FB_SimCoE402_Servo

This class implements a simulation of a CoE402 servo drive. The FB offers mapping elements for CoE interfaces of servo drives. Mapping is done in the same way as for the real drive unit.

Syntax:

FUNCTION_BLOCK FB_SimCoE402_Servo EXTENDS FB_SimAxCommon
VAR_INPUT
    NcAdapt: FB_CoE402_ServoAdapt; 
END_VAR

I/O variables

Name	Type	Direction	Description
NcAdapt	FB_CoE402_ServoAdapt	Input/Output	The mapping interface for the NC axis.

Properties

Name	Type	Access	Description
ActualPosition	LREAL	Get, Set	This runtime value provides information about the simulated axis position. Notice The simulated position of the actuator can deviate from the reported axis position.
ActualTorque	LREAL	Get	The simulated actual torque.
ExternalTorque	LREAL	Get, Set	Here, an external torque can be specified from the simulation of a simulated process.
Inertia	LREAL	Get	Moment of inertia [kg * m³], formed from `MovingMass` and a chaining of gears.
PositionLagKp	LREAL	Get, Set	The position control gain of the simulated servo.
Reversed	BOOL	Get, Set	TRUE if the direction of rotation of the simulated servo is inverted.
StatusWord	WORD	Get	The status word of the servo.
TorqueLimitNegative	LREAL	Get, Set	The negative torque limit.
TorqueLimitPositive	LREAL	Get, Set	The positive torque limit.
AbsolutSwitch	BOOL	Get	This runtime value provides information about the simulated feedback signal as defined by AbsSwitchHighSelect.
AbsSwitchHighEnd	LREAL	Get, Set	This parameter defines the threshold in case AbsSwitchHighSelect=TRUE: AbsolutSwitch will be TRUE if the simulated actuator position is >= AbsSwitchHighEnd. Notice The simulated position of the actuator can deviate from the reported axis position.
AbsSwitchHighSelect	BOOL	Get, Set	This parameter defines the active AbsolutSwitch. A TRUE will select AbsSwitchHighEnd while a FALSE makes the AbsSwitchLowEnd the active AbsolutSwitch.
AbsSwitchLowEnd	LREAL	Get, Set	This parameter defines the threshold in case AbsSwitchHighSelect=FALSE: AbsolutSwitch will be TRUE if the simulated actuator position is <= AbsSwitchLowEnd. Notice The simulated position of the actuator can deviate from the reported axis position.
CycleTime	LREAL	Get, Set	This parameter must be initialized with the update calling cycle of the Cyclic() method and will be forwarded to any sub-component if required. It is used to define any time behavior.
EncoderInterpolation	LREAL	Get, Set	This parameter must be initialized with the same value as the corresponding parameter in the motion technology: NC: encoder, parameter, scaling factor denominator Hydraulics library: encoder, inc. Interpolation
EncoderNoiseLevel	LREAL	Get, Set	The simulated axis offers the possibility to disturb the reported position with a pseudo-random white noise. This is realized by a FB_Noise() function block. The parameter EncoderNoiseLevel is forwarded as SetWhiteNoiseLevel.
EncoderWeighting	LREAL	Get, Set	This parameter must be initialized with the same value as the corresponding parameter in the motion technology: NC: encoder, parameter, scaling factor numerator Hydraulics library: encoder, weighting factor
EncoderZeroShift	LREAL	Get, Set	This parameter must be initialized with the same value as the corresponding parameter in the motion technology: NC: rotary encoder, parameter, position bias Hydraulics library: encoder, zero offset
HighSideBlock	LREAL	Get, Set	The simulated position of the actuator is limited to a value less than or equal to this parameter.
HighSideEndswitch	LREAL	Get, Set	This parameter defines the UpperEndSwitch threshold that becomes TRUE when the simulated position of the actuator is >= this parameter.
HighSideSpringLengt	LREAL	Get, Set	This parameter defines the length of a simulated spring-like effect at the upper side of the actuator stroke.
LowerEndSwitch	BOOL	Get	This runtime value provides information about the state of a simulated sensor. Becomes TRUE if the position of the simulated actuator is >= HighSideEndswitch.
LowSideBlock	LREAL	Get, Set	The simulated position of the actuator is limited to a value above or equal to this parameter.
LowSideEndswitch	LREAL	Get, Set	This parameter defines the LowerEndSwitch threshold that becomes TRUE when the simulated position of the actuator is <= this parameter.
LowSideSpringLength	LREAL	Get, Set	This parameter defines the length of a simulated spring-like effect at the lower side of the actuator stroke.
MovingMass	LREAL	Get, Set	This parameter can be used to define a moving mass. It is used to calculate dynamic acceleration and deceleration forces, torques or pressures.
NoBlock	BOOL	Get, Set	If this parameter is set to TRUE, the use of the springs and blocks on the upper and lower sides will be disabled.
UpperEndSwitch	BOOL	Get	This runtime value provides information about the state of a simulated sensor. It becomes TRUE if the position of the simulated actuator is <= LowSideEndswitch.

Notice
When using a simulated servo drive, a FB of type FB_SimTorqueLimitingCoE402_Servo or FB_SimTorqueLimitingCoE402_Mapped must be used to perform the data exchange between TwinCAT 3 Plastic Functions and the simulation.

Methods

Name	Description
GoFaultState()	This method can be used to simulate an error situation on the simulated axis.
Cyclic()	This method must be called cyclically.
Gear()	Starts a chaining of gear factors.
GearBox()	Rotary transmission (gearbox).
GearRackNPinion()	Linear transmission by rack and pinion.
GearScrew()	Linear transmission by spindle.

Interfaces

Type	Description
I_SimAxCommon	Standard interface for FB_SimAxCommon.
I_SimCoE402_Servo	Standard interface for FB_SimCoE402_Servo.
I_SimAxGear	Gear interface for coupling gear ratios of the axis.

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.55	PC or CX (x64, x86)	Tc3_PlasticFunctions (>= v3.12.5.0)

Further Information