FB_MTP_MonAnaDrv

The function block FB_MTP_MonAnaDrv is an object for controlling a drive with variable speed from different sources: internal PLC logic or manual operation (e.g. via OPC UA). Switching requests and value specifications are managed independently of each other via the state machines of Operation Mode and Source Mode . In addition, the function block allows you to monitor the output values along with the corresponding feedback. The OPC UA access rights are described in the variable tables.

Controlling the drive

The direction of rotation of the drive is specified via the switching requests Fwd*, Rev*, and Stop*. The state machine of the Operation Mode manages whether and from which source new switching requests are processed.

If both requests are made simultaneously, the safety position is taken into account: Stop* has the highest priority over SafePos = FALSE, and the drive is stopped. If SafePos = TRUE, the switching requests Fwd*, Rev*, and Stop* are prioritized equally and the drive remains in its current state in the event of simultaneous requests.

When Locking is active, it is no longer possible to control the drive, depending on the type of interlock.

The variable Trip indicates the current state of the motor protection. If Trip = FALSE is true, this means that the motor protection has been triggered and the drive is stopped immediately by setting the variables FwdCtrl and RevCtrl to FALSE.

If Trip = TRUE is true, the motor protection is in a fault-free state. Once the motor protection has been restored after triggering (Trip = TRUE), the state must be acknowledged via Reset before operation can resume.

Setpoint specification

The speed is set via Rpm* variables. The speed specification is managed by the state machine Source Mode and is output according to the diagram below:

Safety position

The safety position is defined via the variables SafePos, SafePosDirRpmEn, SafePosDir, and SafePosRpm.

The variable SafePos is used to specify whether the safety position of the drive is the de-energized state or an active state.

	The variables `SafePosDirRpmEn`, `SafePosDir`, and `SafePosRpm` are not part of the MTP guideline. They have also been implemented and can be used to define a safety position in the active state. These variables are not listed in the MTP file and are not made available via OPC UA.

Safety position: de-energized state (SafePos = FALSE)

In the de-energized state, the drive is stopped (FwdCtrl = FALSE, RevCtrl = FALSE, and Rpm = 0)

Safety position: active state (SafePos = TRUE)

If the state is active, the default direction of rotation and speed can be activated (SafePosDirRpmEn = TRUE), and the direction of rotation (SafePosDir) or speed (SafePosRpm) can be specified.

If SafePosDirRpmEn = FALSE, the current movement state (forward, reverse, or stop) is the safety position.

If the default setting (SafePosDirRpmEn = TRUE) is activated, the safety position is forward (SafePosDir = FALSE) or reverse (SafePosDir = TRUE) with the defined safety speed (SafePosRpm).

The following table shows the operating options for the drive (Fwd*, Rev*, Stop*, and Rpm*) when Permit is active, depending on the initial state of the drive (stop drive, set drive to forward movement, and set drive to reverse movement) and the defined safety position:

SafePos	SafePos DirRpmEn	SafePosDir	Drive set to Stop	Drive set to Forward	Drive set to Reverse
`FALSE`	-	-	`SafePosAct = TRUE` `Rev` + `Fwd`: x `Rpm*`: x	`SafePosAct = FALSE` `Rev` + `Stop`: ✓ `Rpm*`: ✓	`SafePosAct = FALSE` `Fwd` + `Stop`: ✓ `Rpm*`: ✓
`TRUE`	`FALSE`	-	`SafePosAct = TRUE` `Rev` + `Fwd`: x `Rpm*`: x	`SafePosAct = TRUE` `Rev` + `Stop`: x `Rpm*`: x	`SafePosAct = TRUE` `Fwd` + `Stop`: x `Rpm*`: x
`TRUE`	`TRUE`	`FALSE` `(Fwd)`	`SafePosAct = FALSE` `Rev` + `Fwd`: ✓ `Rpm*`: ✓	`SafePosAct = TRUE` `Rev` + `Stop`: x `Rpm*`: x (`SafePosRpm`)	`SafePosAct = FALSE` `Fwd` + `Stop`: ✓ `Rpm*`: ✓
`TRUE`	`TRUE`	`TRUE` `(Rev)`	`SafePosAct = FALSE` `Rev` + `Fwd`: ✓ `Rpm*`: ✓	`SafePosAct = FALSE` `Rev` + `Stop`: ✓ `Rpm*`: ✓	`SafePosAct = TRUE` `Fwd` + `Stop`: x `Rpm*`: x (`SafePosRpm`)

