Programming a PLC using function blocks

Enable the axis

A FluidPower axis object has been created and the position controller has been optimized;
see Set control parameters for position control

The FluidPower axis object was linked to the PLC;
see Link axis objects to a PLC

1. Double-click on MAIN and create an instance of Tc3_Mc3Ptp.MC_Power;
see MC_Power

2. Implementation of a cyclic call to the created instance
Programming a PLC using function blocks 1:

VAR
    FluidPowerAxis     : AXIS_REF;
    
    fbPower            : MC_Power;
    bEnable            : BOOL;
END_VAR

fbPower(
    Axis              := FluidPowerAxis, 
    Enable            := bEnable, 
    EnablePositive    := bEnable, 
    EnableNegative    := bEnable, 
    Status=> , 
    Error=> , 
    ErrorId=> );

Absolute positioning

3. Creating an instance of Tc3_Mc3Ptp.MC_MoveAbsolute;
see MC_MoveAbsolute

4. Implementation of a cyclic call to the created instance
Programming a PLC using function blocks 2:

→ The axis can now be powered using the PLC and moved to its end position.

    fbMoveAbsolute    : MC_MoveAbsolute;
    bMoveAbsolute     : BOOL;
    fPosition         : LREAL := 200.0;
    fVelocity         : LREAL := 50.0;

fbMoveAbsolute(
    Axis             := FluidPowerAxis, 
    Execute          := bMoveAbsolute, 
    Position         := fPosition, 
    Velocity         := fVelocity, 
    Acceleration     := 200.0, 
    Deceleration     := 200.0, 
    Jerk             := 500.0, 
    BufferMode:= , 
    Done=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorId=> );

Pressure/force control

5. To create an instance of Tc3_Mc3Ptp.MC_LoadControl,
see MC_LoadControl

6. Implementation of a cyclic call to the created instance
Programming a PLC using function blocks 3:

→ The pressure/force control of the axis can now be triggered via the PLC.

    fbLoadControl    : MC_LoadControl;
    bLoadControl     : BOOL;
    fLoad            : LREAL := 50.0;
    fLoadRamp        : LREAL := 100.0;

fbLoadControl(
    Axis                := FluidPowerAxis, 
    Execute             := bLoadControl, 
    Load                := fLoad, 
    LoadRamp            := fLoadRamp, 
    LoadRampDerivative  := 200.0, 
    BufferMode:= , 
    InLoad=> , 
    Busy=> , 
    Active=> , 
    CommandAborted=> , 
    Error=> , 
    ErrorId=> );

The next step is to optimize the pressure controller;
see Set the pressure controller