OutputET200S2AO.scl

FUNCTION_BLOCK FB33 // OutputET200S2AO
TITLE ='Output driver for ET200S 2AO'
AUTHOR : EMC
FAMILY : EMC2
NAME : OutET2AO
VERSION : '2.0'
 
 
VAR_INPUT
  EnableDrive : BOOL ;    //1=Enable analog output
  OutErr : BOOL ;    //1=Output module error
END_VAR
VAR_IN_OUT
  Axis : UDT1 ;    //Global axis data
  Init : BOOL  := TRUE;    //1=Initialize block
END_VAR
VAR
  Faktor : REAL ;    //internal use
  Addr_NomVelocity_I : INT ;    //internal use
  Taktsynchron : BOOL ;    //internal use
END_VAR
VAR_TEMP
  OutputValue_R : REAL ;    //internal use
  OutputValue_B AT OutputValue_R : ARRAY[0..31] OF BOOL;
  OutputValue : INT ;    //internal use
  vz : BOOL ;    //internal use
  SFCErr : INT ;    //Rьckgabewert des SFC6 (RD_SINFO) lokal, da keine relevante Info
  TOP_SI : STRUCT    
   EV_CLASS : BYTE ;   
   EV_NUM : BYTE ;   
   PRIORITY : BYTE ;   
   NUM : BYTE ;   
   TYP2_3 : BYTE ;   
   TYP1 : BYTE ;   
   ZI1 : WORD ;   
   ZI2_3 : DWORD ;   
  END_STRUCT ;   
  START_UP_SI : STRUCT    
   EV_CLASS : BYTE ;   
   EV_NUM : BYTE ;   
   PRIORITY : BYTE ;   
   NUM : BYTE ;   
   TYP2_3 : BYTE ;   
   TYP1 : BYTE ;   
   ZI1 : WORD ;   
   ZI2_3 : DWORD ;   
  END_STRUCT ;   
END_VAR
BEGIN
IF Init
THEN
    Init:=false;
    Faktor:=INT_TO_REAL(Axis.PolarityDrive)*Axis.DriveInputAtMaxVel/Axis.MaxVelocity;
    Addr_NomVelocity_I:=Axis.OutputChannelNo*2+Axis.OutputModuleOutAddr;
    SFCErr:=RD_SINFO(TOP_SI := TOP_SI,START_UP_SI := START_UP_SI);
    SFCErr:=BYTE_TO_INT(TOP_SI.NUM);
    Taktsynchron:=SFCErr>=61 AND SFCErr<=64;
END_IF;
 
IF OutErr 
THEN
    Axis.Error:=true;
    Axis.Err.OutputErr:=true;
END_IF;
 
OutputValue_R:=(Axis.OutVelocity*Faktor+Axis.OffsetCompensation)*2.764800e+003;
 
IF ABS(OutputValue_R)>2.764800e+004
THEN
      vz:=OutputValue_B[7]; // save sign of real number : cool trick
      OutputValue_R:=2.764800e+004;
      OutputValue_B[7]:=vz; // restore sign
END_IF; 
 
OutputValue:=REAL_TO_INT(OutputValue_R);
 
IF NOT EnableDrive 
THEN
    OutputValue:=0;
END_IF;
  
IF NOT (Axis.Sim OR OutErr)
THEN
    IF Taktsynchron
    THEN
        QW[Addr_NomVelocity_I]:=INT_TO_WORD(OutputValue);
    ELSE
        PQW[Addr_NomVelocity_I]:=INT_TO_WORD(OutputValue);
    END_IF;
END_IF;    
 
END_FUNCTION_BLOCK