SafePos

SafePos
DirRpmEn

SafePosDir

Drive set to

Stop

Drive set to

Forward

Drive set to

Reverse

FALSE

SafePosAct = TRUE

Rev* + Fwd*: x

Rpm*: x

SafePosAct = FALSE

Rev* + Stop*: ✓

Rpm*: ✓

SafePosAct = FALSE

Fwd* + Stop*: ✓

Rpm*: ✓

TRUE

FALSE

SafePosAct = TRUE

Rev* + Fwd*: x

Rpm*: x

SafePosAct = TRUE

Rev* + Stop*: x

Rpm*: x

SafePosAct = TRUE

Fwd* + Stop*: x

Rpm*: x

TRUE

FALSE

(Fwd)

SafePosAct = FALSE

Rev* + Fwd*: ✓

Rpm*: ✓

SafePosAct = TRUE

Rev* + Stop*: x

Rpm*: x (SafePosRpm)

SafePosAct = FALSE

Fwd* + Stop*: ✓

Rpm*: ✓

TRUE

(Rev)

SafePosAct = FALSE

Rev* + Fwd*: ✓

Rpm*: ✓

SafePosAct = FALSE

Rev* + Stop*: ✓

Rpm*: ✓

SafePosAct = TRUE

Fwd* + Stop*: x

Rpm*: x (SafePosRpm)

x: Switching requests and/or value specifications are no longer taken into account.

✓: Switching requests and/or value specifications are taken into account.

Monitoring

The control and the respective Feedback can be monitored via Feedback monitoring.

The output RpmErr indicates the current speed deviation RpmErr = Rpm - RpmFbk. The speed deviation can be monitored for an upper and lower limit (Alarm High and Alarm Low) using the Limit value monitoring.

General definitions

Inheritance hierarchy

FB_MTP_AnaDrv

FB_MTP_MonAnaDrv

Implemented interfaces

I_MTP_MonAnaDrv

Inputs

Name	Type	Description	OPC UA access
TagDescription	STRING	Description of the interface	-
WQC	BYTE	Worst Quality Code	Read
OSLevel	BYTE	Level must be defined for system. Value 0 is reserved for local operation.	Read/write
StateChannel StateOffAut StateOpAut StateAutAut		See Operation Mode
FwdEn	BOOL	Enable forward movement: 1: Enabled 0: Disabled	Read
RevEn	BOOL	Enable reverse movement: 1: Enabled 0: Disabled	Read
StopAut	BOOL	`Automatic` switching request to set the drive to stop: (Relevant if `StateAutAct`) 1: Execute stop. 0: No stop	Read
FwdAut	BOOL	`Automatic` switching request to set the drive in forward motion: (Relevant if `StateAutAct` & `FwdEn`) 1: Execute forward movement. 0: Do not execute any forward movement.	Read
RevAut	BOOL	`Automatic` switching request to set the drive in forward motion: (Relevant if `StateAutAct` & `RevEn`) 1: Execute reverse movement. 0: Do not execute any reverse movement.	Read
FwdFbk	BOOL	Feedback signal for forward movement: 1: Forward movement 0: No forward movement	Read
FwdFbkCaIc	BOOL	Source of the forward movement feedback signal: 1: Calculated 0: Sensor	Read
RevFbk	BOOL	Feedback signal for reverse movement: 1: Reverse movement 0: No reverse movement	Read
RevFbkCaIc	BOOL	Source of the feedback signal for reverse motion: 1: Calculated 0: Sensor	Read
SrcChannel SrcManAut SrcIntAut		See Source Mode
RpmInt	REAL	`Internal` Speed setpoint specification	Read
RpmUnit	INT	Rotational speed unit	Read
RpmMin	REAL	Upper limit of the speed setpoint	Read
RpmMax	REAL	Lower limit of the speed setpoint	Read
RpmFbkCalc	BOOL	Source of the actual speed value: 1: Calculated 0: Sensor	Read
RpmFbk	REAL	Actual speed value	Read
RpmSclMin	REAL	Speed scale start	Read
RpmSclMax	REAL	Speed scale end	Read
PermEn Permit Intlen Interlock ProtEn Protect		See Locking
Trip	BOOL	Signaling contact for motor protection: 1: No error 0: Motor protection tripped.	Read
SafePos	BOOL	1: Retain current state. 0: Stop	Read
SafePosDirRpmEn	BOOL	1: Direction of rotation specification for `SafePos` `= TRUE` via the variable `SafePosDir` 0: No direction of rotation specified	-
SafePosDir	BOOL	Direction of rotation specification for `SafePos = TRUE` and `SafePosDirRpmEn = TRUE` 1: Reverse 0: Forward	-
SafePosRpm	REAL	Speed specification for safety position, if `SafePos` `= TRUE` and `SafePosDirRpmEn` `= TRUE`	-
MonEn	BOOL	Enable `FeedbackMonitoring`: 1: `FeeedbackMonitoring` active 0: `FeedbackMonitoring` inactive	Read/write
MonStatTi	REAL	Monitoring time for static errors [s]	Read
MonDynTi	REAL	Monitoring time for dynamic errors [s]	Read
MonSafePos	BOOL	Behavior of the interface after an error occurs: 1: Safe position should be approached. 0: The current state is retained.	Read
RpmAHEn	BOOL	Monitor limit `Alarm High`: 1: Monitoring active 0: No monitoring	Read
RpmALEn	BOOL	Monitor limit `Alarm Low`: 1: Monitoring active 0: No monitoring	Read
RpmAHLim	REAL	`Alarm High` limit (>0)	Read/write
RpmALLim	REAL	`Alarm Low` limit (<0)	Read/write
ResetAut	BOOL	`Automatic` reset switching request: 1: Reset requested. 0: No reset requested.	Read

