compensate for or pre-control dead times, it is necessary to calculate the path covered by an axis during a specified time in advance. The TB_TimeToTravel function calculates this path (UDINT type). In conjunction with the TB_MasterEngine function module, the path can also be calculated exactly during the acceleration and braking phases.

The function calculates the travel range in units covered by an axis during a specified time.

Real master axis:
If a real master axis is used, for example, only the current velocity is available. Since no information on the duration of the acceleration is available, the calculation is only precise for constant operation; an error occurs during acceleration. Only the di_VelAct_s input can be connected.

Virtual master axis:
Since the velocity to be reached and the level and duration of acceleration are known when a virtual master axis is used (TB_MasterEngine function module), calculation of the travel range occurs without incident. All inputs must be used; they are available at the TB_MasterEngine function module.

The function XAND performs a logical OR-AND operation on the operands associated with the two input signals, IN1 and IN2.

The output signal will be in the "1" state (high) if either the first and second input signals both have the "1" state or both input signals have the "0" state. Otherwise, the output will be in the "0" state (low).

The function XAND performs a logical OR-AND operation on the operands associated with the two input signals, IN1 and IN2.

The output signal will be in the "1" state (high) if either the first and second input signals both have the "1" state or both input signals have the "0" state. Otherwise, the output will be in the "0" state (low).