123 lines
3.3 KiB
Plaintext
123 lines
3.3 KiB
Plaintext
FUNCTION_BLOCK "fVarMcxVd"
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{ S7_Optimized_Access := 'TRUE' }
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VERSION : 0.1
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VAR_INPUT
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iADDR : HW_IO;
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iSecu : Bool;
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iEnable : Bool;
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iRelBrake : Bool;
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iJogP : Bool;
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iJogN : Bool;
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iNewPos : Bool;
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iStart : Bool;
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iReset : Bool;
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iSelDrive2 : Bool;
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iDisLimitSw : Bool;
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iInhibit : Bool;
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iStby : Bool;
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iConsVit : UInt;
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iAccel : UInt;
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iDecel : UInt;
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iwDo : Word;
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iTpsSecu : Time := T#500MS;
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END_VAR
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VAR_OUTPUT
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oRdy : Bool; // Ready
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oSto : Bool; // / Safe stop
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oPow : Bool; // Powered
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oNoBrake : Bool; // Brake released
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oRot : Bool; // Motor turning
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oRefOk : Bool; // Referenced
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oNPosAcc : Bool; // New position accepted
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oInPos : Bool; // Setpoint reached/ In position
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oError : Bool;
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oWarn : Bool;
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oDrive2Active : Bool;
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oComparCons : Bool;
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oLimitSwDis : Bool;
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oStbyOn : Bool;
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oDefCom : Bool;
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oRetVit : Int;
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oCodeEtat : Word;
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oCodeDef : Word;
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oRetCouple : Int;
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oDi : Word;
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END_VAR
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VAR
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PD { ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Struct
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R { ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Array[1..5] of Word;
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W { ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Array[1..5] of Word;
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END_STRUCT;
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TofSecu {InstructionName := 'TOF_TIME'; LibVersion := '1.0'; S7_SetPoint := 'False'} : TOF_TIME;
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DefBitVie : "fDefBitVie";
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RReturn : Int;
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WReturn : Int;
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END_VAR
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BEGIN
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// Movitrac C Profinet en Velocity Drive
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//Lecture du bus
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IF #iADDR > 0 THEN
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#RReturn := DPRD_DAT(LADDR := #iADDR, RECORD => #PD.#R);
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END_IF;
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// Lectures
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#oRdy := #PD.R[1].%X0;
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#oSto := #PD.R[1].%X1;
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#oPow := #PD.R[1].%X2;
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#oNoBrake := #PD.R[1].%X3;
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#oRot := #PD.R[1].%X4;
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#oRefOk := #PD.R[1].%X5;
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#oNPosAcc := #PD.R[1].%X6;
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#oInPos := #PD.R[1].%X7;
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#oError := #PD.R[1].%X8;
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#oWarn := #PD.R[1].%X9;
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#oDrive2Active := #PD.R[1].%X10;
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#oComparCons := #PD.R[1].%X11;
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#oLimitSwDis := #PD.R[1].%X12;
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#oStbyOn := #PD.R[1].%X14;
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// Le bit 15 est recopié en interne dans le var
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#DefBitVie(iIn := #PD.R[1].%X15, iDelai := T#2s, oDef => #oDefCom);
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#oRetVit := WORD_TO_INT(#PD.R[2]);
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IF #oError THEN
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#oCodeEtat := 0;
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#oCodeDef := #PD.R[3];
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ELSE
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#oCodeEtat := #PD.R[3];
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#oCodeDef := 0;
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END_IF;
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#oRetCouple := WORD_TO_INT(#PD.R[4]);
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#oDi := #PD.R[5];
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// Ecritures
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#PD.R[1] := 0; // Raz bit reserve
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#TofSecu(IN := #iSecu, PT := #iTpsSecu);
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#PD.W[1].%X0 := #TofSecu.Q;
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#PD.W[1].%X1 := #iEnable;
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#PD.W[1].%X3 := #iRelBrake;
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#PD.W[1].%X4 := #iJogP;
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#PD.W[1].%X5 := #iJogN;
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#PD.W[1].%X6 := #iNewPos;
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#PD.W[1].%X7 := #iStart;
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#PD.W[1].%X8 := #iReset AND #oError;
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#PD.W[1].%X10 := #iSelDrive2;
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#PD.W[1].%X12 := #iDisLimitSw;
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#PD.W[1].%X13 := #iInhibit;
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#PD.W[1].%X14 := #iStby;
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#PD.W[1].%X15 := "Clock_2Hz";
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#PD.W[2] := UINT_TO_WORD(#iConsVit);
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#PD.W[3] := UINT_TO_WORD(#iAccel);
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#PD.W[4] := UINT_TO_WORD(#iDecel);
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#PD.W[5] := #iwDo;
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//Ecriture sur bus
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IF #iADDR > 0 THEN
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#WReturn := DPWR_DAT(LADDR := #iADDR, RECORD := #PD.#W);
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END_IF;
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END_FUNCTION_BLOCK
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