Beckhoff TS5066, Manual

Page: 22 / 31

PLC API
TS5066 22 Version: 1.0
3.9 E_Sync_StartUpMode
Possible operating modes for extrapolating the set values on startup, i.e. in the absence of a calculated beat
frequency.
TYPE E_Sync_StartUpMode :
(
E_Sync_StartUpMode_Bypass := 1,
E_Sync_StartUpMode_PT1 := 2,
E_Sync_StartUpMode_Time := 4
);
END_TYPE
E_Sync_StartUpMode_Bypass : The set values supplied by the sender, including all beat effects, are not
modified.
E_Sync_StartUpMode_PT1 : A PT1 filter passes the set positions on to the receiver axis.
E_Sync_StartUpMode_Time : The time correction is calculated such that any beat effects and fluctuations
are compensated.
(Details can be found in section describing the
FB_TimeSync [
}
14] startup mode)
3.10 ST_TimeSyncParameters
Configuration structure for the FB_TimeSync [ } 14] block
TYPE ST_TimeSyncParameters :
STRUCT
fDataCycleTime : LREAL := 0.0;
fThresholdForSync : LREAL := 0.05;
fMaxCycleIndexDifference : LREAL := 7;
iAgeOfDataLimit : INT := 7;
iNoOfPeriodsForMeanDrift : INT := 1;
fDelayTimeOffset : LREAL := 0.0;
fSlope1Numerator : LREAL := 0.95;
fSlope1Denominator : LREAL := 0.5;
iEndOfTransitionLimit : INT := 90;
iNewDriftBendingCycles : INT := 90;
iExtendedStartUpBlendingCycles: INT := 90;
bForceTimeMode : BOOL := FALSE;
bAutomaticReInit : BOOL := FALSE;
nSysCmd : DWORD := 1;
END_STRUCT
END_TYPE
fDataCycleTime : Sender cycle time in [s]. If fDataCycleTime=0 it is assumed that sender and receiver
operate with same cycle time. The cycle times must be even-numbered multiples of each other, i.e.
t
Sender
=2ms, t
Receiver
=4ms or t
Receiver
=1ms, for example. If fDataCycleTime < FB_TimeSync.fTaskCycleTime, the
parameter fMaxCycleIndexDifference has to be adjusted accordingly (either by deactivating (=0) or be
setting to a minimum value of FB_TimeSync.fTaskCycleTime/fDataCycleTime +2). The same applies to
FB_TimeSync.iAgeOfDataLimit .
fThresholdForSync : Threshold value of the correction time from which synchronisation is activated. In
order to avoid excessive differences between the extrapolated and the original values, bSynced=TRUE is
only set if the correction time is smaller than the part of the cycle time specified by the parameter, i.e. if:
ABS(CorrectionTime)<(fThresholdForSync*TaskCycleTime)
fMaxCycleIndexDifference : Specifies the maximum value for the difference between the corrected and the
original cycle index. If the actual value exceeds this value, error
E_Sync_TimeSync_Error_MaxCycleIndexDiffExceeded is issued. fMaxCycleIndexDifference=0 deactivates
this check. If the sender and receiver operate with different cycle times, fMaxCycleIndexDifference has to be
adjusted as described under fDataCycleTime .
iAgeOfDataLimit : Maximum "age" of the data used in task cycles. For continuous reading, i.e. a new data
set is received from the sender during each cycle, ST_TimeSyncDiagnostic.iConsecutiveEqualDataCounter
=0. During each cycle in which the data remain constant the value is incremented by 1. In order to be able to
respond to beat effects, the
minimum value for is 1iAgeOfDataLimit . The higher the value, the more data lost
during transfer, for example, are accepted. If the limits is exceeded, error