Beckhoff TS5066, Руководство пользователя

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PLC API
TS5066 19 Version: 1.0
The following operating modes are available:
Mode Description
E_Sync_ExtrapolateMode_Bypass All received set values are directly copied to the
output, i.e. without modification of the kinematic
variables and so without reduction of beat effects.
E_Sync_ExtrapolateMode_PT1 In PT1 filter mode the input position is transferred to
the output via a configurable PT1 filter (see
stAxisExtrapolateParameters [ } 25] ). Beat effects can
thus be reduced.
E_Sync_ExtrapolateMode_Sync Sync mode is the standard block mode. The
kinematic set values are extrapolated according to
the correction time as described above.
E_Sync_ExtrapolateMode_Time In the event of data being read twice/missed, the
correction time is calculated such that the influence
on the set values are minimised. In contrast to sync
mode, the set values are not corrected across the
whole range between the beat effects.
Safety procedures
This distance can be limited, in order to avoid the difference between the original-set values and the
calculated variables becoming too large in the event of the correction time being calculated incorrectly. The
maximum difference is defined through the position or velocity change that can be achieved with the current
set velocity or set acceleration in stAxisExtrapolateParameters.fMaxPositionDiffFactor cycles. If the
difference exceeds this value, the configurable fallback mode is activated. Bypass of PT1 mode is available
for this purpose (see description above).
VAR_INPUT
VAR_INPUT
fCorrectionTime : LREAL;
fTaskCycleTime : LREAL;
eMode : E_Sync_ExtrapolateMode;
eFallBackMode : E_Sync_FallBackMode;
stAxisExtrapolateParameters : ST_AxisExtrapolateParameters;
END_VAR
fCorrectionTime :Extrapolation correction time [s]
fTaskCycleTime :Receiver cycle time [s].
eMode : Pre-selected mode [
}
25] , can automatically be changed through safety procedures (fallback). The
actual mode used is displayed as eState output.
eFallBackMode : Mode [
}
21] if the deviation of the calculated set values from the original set values
exceeds the value described by the parameter stAxisExtrapolateParameters . fMaxPositionDiffFactor .
stAxisExtrapolateParameters : S [
}
25] tructure with configuration parameters
VAR_OUTPUT
VAR_OUTPUT
bError : BOOL;
iErrorId : DINT;
eState : E_Sync_ExtrapolateState;
stAxisExtrapolateDiagnostic: ST_AxisExtrapolateDiagnostic;
END_VAR
bError : TRUE in the event of a fault
iErrorId : Error code ( E_Sync_ErrorCodes [
}
26] )
eState : Mode used ( E_Sync_ExtrapolateState [
}
21] )
stAxisExtrapolateDiagnostic : Structure [ } 24] with extended diagnostic outputs