FB_CrankModuleController

FB_CrankModuleController - General Information

Overview

Type:	Function Block
Available as of:	V1.0.2.0
Inherits from:	—
Implements:	—

Task

Managing jogging jobs of all modules of the type CrankModule in one node.

Description

Jogging jobs of the inputs i_xJogForw and i_xJogBack of the StandardMotionInterface are transferred to the module defined at i_udiAxisSelect. If an exception is active in the exception list, all jogging jobs are canceled. If the Sercos leaves phase 4, i_xResetHomeOk of all modules is set.

Interface

Input	Data type	Description
i_xEnable	BOOL	A rising edge (FALSE -> TRUE) activates the POU, a falling edge (TRUE -> FALSE) deactivates the POU. A deactivated POU does not execute any actions.

Input

Data type

Description

i_xEnable

BOOL

A rising edge (FALSE -> TRUE) activates the POU, a falling edge (TRUE -> FALSE) deactivates the POU.

A deactivated POU does not execute any actions.

Output	Data type	Description
q_xActive	BOOL	TRUE: The POU is active and has to be executed further. FALSE: The POU is inactive.
q_xReady	BOOL	TRUE: The POU is ready to operate and can accept user commands. FALSE: The function block is not ready to accept user commands.
q_etDiag	GD.ET_Diag	General, library-independent statement on the diagnostic. A value unequal to GD.ET_Diag.Ok corresponds to a diagnostic message.
q_etDiagExt	ET_DiagExt	POU-specific output on the diagnostic. q_etDiag = GD.ET_Diag.Ok -> status message q_etDiag <> GD.ET_Diag.Ok -> diagnostic message
q_sMsg	STRING[80]	Event-triggered message which gives more detailed information on the diagnostic state.

Input/Output	Data type	Description
iq_stStandardModuleItf	TPL.ST_StandardModuleInterface	The StandardModuleInterface of the node in which the controller is integrated.
iq_stStandardMotionInterface	TPL.ST_StandardMotionInterface	The StandardMotionInterface of the node in which the controller is integrated.
iq_stExceptionList	TPL.ST_ExceptionList	The exception list of the node in which the controller is integrated.
iq_stLogDataList	TPL.ST_LogDataList	The logger list of the node in which the controller is integrated.

Diagnostic Messages

q_etDiag	q_etDiagExt	Enumeration value	Description
OK	Disabled	104	The POU is disabled.
OK	Working	62	The POU is active.
InputParameterInvalid	MissingExtInit	174	The additional interface has not been initialized correctly.
SercosConditionInvalid	GlobalSercosInterfaceInvalid	64	The G_ifSercos interface is invalid.

Disabled

Enumeration name:	Disabled
Enumeration value:	104
Description:	The POU is disabled.

The module is disabled and does not execute any actions.

GlobalSercosInterfaceInvalid

Enumeration name:	GlobalSercosInterfaceInvalid
Enumeration value:	64
Description:	The G_ifSercos interface is invalid.

Issue	Cause	Solution
-	The global Sercos interface G_ifSercos is invalid.	Ensure that the Sercos interface G_ifSercos outside the function block is not accidentally overwritten with 0.

MissingExtInit

Enumeration name:	MissingExtInit
Enumeration value:	174
Description:	The additional interface has not been initialized correctly.

Issue	Cause	Solution
-	The initialization of the additional interfaces Ext is unavailable.	Ensure that interfaces of the modules are initialized. Ensure that the FC_UpdateAddInterfaceStruct function is called up for the module.

Issue

Cause

Solution

The initialization of the additional interfaces Ext is unavailable.

Ensure that interfaces of the modules are initialized.

Ensure that the FC_UpdateAddInterfaceStruct function is called up for the module.

Working

Enumeration name:	Working
Enumeration value:	62
Description:	The POU is active.

The module controller manages the data of the axis module.