L_MC2P_ClutchPos

This FB serves to implement path-controlled clutching and declutching of the master position for all travel ranges (modulo/linear) via a fifth-order polynomial.

Further functions:

Positive opening operation of the clutch (for emergency situations)

Hard clutch-in

		L_MC2P_ClutchPos
LREAL	-	lrSetCycPos	lrSetPosOut	-	LREAL
BOOL	-	xOpen	lrSetVelOut	-	LREAL
LREAL	-	lrOpenPosition	xClosed	-	BOOL
BOOL	-	xOpenInstant	xOpenDone	-	BOOL
BOOL	-	xReset	xInTarget	-	BOOL
LREAL	-	lrDistEngage	xError	-	BOOL
LREAL	-	lrDistDisEngage	eErrorID	-	L_IE1P_Error
LREAL	-	lrDec
LREAL	-	lrJerk
L_MC1P_TraversingRange	-	eTraversingRange
LREAL	-	lrCycleLength

Inputs

Name Data type	Information/possible settings
lrSetCycPos LREAL	Input position (selection of an external master position)
xOpen BOOL	Control of the clutch function
	TRUE	Open the clutch (declutch process). From the declutch position onwards, the lrSetPosOut output position disengages from the lrSetCycPos master position and is brought to the lrOpenPosition standstill position. The declutch position indirectly results from the relative declutch path set in lrDistDisEngage . If the lrSetPosOut output position has reached the standstill position, the two outputs xInTarget and xOpenDone are set to TRUE.
	FALSE	Close the clutch (clutch-in process). The clutch-in process can only be started when the declutch process has been fully completed. A premature cancellation of the declutch process is not possible. The lrSetPosOut output position is synchronised to the lrSetCycPos master position again and then follows this position. The position from which the input and output position run in synchronism again indirectly results from the clutch-in distance set in lrDistEngage . If the input and output position run in synchronism, the xClosed output is set to TRUE.
lrOpenPosition LREAL	Standstill position after the declutch process
xOpenInstant BOOL	Positive opening operation of the clutch (for emergency situations) This input has a higher priority than the xOpen input.
xOpenInstant BOOL	FALSE ä TRUE	The lrSetPosOut output position is disconnected from the lrSetCycPos immediately and is brought to a standstill with the deceleration set in lrDec . A premature cancellation of the positve opening operation is not possible. If the lrSetPosOut output position is at a standstill, the xOpenDone output is set to TRUE. After that, a clutch-in process via a TRUE-FALSE edge at the xOpen input is only possible again when the xOpenInstant input has been reset to FALSE again.
xReset BOOL	Resetting the declutch process. This function enables hard clutch-in and can be used for abort processes or for starting the machine. The declutch process should only be reset when controller inhibit is active or when the setpoint path is disconnected. This input has the highest priority.
xReset BOOL	TRUE	The lrSetPosOut output position is set directly to the lrSetCycPos master position. The xClosed output is set to TRUE.
lrDistEngage LREAL	Relative engaging distance Relating to the position from which the lrSetPosOut output position and the lrSetCycPos input position run in synchronism again. Unit: units Initial value: 90.0
lrDistDisEngage LREAL	Relative disengaging distance Relating to the lrOpenPosition standstill position. Unit: units Initial value: 90.0
lrDec LREAL	Acceleration for positive opening operation of the clutch Unit: units/s ² Setting '0.0': maximum acceleration, i.e. the speed difference is generated within one cycle.
lrJerk LREAL	Jerk for positive opening operation of the clutch Unit: units/s ³ Setting '0.0': use of linear acceleration ramps, i.e. the given acceleration is generated within one cycle.
eTraversingRange L_MC1P_TraversingRange	Travel range
	0	Modulo travel range (rotary axis)
	1	Limited travel range
lrCycleLength LREAL	Cycle length

Outputs

Name Data type	Value/meaning
lrSetPosOut LREAL	Output setpoint position
lrSetVelOut LREAL	Output setpoint speed
xClosed BOOL	Clutch status
	FALSE	The clutch is opened or a clutch-in/declutch process is active. The lrSetPosOut output position is at a standstill or within an acceleration/deceleration phase.
	TRUE	The clutch is closed. The lrSetPosOut output position and lrSetCycPos input position are synchronous.
xOpenDone BOOL	TRUE	The declutch process activated via xOpen or xOpenInstant has been fully completed. A clutch-in process can be executed again.
xInTarget BOOL	TRUE	The lrOpenPosition standstill position has been reached after a declutch process activated via xOpen .
xError BOOL	TRUE	An error has occurred. For details see eErrorID .
eErrorID L_IE1P_Error	If xError = TRUE: Error number for the error that has occurred.