Initial commit
This commit is contained in:
Matthias Heisig
399
TC3_CNCPLCBase/OEM/FB_WZWKette.TcPOU
Normal file
399
TC3_CNCPLCBase/OEM/FB_WZWKette.TcPOU
Normal file
@@ -0,0 +1,399 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.6">
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<POU Name="FB_WZWKette" Id="{de78c7b1-582b-4c7b-bb52-35e58f49ffdc}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_WZWKette
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VAR_INPUT
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bExecute : BOOL;
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bReset : BOOL;
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uiToolPocket : DINT := 1;
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bInfeedEnabled : BOOL;
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uiMaxToolPockets : UINT := 51;
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END_VAR
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VAR_OUTPUT
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bDone : BOOL;
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bError : BOOL;
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nErrorId : INT;
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END_VAR
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VAR
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uiZSW1 AT %I* : UINT;
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uiAKTSATZ AT %I* : UINT;
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uiZSW2 AT %I* : UINT;
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uiX_IST AT %I* : UINT;
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uiX_IST2 AT %I* : UINT;
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uiSTW1 AT %Q* : UINT;
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uiSATZANW AT %Q* : UINT;
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uiSTW2 AT %Q* : UINT;
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uiMDI_TARPOS AT %Q* : UINT;
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uiMDI_TARPOS2 AT %Q* : UINT;
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uiMDI_VELOCITY AT %Q* : UINT;
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uiMDI_VELOCITY2 AT %Q* : UINT;
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uiMDI_ACC AT %Q* : UINT;
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uiMDI_DEC AT %Q* : UINT;
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uiMDI_MOD AT %Q* : UINT;
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rtStart : R_TRIG;
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rtReset : R_TRIG;
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ftError : F_TRIG;
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nState : INT := 0;
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nErrorState : INT := -1;
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dwTargetPosition : DWORD;
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dwCurrentPosition : DWORD;
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dwTargetSpeed : DWORD := 17260; // MAX 17260
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wTargetPositionLow : WORD;
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wTargetPositionHigh : WORD;
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wZSW1 : WORD;
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wSATZANW : WORD;
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wZSW2 : WORD;
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wSTW1 : WORD;
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wAKTSATZ : WORD;
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wSTW2 : WORD;
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wMDI_MOD : WORD;
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tofReset : TOF;
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tonWaitAktive : TON;
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bTest : BOOL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[// VERSION FÜR EPOS
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// Einlesen
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wZSW1 := UINT_TO_WORD(uiZSW1);
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wAKTSATZ := UINT_TO_WORD(uiAKTSATZ);
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wZSW2 := UINT_TO_WORD(uiZSW2);
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dwCurrentPosition := UINT_TO_DWORD(uiX_IST);
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dwCurrentPosition := SHL(dwCurrentPosition, 16) + UINT_TO_DWORD(uiX_IST2);
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IF uiToolPocket > 0 AND uiToolPocket < 51 THEN
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dwTargetPosition := DINT_TO_DWORD(3672000 - ((uiToolPocket - 1) * 72000));
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ELSE
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dwTargetPosition := 0;
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END_IF
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// Führung durch PLC
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wSTW1.10 := 1;
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// Absolute positionierung
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wMDI_MOD.0 := 1;
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// Positionierung absolut kürzester Weg
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wMDI_MOD.1 := 0;
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// Start bei steigender Flanke
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rtStart(CLK := bExecute);
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// Reset
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rtReset(CLK := bReset);
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// Error trigger
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ftError(CLK := wZSW1.3);
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// Fehlerzustand weitergeben
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bError := wZSW1.3;
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// Fehlerzustand
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IF (wZSW1.3 = 1) AND (nState < 99) THEN
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nErrorState := nState;
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nState := 99;
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END_IF
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// Reset der Achse
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tofReset(IN := bReset, PT := T#250MS);
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wSTW1.7 := tofReset.Q;
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CASE nState OF
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0: // Idle -> Einschalten
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wStW1.0 := 0; // Ein
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wStW1.1 := 0; // Nicht Austrudel
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wStW1.2 := 0; // Kein Schnellhalt
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wStW1.3 := 0; // Betrieb freigeben
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wSTW1.4 := 0; // EPOS nicht Verwerfen
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wSTW1.5 := 0; // EPOS kein Zwischenhalt
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wSTW1.6 := 0; // EPOS Verfahrauftrag aktivieren 0 -> 1
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wSATZANW.15 := 0; // MDI aktivieren
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IF rtStart.Q AND bInfeedEnabled THEN
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bDone := FALSE;
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IF dwTargetPosition <> dwCurrentPosition THEN
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nState := 10;
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ELSE
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nState := 70;
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END_IF
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END_IF
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10: // Warten auf Einschaltbereit -> Betriebsbereit
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wStW1.0 := 0; // Ein
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wStW1.1 := 1; // Nicht Austrudel
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wStW1.2 := 1; // Kein Schnellhalt
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wStW1.3 := 1; // Betrieb freigeben
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wSTW1.4 := 1; // EPOS nicht Verwerfen
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wSTW1.5 := 0; // EPOS kein Zwischenhalt
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wSTW1.6 := 0; // EPOS Verfahrauftrag aktivieren 0 -> 1
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wSATZANW.15 := 0; // MDI aktivieren
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IF wZSW1.0 THEN // Einschaltbereit
