FB_SoEDriveMoveVelocity
The FB_SoEDriveMoveVelocity function block generates a simple three-phase velocity profile (without jerk limitation) that can be used to supply an SoE drive directly. Different accelerations or decelerations can be used below and above a parameterizable velocity threshold. The target velocity can be changed during operation.
The SoE drive must first be enabled via the function block FB_SoEDriveEnable.
Inputs
VAR_INPUT
bEnable : BOOL;
fVelocity : LREAL;
fAcceleration1 : LREAL;
fAccelaration2 : LREAL;
fDeceleration1 : LREAL;
fDeceleration2 : LREAL;
bNegativeDirection : BOOL;
stOptions : ST_DriveMoveVelocityOptions;
END_VAR
Name | Type | Description |
|---|---|---|
bEnable | BOOL | Activates the setpoint generation. |
fVelocity | LREAL | Target velocity. fVelocity can be changed during operation. |
fAcceleration1 | LREAL | Acceleration 1 is used below the parameterized velocity threshold stOptions. fVelocityThreshold. |
fAcceleration2 | LREAL | Acceleration 2 is used above the parameterized velocity threshold stOptions. fVelocityThreshold. |
fDeceleration1 | LREAL | Deceleration 1 is used below the parameterized velocity threshold stOptions. fVelocityThreshold. |
fDeceleration2 | LREAL | Deceleration 2 is used above the parameterized velocity threshold stOptions. fVelocityThreshold. |
bNegativeDirection | BOOL | bNegativeDirection reverses the direction of travel. |
stOptions | ST_DriveMoveVelocityOptions | Data structure with additional parameters. |
/ 
Inputs/Outputs
VAR_IN_OUT
stSoEDriveIoInterface : ST_SoeDriveIoInterface;
END_VAR
Name | Type | Description |
|---|---|---|
stSoEDriveIoInterface | ST_SoeDriveIoInterface | Process image of the CoE drive |
Outputs
VAR_OUTPUT
bInVelocity : BOOL;
bBusy : BOOL;
bError : BOOL;
iErrorID : UDINT;
fActualVelocity : LREAL;
END_VAR
Name | Type | Description |
|---|---|---|
bInVelocity | BOOL | Target velocity is reached. |
bBusy | BOOL | bBusy is TRUE as long as the function block is active and a setpoint profile is being calculated. |
bError | BOOL | bError becomes TRUE if an error occurs. |
iErrorID | UDINT | Error number |
fActualVelocity | LREAL | Currently reached velocity of the drive. |
Requirements
Development environment | Target platform | PLC libraries to include |
|---|---|---|
TwinCAT 3.1.4024.22 | PC or CX (x86 or x64) | Tc2_Drive |