Beckhoff TS5066, Manual

Page: 25 / 31

PLC API
TS5066 25 Version: 1.0
fVeloDiff : LREAL;
END_STRUCT
END_TYPE
fPositionDiff: Current difference between original and calculated set position: AxisIn.fPosSoll -
AxisOut.fPosSoll
fVeloDiff: Current difference between original and calculated set velocity: AxisIn.fVeloSoll -
AxisOut.fVeloSoll
3.13 ST_AxisExtrapolateParameters
Configuration structure for FB_AxisExtrapolateValues [ } 17] .
TYPE ST_AxisExtrapolateParameters :
STRUCT
fMaxPositionDiff : LREAL := 0;
bUseAccForExtrapolation : BOOL := TRUE;
fT1factorPos : LREAL := 3.0;
fT1factorVelo : LREAL := 3.0;
fBlendingTime : LREAL := 0.06;
nSysCmd : DWORD := 1;
END_STRUCT
END_TYPE
fMaxPositionDiff : Maximum permitted deviation of the received position from the calculated position in
[velocity * s] (e.g. in mm if the velocity is specified in mm/s). For fMaxPositionDiff :=0 the position deviation is
_not_ monitored. Otherwise E_Sync_Extrapolate_Error_MaxPosDiffExceeded is issued if the limit is
exceeded, and the system switches to the configured FallBackMode (see FB_AxisExtrapolateValues [
}
17] ).
bUseAccForExtrapolation : If TRUE, the set acceleration is used for extrapolating the set velocity. This is
the default and must be deactivated for encoder or NCI path axes, for example.
fT1factorPos : Time constant of the PT1 filter for the set position, specified in multiples of the
fTaskCycleTime.
fT1factorVelo : Time constant of the PT1 filter for the set velocity, specified in multiples of the
fTaskCycleTime.
fBlendingTime : Time during which linear interpolation is used between the calculated set positions for
switching between PT1 filter to sync mode and vice versa. [s]
nSysCmd : reserved
3.14 E_Sync_ExtrapolateMode
Operating modes for calculating the set values
TYPE E_Sync_ExtrapolateMode :
(
E_Sync_ExtrapolateMode_Bypass := 1,
E_Sync_ExtrapolateMode_PT1 := 2,
E_Sync_ExtrapolateMode_Sync := 3,
E_Sync_ExtrapolateMode_Time := 4
);
END_TYPE
E_Sync_ExtrapolateMode_Bypass : The set values supplied by the sender, including all beat effects, are
not modified.
E_Sync_ExtrapolateMode_PT1 : A PT1 filter passes the set positions on to the receiver axis.
E_Sync_ExtrapolateMode_Sync: The time correction is calculated such that any beat effects are
compensated over the whole cycle duration.
E_Sync_ExtrapolateMode_Time : The time correction is calculated such that any beat effects and
fluctuations are compensated during and directly after their occurrence.