Integrating manual function into an axis

A manual function can be created in several places in the application. The following sample explains how a manual function for moving and switching on the axis can be integrated into it.

1. Extend an existing class by inheritance. In this sample, the FB_Carriage class is used for this purpose.

FUNCTION_BLOCK FB_CustomCarriage EXTENDS FB_Carriage

2. Instantiate the FB_ManualXyz manual function in the class of the axis. This is not necessary for the manual function of the forward/backward movement, since this is already instantiated by the FB_Carriage class.

FUNCTION_BLOCK FB_CustomCarriage EXTENDS FB_Carriage
VAR
    fbManualPower:        FB_ManualPower;
END_VAR

3. The FB_CarriageHmi class used here already provides an HMI interface for both manual functions. For more manual functions, you need to extend the class with respective instances of the FB_ManualFunctionHmi class.

4. Afterwards, the newly instantiated manual function must be initialized. For convenience, you can use the F_SucceededHr() function to check the return value of the initialization function for success and copy it to a local variable.

METHOD Init : HRESULT



IF NOT F_SucceededHr(fbManualPower.Init(THIS^, iCarriageHmi), Init) THEN
    RETURN;
END_IF

Init := SUPER^.Init();

5. To process the inner algorithms of the manual functions, you must call the respective cycle methods in Cyclic().

METHOD Cyclic



fbManualPower.Cyclic();
fbManualForBack.Cyclic();

6. In the same method you can additionally define when the manual function should be activated for use and/or which method is called by the manual function.

fbManualPower.Enable := bManualMode OR bSetupMode OR bAutomaticMode;
fbManualPower.Cyclic();

fbManualForBack.Enable := bManualMode OR bSetupMode;
fbManualForBack.Cyclic();

IF bSetupMode THEN
    IF fbManualForBack.TrigCmdWorkPos.RQ THEN
        JogNegative(TRUE);
    ELSIF fbManualForBack.TrigCmdWorkPos.FQ THEN
        JogNegative(FALSE);
    ELSIF fbManualForBack.TrigCmdBasePos.Q THEN
        JogPositive(fbManualForBack.TrigCmdBasePos.Q);
    END_IF

ELSIF bManualMode THEN
    IF fbManualForBack.TrigCmdWorkPos.Q THEN
        MovePtp(1, fbManualForBack.TrigCmdWorkPos.Q, 8);
    ELSIF fbManualForBack.TrigCmdBasePos.Q THEN
        MovePtp(2, fbManualForBack.TrigCmdBasePos.Q, 8);
    END_IF
END_IF