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Simotion Easy Basics reviewed 5.2 Making calls The _FB_AddSegmentToCam function block can be called in every task. If the extreme value calculation function is activated (enableExtremeValues := TRUE), then the runtime increases. In this particular case, the call should not be made in time-critical tasks, e.g. not in the task in synchronism with the IPO. 5.3 Parameters The block requires an instantiated cam object (camType). A description is provided in [9] on how to set-up a cam in Scout and various cam modes are described in [8]. The cam object must be reset using the system function _resetCam. Name P type 1) Data type P/O 2) Initialization value cam IN P - Cam object Significance run IN BOOL P FALSE Starts the FB with signal level enableExtremeValues IN BOOL - FALSE Activates the calculation of the extreme values in the value range segmentProfile IN TypeSegme nt Profile P PROFILE_ LINEAR Selects the curve profile for the segment leadingRangeStartPoint IN LREAL P 0.0 Starting point of the segment in the master range leadingRangeEndPoint IN LREAL P 1.0 End point of the segment in the master range followingRangeStartPoint IN LREAL P 0.0 Starting point of the segment in the slave range followingRangeEndPoint IN LREAL P 1.0 End point of the segment in the slave range followingRangeStart Derivation1 followingRangeEnd Derivation1 followingRangeStart Derivation2 followingRangeEnd Derivation2 IN LREAL - 1.0 1 st derivation at the starting point of the segment (speed) IN LREAL - 1.0 1 st derivation at the end point of the segment (speed) IN LREAL - 0.0 2 nd derivation at the starting point of the segment (acceleration) IN LREAL - 0.0 2 nd derivation at the end point of the segment (acceleration) busy OUT BOOL - - Task being run done OUT BOOL - - Task executed (has been run) error OUT BOOL - - Error has occurred errorID OUT WORD - - Error type minFollowingValue OUT LREAL - - Minimum position, slave maxFollowingValue OUT LREAL - - Maximum position, slave minFollowingDerivation1 OUT LREAL - - Minimum speed, slave maxFollowingDerivation1 OUT LREAL - - Maximum speed, slave 1) Parameter types: IN = output parameters, OUT = output parameters, IN/OUT = throughput parameters 2) P = mandatory parameters Table 12: Parameter _FB_AddSegmentToCam Version Date Page Document V3.0 15.11.04 42 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc
Simotion Easy Basics reviewed 5.4 Timing diagram Triggered from the signal level run 1 (IN) 0 busy (OUT) done (OUT) error (OUT) 1 0 1 0 1 0 1st call 2nd call with error Cycle Cycle Cycle Fig. 20: Timing diagram _FB_AddSegmentToCam 3rd call 4th call 5.5 Error messages When an error occurs in the function block, the “error” output parameter is set to TRUE. The “errorID” output parameter specifies the error that occurred. The “error” and “errorID” output parameters are reset at the start of the next function block instance call. Error No. (Hex) Significance Note 0 No error - 69 Invalid TO instance Check the block parameter supply "cam"(CamType) 70 Invalid TO state Check the state of the "cam" technology object (CamType) - the object must be reset using _resetCam 75 The command was interrupted While interpreting the command, an alarm occurred at the because of an alarm present at the technology object. technology object. Acknowledge the alarm. 80 Invalid leading range Check the supply of the block parameters "leadingRangeStartPoint" and "leadingRangeEndPoint" (both must have different values) >1000 Internal error 16#1011 - 16#1012; //division by zero 16#1021 - 16#1022; //determinant of quadratic equation < zero 16#1031 - 16#1037; //convergence error (max steps reached) Table 13: Error messages _FB_AddSegmentToCam Version Date Page Document V3.0 15.11.04 43 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc
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