Input Description

EN   BOOL \   (enable \ block)

In order to enable the Function Block processing, input EN has to be continuously set to TRUE. The block is not processed if input EN = FALSE.

While input is set to TRUE, the inputs are continuously checked for validity and plausibility. If this is not the case, processing is aborted and corresponding error is displayed at output ERR/ERNO.

GO_TO_POS_REF   BOOL \   (go \ to position reference)

In order to use the proportional control system to reach the SETPOINT, input GO_TO_POS_REF has to be set to TRUE.

JOG_FWD   BOOL \   (jog \ forward)

In order to manually move the system forward, input JOG_FWD has to be set to TRUE. As long as JOG_FWD is set to TRUE, and STOP_FWD is deactivated, SPEED = JOG_SPEED.

VIRTUAL_LIMIT_MAX is not considered when JOG_FWD is activated.

JOG_BWD   BOOL \   (jog \ backward)

In order to manually move the system backward, input JOG_ BWD has to be set to TRUE. As long as JOG_BWD is set to TRUE, and STOP_BWD is deactivated, SPEED = (-1) * JOG_SPEED.

VIRTUAL_LIMIT_MAX is not considered when JOG_BWD is activated.

POS_ACT   REAL \   (position \ actual)

ACT indicates the current position of the system.

Format: Degrees.

POS_REF   REAL \   (position \ reference)

SETPOINT indicates the desired position to locate the system.

Format: Degrees.

KP   REAL \   (kp)

KP indicates the proportional gain of the proportional control system.

SPEED_MIN   REAL \   (speed \ min)

Minimum speed of the drive, expressed as a percent of the maximum speed of the drive. This value is used during positioning control (GO_TO_POS_REF = TRUE).

This Function Block is having a speed range of 0 ““ 100 %. SPEED_MIN must be set between 0 ““ 100 %.

SPEED_MAX   REAL \   (speed \ max)

Maximum speed of the drive, expressed as a percent of the maximum speed of the drive. This value is used during positioning control (GO_TO_POS_REF = TRUE).

This Function Block is having a speed range of 0 ““ 100 %. SPEED_MAX must be set between 0 ““ 100 %.

POS_ERR   REAL \   (position \ error / position window)

Indicates the area where the system is considered correctly enough positioned (the control loop considers the POS_REF reached). The system is inside this window movement when the position error is smaller than POS_REF. The position error indicates the difference between the POS_REF and the POS_ACT.

Note

POS_ERR value must be larger than resolution of the positioning devices (encoders or inclinometers).

VIRTUAL_LIMIT_MIN   REAL \   (virtual \ limit minimum)

The lower limit of the movement range of the system. This value is only considered during positioning control (GO_TO_POS_REF = TRUE). JOG movements are not influenced by this limit value.

Format: Degrees.

VIRTUAL_LIMIT_MAX   REAL \   (virtual \ limit maximum)

The upper limit of the movement range of the system. This value is only considered during positioning control (GO_TO_POS_REF = TRUE). JOG movements are not influenced by this limit value.

Format: Degrees.

STOP_BWD   BOOL \   (stop \ backward)

This input should be used in order to integrate the lower limit switch signal which indicates the mechanical lower limit of the movement of the system.

If STOP_BWD = TRUE the mechanical lower limit of the movement range has been reached and the output RUN will be set to 0. Forward movement is allowed.

STOP_FWD   BOOL \   (stop \ forward)

This input should be used in order to integrate the upper limit switch signal which indicates the mechanical upper limit of the movement of the system.

If STOP_FWD = TRUE the mechanical upper limit of the movement range has been reached and the output RUN will be set to 0. Backward movement is allowed.

JOG_SPEED   REAL \   (jog \ speed)

JOG_SPEED indicates the JOG speed of the drive. This value is expressed as a percent of the maximum speed of the drive.

During a JOG movement this value will set to the SPEED output.

This Function Block is having a speed range of 0 ““ 100 %. JOG_SPEED must be set between 0 ““ 100 %.

RESET_ALARM   BOOL \   (reset \ alarm / error)

Boolean signal that resets the ERR and ERNO outputs.

POS_DEG_LIMIT   REAL \   (position \ degrees limit)

When the primary axis of the actuator (gear or hydraulic piston) changes its direction of rotation, this axis covers an angular distance, POS_DEG_LIMIT, whereas the tracker will not change its position. Only when POS_DEG_LIMIT is reached, the tracker starts its movement. This concept is similar to “backlash” in gear trains.

Format: Degrees.

Note

This value depends on each tracker and its actuator (motors, gears or hydraulic systems).

POS_ACT (t) - POS_ACT (t + POS_TIME_LIMIT) | > POS_DEG_LIMIT,

where:

t = time.

POS_TIME_LIMIT   UNIT \   (position \ time limit)

Indicates the needed time to cover POS_DEG_LIMIT distance without any fault. The expected distance must be covered in a time smaller than POS_TIME_LIMIT milliseconds. Otherwise, it generates error and corresponding error is displayed.

Format: Milliseconds.