FB_CTRL_LOOP_SCHEDULER

FB_CTRL_LOOP_SCHEDULER 1:

This function block allows the system load to be distributed over a number of control loops that are parameterized using the same tCtrlCycleTime and for which the condition "tCtrlCycleTime > tTaskCycleTime" is true. The output vector calculated by this function block is used to start the individual control loops at different times, so that the system loading is distributed.

Behavior of the output vector

FB_CTRL_LOOP_SCHEDULER 2:

5 control loops are managed in this diagram. In this case, "tCtrlCycleTime = 6 · tTaskCycleTime".

The programmer must create the following array in the PLC if this function block is to be used:

arrOutputVector : ARRAY[1..nNumberOfControlLoops] OF BOOL;

The function block sets the bits in this vector to TRUE or FALSE. The control loops that are managed with the loop scheduler are to be switched into the eCTRL_MODE_ACTIVE state when the corresponding bit in the output vector is TRUE. See sample code below.

VAR_INPUT

VAR_INPUT
    nManValue : DWORD;
    eMode     : E_CTRL_MODE;
END_VAR

Name	Type	Description
nManValue	DWORD	This input allows the first 32 bits in the output vector to be set in `eCTRL_MODE_MANUAL`. A 1 sets the first bit, a 2 the second bit, a 3 the first and second bits, ...
eMode	E_CTRL_MODE	Input that specifies the operation mode of the function block.

VAR_OUTPUT

VAR_OUTPUT
    eState     : E_CTRL_STATE;
    eErrorId   : E_CTRL_ERRORCODES;
    bError     : BOOL;
END_VAR

Name	Type	Description
eState	E_CTRL_STATE	State of the function block
eErrorId	E_CTRL_ERRORCODES	Supplies the error number when the output `bError` is set.
bError	BOOL	Becomes TRUE, as soon as an error occurs.

VAR_IN_OUT

VAR_IN_OUT
    stParams    : ST_CTRL_LOOP_SCHEDULER_PARAMS;
END_VAR

Name	Type	Description
stParams	ST_CTRL_ LOOP_ SCHEDULER_ PARAMS	Parameter structure for the loop scheduler.

stParams consists of the following elements:

TYPE
ST_CTRL_LOOP_SCHEDULER_PARAMS:
STRUCT
    tCtrlCycleTime         : TIME := T#0ms;
    tTaskCycleTime         : TIME := T#0ms;
    nNumberOfControlLoops  : UINT;
    pOutputVector_ADR      : POINTER TO BOOL := 0;
    nOutputVector_SIZEOF   : UINT := 0;
END_STRUCT
END_TYPE

Name	Type	Description
tCtrlCycleTime	TIME	The cycle time with which the control loops managed by the loop scheduler are processed. This must be greater than or equal to the TaskCycleTime.
tTaskCycle Time	TIME	The cycle time with which the loop scheduler and the function blocks associated with the control loops are called. If the function block is called in every cycle this corresponds to the task cycle time of the calling task.
nNumberOfControlLoops	UINT	The number of control loops being managed.
pOutputVector_ADR	POINTER TO BOOL	Address of the output vector
nOutputVector_SIZEOF	UINT	Size of the output vector in bytes

Sample:

PROGRAM PRG_LoopScheduler
VAR
    arrOutputVector       : ARRAY[1..5] OF BOOL;
    eMode                 : E_CTRL_MODE;
    stParams              : ST_CTRL_LOOP_SCHEDULER_PARAMS;
    eErrorId              : E_CTRL_ERRORCODES;
    bError                : BOOL;
    fbCTRL_LoopScheduler  : FB_CTRL_LOOP_SCHEDULER;
    bInit                 : BOOL := TRUE;
    eMode_CtrlLoop_1      : E_CTRL_MODE;
    eMode_CtrlLoop_2      : E_CTRL_MODE;
    eMode_CtrlLoop_3      : E_CTRL_MODE;
    eMode_CtrlLoop_4      : E_CTRL_MODE;
    eMode_CtrlLoop_5      : E_CTRL_MODE;
END_VAR
IF bInit 
THEN
    stParams.tCtrlCycleTime         := T#10ms;
    stParams.tTaskCycleTime         := T#2ms;
    stParams.nNumberOfControlLoops  := 5;
    bInit                           := FALSE;
END_IF
stParams.nOutputVector_SIZEOF  := SIZEOF(arrOutputVector);
stParams.pOutputVector_ADR     := ADR(arrOutputVector);
fbCTRL_LoopScheduler( eMode     := eMode,
                 stParams  := stParams,
                 eErrorId  => eErrorId,
                 bError    => bError);
IF arrOutputVector[1] THEN
    eMode_CtrlLoop_1 := eCTRL_MODE_ACTIVE;
END_IF
IF arrOutputVector[2] THEN
    eMode_CtrlLoop_2 := eCTRL_MODE_ACTIVE;
END_IF
IF arrOutputVector[3] THEN
    eMode_CtrlLoop_3 := eCTRL_MODE_ACTIVE;
END_IF
IF arrOutputVector[4] THEN
    eMode_CtrlLoop_4 := eCTRL_MODE_ACTIVE;
END_IF
IF arrOutputVector[5] 
THEN
    eMode_CtrlLoop_5 := eCTRL_MODE_ACTIVE;
END_IF