OBIOEncoderCounter (FB)

FUNCTION_BLOCK OBIOEncoderCounter EXTENDS OBIOBaseCounter

Used for encoder counter on eco V3 PLC

precondition

the respective channel is configured as encoder channel.

The configuration/use of Touch-Trigger and Reset is optional. The encoder will use as a minimum 2 binary inputs, optional 4 binary inputs if configured with Touch/Reset.

- Up to 2 encoder-counter are possible, channel=0 or channel=1.

- The encoder supports quadrature encoder mode and Pulse/Direction mode. In quadrature enocder mode, all 4 rising/falling edges are used.

- Also the frequency will be measured. The frequency is just a measure for velocity with DirectionChange=FALSE

Note

200kHz is the maximum possible frequency to be measured.

- If 100kHz is used as input value for MaxFrequency, 100kHZ can be measured with 1% accuracy.

- If 1MHz is used as input value for MaxFrequency, 100kHz can be measured with 0.1% accuracy.

Note

This block should just be called once per cycle otherwise inconsistent values could be send to PRU, if send twice in short time.

InOut:

Scope	Name	Type	Initial	Comment	Inherited from
Input	Enable	BOOL	FALSE	A rising edge (Enable = TRUE) starts the operation, the output Busy goes to TRUE. All other inputs are read and considered continuously. Execution will continue forever until a falling edge (Enable = FALSE) aborts the operation. During Aborting the Busy is still TRUE. Afterward all outputs are reset.	AbbLConC3
Output	Busy	BOOL	FALSE	Operation is running (while output Error is FALSE)	AbbLConC3
	Error	BOOL	FALSE	Operation is stopped with error (while output Busy is FALSE). This output is TRUE for at least one cycle or until Enable is set to FALSE. The output ErrorID gives more details about the error.	AbbLConC3
Input	Channel	BYTE	0	Channel number, for encoder 0/1, for forward counter 0..3, for PulseTrainOutput 0/1	OBIOBaseCounter
	Set	BOOL		Sets counter value to CounterValueSet on rising edge	OBIOBaseCounter
	CounterValueSet	UDINT		Counter value to set	OBIOBaseCounter
	EnableLimit	BOOL		Use limits, FALSE: counts ‘endless’, TRUE: counts from 0 to LimitValueMax, starts again with 0 on overflow. A new value will be used with rising edge on Enable	OBIOBaseCounter
	LimitValueMax	UDINT	0	Upper limit, will count from 0 to < LimitValueMax-1 (with EnableLimit=TRUE), so the range for counting is LimitValueMax. The value has to be set while CounterValue < LimitValueMax. A new value will be used with rising edge on Enable	OBIOBaseCounter
Output	ErrorID	Error_ID	0	Error code	OBIOBaseCounter
	CounterValue	UDINT		Actual counter value	OBIOBaseCounter
Input	Mode	BYTE		0=90°Mode=quadrature encoder, 1=Pulse/Direction Mode,new value used with rising edge on Enable
	EnableRef	BOOL		Enables the reference mode. A rising edge on the configured input will then reset the counter value to CounterValueSet
	EnableTouch	BOOL		Enables the touch trigger mode. A rising edge at touch-input will then capture the actual value as CounterTouchValue
	ContinuousMode	BOOL		with ContinuousMode=TRUE and EnableTouch=TRUE, the touch trigger will reenable itself automatically. In this mode, the output ReadyTouch will be true for just 1 cycle. With ContinuousMode=FALSE, a rising edge at EnableTouch is required to retrigger the next TouchProbe, this will set output ReadyTouch=TRUE until EnableTouch=FALSE. Also with ContinuousMode=TRUE, it is required to call the block every PLC cycle.
	MaxFrequency	UDINT	(FREQ_MEASURE_FREQUENCY / 100)	[Hz] Maximum allowed value = 1MHz. It is not necessarily the real measured my frequency, but the reference value used as a base for measurement. It affects the accuracy. A frequency = “MaxFrequency” will be measured with 1% accuracy. A frequency = “MaxFrequency/10” will be measured with 0.1% accuracy. The minimum possible frequency to measure is: “MaxFrequency/655” For lower frequency values, the warning “MinFrequencyWarning” is shown. A new value for MaxFrequency will be used with rising edge on Enable.
	MovingAverage	INT	0	values 2,3,4 will enable a moving average for the output CounterFrequency, using 2,3,4 cycles
	MeasurementPeriod	BYTE	0	values 0..11 are valid, the value will be limited internally. This parameter sets the period being used for doing the frequency measurement. The result will be a frequency value measured over a period of 1-2048 rising edges of the input. The number of rising edges is set in the format 2^n, (n= parameter measurementPeriod). Allowed values for measurementPeriod are in the range of 0-11. By default, 2^0 is used (measurementPeriod = 0). This will result in a frequency measured based on two subsequent rising edges. With 2^n, the measurement will be done based on 2^n + 1 rising edges. Changes of the parameter will become effective with the next rising edge on the Enable input
Output	ReadyRef	BOOL	FALSE	Indicates reference search is ready (=EnableRef). Will be TRUE as long as EnableRef is TRUE
	ReadyTouch	BOOL	FALSE	Indicates CounterTouchValue is ready (=EnableTouch). Will be TRUE as long as EnableTouch is TRUE
	NewFrequencyResult	BOOL		new frequency measurement available
	MinFrequencyWarning	BOOL		low value for frequency, below measurement range, the measured frequency includes estimation
	FrequencyError	BOOL		if a position overrun happens too often, the frequency is not valid. decrease the cycle time, or increase LimitValueMax
	DirectionChange	BOOL		direction change since last cycle
	CounterTouchValue	UDINT	0	captured counter value, valid with ReadyTouch
	CounterFrequency	LREAL		frequency measurement