OBIO_PWMMotionKernel (FB)

FUNCTION_BLOCK OBIO_PWMMotionKernel EXTENDS CMC_BASIC_KERNEL

This function block extends the basic motion kernel functionality, so that it can be used for the eco PWM outputs and connect a stepper drive.

• 8 axes are possible in total. We recommend to use the fast PWM axes. Each axis needs one instance of this kernel block called.

• Different parameters related to the PWM can be adjusted in OBIO_PWM_Motion_Parameter

• It is possible to use either the stepper pulses as actual position, or connect a seperate value to Drive_ActualPosition

Note

Adjust PWM related parameter in OBIO_PWM_Motion_Parameter

The function block behaves as follows:

• If the input Drive_InOperation is not connected, the required state is created internally.

• If a drive delivers a corresponding signal, the Drive_Release/Drive_InOperation sequence can be used as with CMC_Basic_Kernel.

• If the input Drive_ActualPosition is not connected, the stepper pulses can be used instead.

• The input Drive_ActualPosition can be connected to an external encoder position value. (configure in OBIO_PWM_Motion_Parameter)

Note

the block connects internally to the PWM outputs. The PWM configuration for the output is required, but no seperate FB to use PWM outputs.

Note

PTO parameters and input Enable_Virtual is not recommended to change on the fly or running system. This can lead to unexpected behavior of the system.

Note

This function block supports the visualization “CMC_VISU_FB_Basic_Kernel” from the ABB_MotionControl_AC500 library. User needs to manually map the instance of function block in Visualization reference.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	Enable	BOOL		Release of function block. Enable has to be set before new control parameters are released by CMC_Axis_Control_Parameter.	zCMC_Kernel_Base
	Drive_Ref_Ok	BOOL		Indication for homing	zCMC_Kernel_Base
	Drive_InOperation	BOOL		Indication that drive is running. The drive is switched on and is active	zCMC_Kernel_Base
	Drive_ActualPosition	DINT		Actual Position in incremenets	zCMC_Kernel_Base
Inout	Axis	Axis_Ref		Reference to the axis to be controlled	zCMC_Kernel_Base
	Control_Parameter	CMC_Axis_Control_Parameter		Parameters for configuration and adjustment of the control loop	zCMC_Kernel_Base
	IO	CMC_Axis_IO		By the structure IO (CMC_Axis_IO), some binary inputs are provided. The PLC program has to define a variable of type CMC_Axis_IO and to assign the inputs.	zCMC_Kernel_Base
Output	Error	BOOL		Signals that an error has occurred within the function block.	zCMC_Kernel_Base
	ErrorId	ERROR_ID		The error codes ErrorId also sets the output-bit Error=TRUE and sets the axis in state ERROR_STOP. To allow a new movement the error-codes ErrorId require that either the axis is disabled/enabled by MC_Power or the error reset is disabled/enabled by MC_Reset. The error codes ErrorID_WARNING will not set Error = TRUE, and will not set the axis to ERROR_STOP. The error codes ErrorID_WARNING do not require the MC_Reset or MC_Power. It is possible the axis is stopped and ongoing motion is aborted by a WARNING. The value will be shown until: + An other error or warning occurs + MC_Reset or MC_Power is used	zCMC_Kernel_Base
	Drive_Reset_Fault	BOOL		Binary signal to be used for resetting the drive error, if applicable	zCMC_Kernel_Base
	Drive_Release	BOOL		Activate the drive	zCMC_Kernel_Base
	Drive_Set_Ref	BOOL		Activate homing	zCMC_Kernel_Base
	Drive_Set_Position	DINT		Position to be used at homing	zCMC_Kernel_Base
	Speed_Reference	DINT		Reference value for the drive	zCMC_Kernel_Base
	Position_Reference	DINT		Position reference for the drive in increments	zCMC_Kernel_Base
Input	Enable_Virtual	BOOL		Use the axis as virtual axis. Block inputs which are usualy received from the real axis are ignored. Required values are generated internally	CMC_Basic_Kernel
Output	PWM_ErrorID	AC500_OnboardIO.Error_ID	0	Error code. For error details refer to AC500_OnboardIO library Enum Error_ID
	Direction	BOOL		Moving direction, connect this to a binary output
Inout	PWM_Motion_Parameter	OBIO_PWM_Motion_Parameter		Specific parameter set for PWM axis

• OBIO_PWMMotionKernel.ACTION_PWM (ACT)