WPOS

Description

In addition to the existing software limit-switches/position thresholds (SWCNFG / SWCNFG2) there is a further option for monitoring positions. Unlike the existing solution, this new monitoring function operates in a deterministic manner. Going above/below a position is detected and signaled within 1 millisecond. The functional range of this monitoring is also expanded (continually/once).

The fast position registers are enabled through the WPOS configuration variable.

• WPOS=0 Position register disabled
• WPOS=1 Position register enabled, no spontaneous CAN message on change of status.
• WPOS=2 Position register enabled, spontaneous CAN message on change of status (this setting is only via CAN-Bus possible).

Changes of the WPOS variable between 0 and >0 can only be made offline (SAVE and COLDSTART), a change between 1 and 2 can also be made online.

There is a total of 16 position registers P1 ... P16, that can be configured with the help of 3 control variables. The position signals are indicated through a status variable. All control/status variables can be considered as 32-bit variables, whereby the lower 16 bits (bits 0 ... 15) are used for the configuration of the position registers P1 ... P16.

Control variables

• WPOSE Enable/disable a position register.
• Bit=0 the corresponding position register is not monitored
• Bit=1 the position register is monitored
• WPOSP Polarity for the position signaling.
• Bit=0 Position signal is generated on going above/beyond (overrun) the position
• Bit=1 Position signal is generated on going below/behind (underrun) the position
• WPOSX – Type of position monitoring
• Bit=0 position is monitored continuously
• Bit=1 position is monitored once. When the position signal is generated, the corresponding enable bit (WPOSE) is set to 0, so that the monitoring is disabled for this position register,

Status variable

• POSRSTAT (z_data.Posrstat) – Position signaling
• Bit=0 position signaling inactive
• Bit=1 position signaling active (position overrun for WPOSP=0 or underrun for WPOSP=1).

Position register

The position registers 1 to 16 can be accessed by the ASCII command P1 ... P16. Position values are displayed in the same units as the position control loop (PGEARI / PGEARO conversion).

The variables that are required for the fast position registers (WPOSE, WPOSP, WPOSX, P1 ... P16) can be saved in the serial EEPROM by using the SAVE command. Those position registers P1 ... P16 which are not used should be set to 0 (since the default value for a position register is 0, no space will be occupied in the serial EEPROM).

The individual position signals from the status register POSRSTAT can be output from the digital outputs of the motherboard.

• OxMODE=40
  This function is used to produce the result of a logical OR operation (on the bit-variable POSRSTAT and a bit-mask from the auxiliary variable OxTRIG) at the digital output x.
• OxMODE=41
  This function is used to produce the result of a logical AND operation (on the bit-variable POSRSTAT and a bit-mask from the auxiliary variable OxTRIG) at the digital output x.