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nState := 20;
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END_IF
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20: // Warten auf Betriebsbereit
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wStW1.0 := 1; // Ein
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wStW1.1 := 1; // Nicht Austrudel
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wStW1.2 := 1; // Kein Schnellhalt
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wStW1.3 := 1; // Betrieb freigeben
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wSTW1.4 := 1; // EPOS nicht Verwerfen
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wSTW1.5 := 0; // EPOS kein Zwischenhalt
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wSTW1.6 := 0; // EPOS Verfahrauftrag aktivieren 0 -> 1
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wSATZANW.15 := 0; // MDI aktivieren
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IF wZSW1.1 THEN // Betriebsbereit
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nState := 30;
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END_IF
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30: // Betriebsbereit -> Bewegungsparameter setzen
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wStW1.0 := 1; // Ein
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wStW1.1 := 1; // Nicht Austrudel
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wStW1.2 := 1; // Kein Schnellhalt
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wStW1.3 := 1; // Betrieb freigeben
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wSTW1.4 := 1; // EPOS nicht Verwerfen
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wSTW1.5 := 1; // EPOS kein Zwischenhalt
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wSTW1.6 := 0; // EPOS Verfahrauftrag aktivieren 0 -> 1
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wSATZANW.15 := 1; // MDI aktivieren
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// Beschleunigungsausgabe
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uiMDI_ACC := 16384;
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uiMDI_DEC := 16384;
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// Positionsausgabe in zwei udint
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uiMDI_TARPOS := DWORD_TO_UINT(SHR(dwTargetPosition, 16));
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uiMDI_TARPOS2 := DWORD_TO_UINT(dwTargetPosition);
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// Geschwindigkeitsausgabe
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uiMDI_VELOCITY := DWORD_TO_UINT(SHR(dwTargetSpeed, 16));
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uiMDI_VELOCITY2 := DWORD_TO_UINT(dwTargetSpeed);
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IF wAKTSATZ.15 THEN // MDI aktiviert
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nState := 40;
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END_IF
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40: // Warten auf Fahrauftrag quittierung
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wStW1.0 := 1; // Ein
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wStW1.1 := 1; // Nicht Austrudel
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wStW1.2 := 1; // Kein Schnellhalt
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wStW1.3 := 1; // Betrieb freigeben
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wSTW1.4 := 1; // EPOS nicht Verwerfen
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wSTW1.5 := 1; // EPOS kein Zwischenhalt
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wSTW1.6 := 1; // EPOS Verfahrauftrag aktivieren 0 -> 1
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wSATZANW.15 := 1; // MDI aktivieren
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// Workaraound für kurze Fahrwege (optimierungsbedarf)
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tonWaitAktive(In := TRUE, PT := T#1S);
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IF wZSW1.12 AND (NOT wZSW1.10) THEN // Verfahrauftrag aktiv
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tonWaitAktive(In := FALSE);
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nState := 45;
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END_IF
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// Workaraound siehe oben
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IF wZSW1.12 AND tonWaitAktive.Q AND (ABS(dwCurrentPosition - dwTargetPosition) < 10) THEN
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tonWaitAktive(In := FALSE);
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nState := 45;
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END_IF
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45: // Warten auf in position
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IF wZSW1.10 THEN
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nState := 50;
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END_IF
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50: // MDI abschalten
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wStW1.0 := 1; // Ein
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wStW1.1 := 1; // Nicht Austrudel
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wStW1.2 := 1; // Kein Schnellhalt
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wStW1.3 := 1; // Betrieb freigeben
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wSTW1.4 := 0; // EPOS nicht Verwerfen
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wSTW1.5 := 0; // EPOS kein Zwischenhalt
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wSTW1.6 := 0; // EPOS Verfahrauftrag aktivieren 0 -> 1
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wSATZANW.15 := 0; // MDI aktivieren
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IF NOT wAKTSATZ.10 THEN
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nState := 60;
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END_IF
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60: // Ausschalten
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wStW1.0 := 0; // Ein
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wStW1.1 := 1; // Nicht Austrudel
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wStW1.2 := 1; // Kein Schnellhalt
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wStW1.3 := 1; // Betrieb freigeben
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wSTW1.4 := 0; // EPOS nicht Verwerfen
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wSTW1.5 := 0; // EPOS kein Zwischenhalt
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wSTW1.6 := 0; // EPOS Verfahrauftrag aktivieren 0 -> 1
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wSATZANW.15 := 0; // MDI aktivieren
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IF NOT wZSW1.1 THEN
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nState := 0;
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bDone := TRUE;
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END_IF
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70: // Stehen schon an der Position, nichts machen
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bDone := TRUE;
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nState := 0;
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99: // Fehler
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bError := TRUE;
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IF ftError.Q OR (wZSW1.3 = 0) THEN
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nState := 0;
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END_IF
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END_CASE
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// Ausgabe
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uiSTW1 := WORD_TO_UINT(wStw1);
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uiSATZANW := WORD_TO_UINT(wSATZANW);
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uiSTW2 := WORD_TO_UINT(wStw2);
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uiMDI_MOD := WORD_TO_UINT(wMDI_MOD);]]></ST>
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</Implementation>
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<LineIds Name="FB_WZWKette">
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<LineId Id="162" Count="0" />
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<LineId Id="181" Count="0" />
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<LineId Id="184" Count="0" />
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<LineId Id="285" Count="0" />
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||||
</LineIds>
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||||
</POU>
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</TcPlcObject>
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Reference in New Issue
Block a user