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

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

Structure: