FB_SimSimpleVeloMotor

Simple velocity-controlled simulation motor.

The target velocity and the maximum acceleration are predefined at the inputs 'fTargetVelocity' and 'fMaxAcceleration'. The available outputs are current position 'fPosition' (as integral of the velocity), current velocity 'fVelocity' and current acceleration 'fAcceleration'.

FB_SimSimpleVeloMotor 1:

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VAR_INPUT

VAR_INPUT
    bRun              : BOOL;     (* Activates the FB *)
    fTargetVelocity   : REAL;     (* Target Velocity ~(EUnit:mm/s) *)
    fMaxAcceleration  : REAL := 100;  (* Maximal valid acceleration ~(EUnit:mm/s^2 *)
END_VAR

bRun: Activates the simulation motor

fTargetVelocity: Target velocity in mm/s

fMaxAcceleration: Max. acceleration in mm/s^2

VAR_OUTPUT

VAR_OUTPUT
    fPosition         : REAL := 0.0;     (* Current Position ~(EUnit:mm)*)
    fVelocity         : REAL := 0.0;     (* Current Velocity ~(EUnit:mm/s)*)
    fAcceleration     : REAL := 0.0;     (* Current Acceleration ~(EUnit:mm/s2) *)
    bVelocityReached  : BOOL := TRUE;    (* Velocity is reached*)
END_VAR

fPosition: Current position in mm

fVelocity: Current velocity in mm/s

fAcceleration: Current acceleration in mm/s^2

bVelocityReached: TRUE = target velocity reached

Requirements

Development
Environment

Target System

PLC Libraries to include

TwinCAT v2.9.0 Build > 1020

PC (i386)

TcSimManager.Lib

(Standard.Lib; TcBase.Lib; TcSystem.Lib are included automatically)