MC_AxRtHybridAxisActuals_BkPlcMc (from V3.0.44)

The function block determines the essential actual values of a servo-electric/hydraulic hybrid axis.

Inputs

VAR_INPUT
    stSystem_PrsIn:    ST_TcPlcInputAnalog;
    stAside_PrsIn:     ST_TcPlcInputAnalog;
    stBside_PrsIn:     ST_TcPlcInputAnalog; 

    nTorqueFeedback:   INT; 
    udiMotorEnc_Count: UDINT; 

    bUpdateActForce:   ST_ BOOL; 

    bPumpSwitch_Ext:   BOOL; 
    bAreaSwitch_Ext:   BOOL;

Name	Type	Description
stSystem_PrsIn	ST_TcPlcInputAnalog	If a pressure sensor is present at the pressurized reservoir, the input variables of the terminal are transferred here.
stAside_PrsIn	ST_TcPlcInputAnalog	If a pressure sensor is present on the positive area of the cylinder, the input variables of the terminal are transferred here.
stBside_PrsIn	ST_TcPlcInputAnalog	If a pressure sensor is present on the negative area of the cylinder, the input variables of the terminal are transferred here.
nTorqueFeedback	INT	The torque feedback signal of the drive is to be transferred here.
udiMotorEnc_Count	UDINT	The counter value of the motor encoder must be transferred here.
bUpdateActForce	ST_ BOOL	With this signal, the function block calculates the current actual force of the axis and updates it in stAxRtData.fActForce.
bPumpSwitch_Ext	BOOL	This signal notifies the function block that pump switching of the axis is active.
bAreaSwitch_Ext	BOOL	This signal notifies the function block that area switching of the axis is active.

Inputs/outputs

VAR_IN_OUT
Axis:   AXIS_REF_BkPlcMc;
END_VAR

Name	Type	Description
Axis	AXIS_REF_BkPlcMc	Here, the address of a variable of type AxisRef_BkPlcMc should be transferred.

Outputs

VAR_OUTPUT
    Error:   BOOL;
    ErrorId: BOOL;
END_VAR

Name	Type	Description
Error	BOOL	The occurrence of an error is indicated here.
ErrorId	BOOL	An encoded indication of the cause of the error is provided here.

Behavior of the function block

If the axis is identified as 'hybrid', the function block performs the following steps.

If a permissible encoder type for the motor encoder is specified for the axis, the function block determines the current actual angle from udiMotorEnc_Count. Otherwise, the axis is set to a error state and the angle is set to 0.0°.
The modulo actual angle is updated with the set number of pump cavities.
The actual pump speed is determined.
The pump torque is determined.
If a scaling pressure is set for the system pressure and the connection monitoring in stSystem_PrsIn does not indicate a problem, the input value is converted to a pressure and updated in stAxRtData.fSupplyPressure of the axis.
If a scaling pressure is set for the pressure on the positive side and the connection monitoring in stAside_PrsIn does not indicate a problem, the input value is converted to a pressure and updated in stAxRtData.fActPressureA of the axis.
If a scaling pressure is set for the pressure on the negative side and the connection monitoring in stBside_PrsIn does not indicate a problem, the input value is converted to a pressure and updated in stAxRtData.fActPressureB of the axis.
If TRUE is passed in bUpdateActForce, the function block stAxRtData.fActForce updates the axis, using the currently effective areas.
If an edge is detected at one of the switch signals (bAreaSwitch_Ext, bPumpSwitch_Ext), the function block initiates a ramp for changing the feed constant and the maximum speed.

Irrespective of whether the axis is identified as 'hybrid', this function block calls a local instance of MC_AxRtEncoder_BkPlcMc() for the axis.

	If no function block of this type is called for a servo-electric/hydraulic axis, changeovers are not handled correctly. This could lead to unexpected behavior of the axis. In this case, the axis is set to the error state and a message is output.