FB_CTRL_3PHASE_SETPOINT_GENERATOR

bStart

BOOL

Setpoint generation begins when a positive edge appears at the bStart input, provided the generator is not already active and that the bStop and bReset inputs are FALSE.

bStop

BOOL

Generation of the setpoints is stopped by a positive edge at the bStop input. Braking is carried out using the deceleration specified in the current parameter set, and any subsequent task that may be pending is deleted.

bReset

BOOL

Reset of the setpoint generator; any positioning operation that may be active is immediately aborted, the outputs fSetVelo and fSetAcc become 0.0, the set position is set to the start position and the internal states are deleted.

fOverride

LREAL

The set velocity can be scaled through an override in the range [ 0 .. 100.0 % ]. If the override is 100%, then the generated profile uses the set velocity as specified in the parameter set. The override implemented here does not scale the current runtime table when the override is changed. Instead, an internal restart instruction is generated having a different set velocity. The override has a resolution of 0.1%.

fSetPos

LREAL

Set position

fSetVelo

LREAL

Set velocity

fSetAcc

LREAL

Set acceleration

nSetDirection

INT

Direction of movement [-1, 0, 1],
1 --> movement direction is positive
0 --> generator is inactive
1 --> movement direction is negative

bCommandBuffered

BOOL

When this output is TRUE it indicates that a motion command is stored that will begin when the current order has completed.
A saved order is deleted if the following special case is specified as a parameter set.

fAcceleration      := 0.0;
fDeceleration      := 0.0;
fStartPos          := 0.0;
fStartVelo         := 0.0;
fTargetPos         := 0.0;
fTargetVelo        := 0.0;
fVelocity          := 0.0;
tCtrlCycleTime     := T#0s;
tTaskCycleTime     := T#0s;
eNewParameterType  := eCTRL
_NEW_PARAMETER_TYPE_
NotInstant;

bDone

BOOL

This output becomes TRUE when the movement has been completed and the target position has been reached.

bCommand
Aborted

BOOL

This output becomes TRUE when the current movement is interrupted. This can be caused, for instance, through a rising edge at the bStop input.

eErrorId

E_CTRL_ERRORCODES

Supplies the error number when the output bError is set.

bError

BOOL

Becomes TRUE as soon as an error situation occurs.

stParams

ST_CTRL_3PHASE_
SETPOINT_GENERATOR_PARAMS

Parameter structure of the setpoint generator

tTaskCycleTime

TIME

Cycle time with which the control loop is processed. This must be greater than or equal to the TaskCycleTime. The function block uses this input value to calculate internally whether the state and the output values have to be updated in the current cycle.

tCtrlCycleTime

TIME

Cycle time with which the function block is called. If the function block is called in every task cycle this corresponds to the task cycle time of the calling task.

fStartPos

LREAL

Start position for the motion profile

fStartVelo

LREAL

Start velocity for the motion profile

fVelocity

LREAL

Velocity in units/second

fTargetPos

LREAL

Target position of the motion profile

fTargetVelo

LREAL

Target velocity of the motion profile.
Note: The target velocity is retained when the destination position has been reached (the bDone flag is set), but after this point the position is no longer calculated (constant position at velocity ≠ 0.0).

fAcceleration

LREAL

Acceleration in units / second²

fDeceleration

LREAL

Deceleration in units / second²

eNewParameterType

E_CTRL_NEW_
PARAMETER_
TYPE

eCTRL_NEW_PARAMETER_TYPE_Instant

and

eCTRL_NEW_PARAMETER_TYPE_NotInstant