Pilz Motion Control PMC, Руководство пользователя

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FB102 DRIVEFSS
Together with an instance data block the FB102 is used to transfer motion task data for the
PMCtendo DD4. The method is as follows:
Bit 15 of the select parameter WAHL determines if a sample motion task is transferred to the local
motion task no. 0. Inside this motion task individual motion parameters can be changed. After the
changes the complete motion task is transferred to motion task with the number FSNrZ in the drive. If
this transfer is not successful bit 15 of the parameter WAHL will be set. The bits of WAHL not set back
to 0 will show, which parameter could not be written.
Please note: When FB102 is started (SEND = 1) the call of FC110 must be skipped in the program
sequence, since FC110 is used by FB102. FC110 must not be used to read or write parameters,
before the SEND bit of FB102 is set back.
Technical Data:
Name: DRIVEFS
Flags used: MW200-MW254
Access to: DB User Data, Instance Data Block
Function of the Parameters of FB102
Inputs:
POSI
dword position for motion task, Bit0 in WAHL
VSOL dword speed for motion task, Bit1 in WAHL
FART word type of motion task, Bit2 in WAHL
RACC word acceleration ramp, Bit3 in WAHL
RDEC word deceleration ramp, Bit4 in WAHL
RACC2 word jerk limitation for acceleration, Bit5 in WAHL
RDEC2 word
jerk limitation for deceleration, Bit6 in WAHL. Since firmware version 2.00
times are discretionary. If different from 0 the drive will follow a sin
2
ramp
(s-curve), if the configuration allows it.
TDEL word delay time for the next motion task, Bit7 in WAHL
FFOL byte number of the next motion task, Bit8 in WAHL
FSNrQ byte number of the source motion task; is used, when Bit15 of WAHL = 1
FSNrZ byte number of target motion task
SEND bool start transmission
Outputs:
AKTI
bool FB 102 is running
Static Parameters:
STFB
word Statusdisplay for this function block
WAHL word
binary word to select parameters to be written; for interpretation see
above; Bit 15 selects if a motion task is completely overwritten by the di-
rect motion task ( = 0 ) or changed ( = 1); choice is done by setting the
corresponding bit.
STAT word Status for all function blocks, same as FC100 STAT
REDY bool writing motion block finished
FAUL bool error occured, error position -> change of bits in WAHL
Page 58 User manual PROFIBUS DP PMCtendo DD4
9 Appendix