	It is possible to change the value of the input variable `MonEn` during runtime; however, according to the MTP guideline, this is not permitted because the value is changed via manual operation (e.g., via OPC UA).

Outputs

Name	Type	Description	OPC UA access
StateOffAct StateOpAct StateAutAct		See Operation Mode
FwdCtrl	BOOL	Forward movement: 1: Active 0: Inactive	Read
RevCtrl	BOOL	Reverse movement: 1: Active 0: Inactive	Read
SrcManAct SrcIntAct		See Source Mode
Rpm	REAL	Speed setpoint on drive	Read
MonStatErr	REAL	Static error: 1: active 0: inactive	Read
MonDynErr	REAL	Dynamic error: 1: active 0: inactive	Read
RpmDiff	REAL	Speed deviation: `RpmDiff = Rpm - RpmFbk`
RpmAHAct	BOOL	`Alarm High` limit exceeded.	Read
RpmALAct	BOOL	`Alarm Low` limit undershot.	Read

External variables

Name	Type	Description	OPC UA access
StateOffOp StateOpOp StateAutOp		See Operation Mode
StopOp	BOOL	`Operator` switching request to set the drive to stop: (Relevant if `StateOpAct`) 1: Execute stop. 0: Do not execute a stop.	Read/write
FwdOp	BOOL	`Operator` switching request to set the drive in forward motion: (Relevant if `StateOpAct` & `FwdEn`) 1: Execute forward movement. 0: Do not execute any forward movement.	Read/write
RevOp	BOOL	`Operator` switching request to set the drive in forward motion: (Relevant if `StateOpAct` & `RevEn`) 1: Execute reverse movement. 0: Do not execute any reverse movement.	Read/write
SrcManOp SrcIntOp		See Source Mode
RpmMan	REAL	`Manual` setpoint specification for the speed	Read/write
RpmRbk	REAL	Unprocessed value of the `Operator` speed setpoint	Read

Methods

Name	Type	Description
IsOffline IsOperator IsAutomatic SetOffline SetOperator SetAutomatic		See Operation Mode
IsInternal IsManual SetInternal SetManual		See Source Mode
Forward	BOOL	The `Forward` method allows the drive to start moving forward at a defined speed. In this process, the `OperationMode` is transformed into the state `SetAutomatic` using the method `Automatic`. The `Aut` switching requests are set to defined values, and the internal logic is invoked. Finally, the `Aut` switching requests are reset to `False`. To set the speed, the `SourceMode` is set to the state `SetInternal` using the `Internal` method. The value of the input variable `RpmInt` in this method is written to the input variable of the same name, `RpmInt`, in the corresponding function block. Returns `True` if `FwdFbk = True` and `RevFbk = False`.
Reverse	BOOL	The `Reverse` method allows the drive to start moving in reverse at a defined speed. In this process, the `OperationMode` is transformed into the state `SetAutomatic` using the method `Automatic`. The `Aut` switching requests are set to defined values, and the internal logic is invoked. Finally, the `*Aut` switching requests are reset to `False`. To set the speed, the `SourceMode` is set to the state `SetInternal` using the `Internal` method. The value of the input variable `RpmInt` in this method is written to the input variable of the same name, `RpmInt`, in the corresponding function block. Returns `True` if `FwdFbk = False` and `RevFbk = True`.
Stop	BOOL	The `Stop` method allows you to stop the drive. In this process, the `OperationMode` is transformed into the state `SetAutomatic` using the method `Automatic`. The `Aut` switching requests are set to defined values, and the internal logic is invoked. Finally, the `*Aut` switching requests are reset to `False`. The `SourceMode` is set to the state `SetInternal` using the `Internal` method. Using the input variable `RpmInt` of this method, you can write the value `RpmInt` of the corresponding function block. By default, the value in the method is set to 0. Returns `True` if `FwdFbk = False` and `RevFbk = False`.