Motion control C3F_T40
206 192-121102 N04 June 2008
ExtObjMask
WORD
Bit mask for the relevant bits in "ExtObjectSource". The contents of
the ExtObjectSource is AND-linked with the aid of this bit mask.
Note: This parameter is only relevant in the
Mode=EVENT_EXTERN.
PosThreshold
REAL Position threshold for switching to pressure/force controller
PosWindows
REAL
Position window in Units, measured from the position threshold
(PosThreshold).
In this window, the monitoring of the switching condition to
force/pressure control is active.
If the position exceeds the value: PosThreshold + PosWindows,
then the monitoring of the switching condition to force/pressure
control is not active.
The window should be defined as small as possible.
Within this window, the actual speed caused by the pressure/force
control must be below the setpoint speed, unless the axis will
switch back to position control.
VAR_OUTPUT
IsActive
BOOL
TRUE: pQ Mode aktive
FALSE: pQ Mode not active
F_IsActive
BOOL Shows that the pressure/force control is activated.
Note: Is only updated if the Enable input provides TRUE
Q_IsActive
BOOL
Shows, that the volume flow control (pQ: Position control) is
activated.
Note: Is only updated if the Enable input provides TRUE
Error
BOOL Error while executing module
ErrorID
INT Error description
0: No Error
1: Mode EVENT_EXTERN => source "ExtObjectSource" is missing
2: Invalid MODE set
3: No source entered for the pressure/force controller setpoint
4: Activation of the PQ module is not permitted in this mode
5: pQ mode with mere pressure/force control axis is not possible.
6: The axis ID does not correspond the the ID of the main axis
Note:
The switching conditions are monitored until the target position of the current positioning sequence is
reached; this is not valid in the "ABS_ACTUALPOS_THRESHOLD" and
"ABS_DEMANDPOS_THRESHOLD" modes.
Enable : BOOL
Mode : C3_pQ_Mode
PressureForceSetpointSource : DWORD
PressureForceThreshold : DINT
PressureForceGradientThreshold : DINT
GradientFilterTimeConstant : INT
ExtObjectSource : DWORD
ExtObjMask : WORD
PosThreshold : REAL
PosWindow : REAL
Axis : INT (VAR:IN_OUT)
C3_pQ
IsActive : BOOL
F_IsActive : BOOL
Q_IsActive : BOOL
Error : BOOL
ErrorID : INT
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