L_MC4P_DifferentialDrive2x2

This FB implements the extension of the kinematic transformation for a differential drive including two drives. More detailed information is provided in section

Considering differential drives

Only one FB instance of the differential drives can be active on an axes group at a time.

Activation is only permissible if the axes group is deactivated.

If another instance is activated via a positive edge at the input xExecute when the FB is active, the previously active FB is deactivated. The output xCommandAborted signals the deactivation by a state change.

After a successful extension of the transformation, the FB continues to be active until another instance becomes active.

For deactivation, assign zero to all elements of the scDiffGearRatio structure and transmit another xExecute edge.

Coupled ACS axes must be of Limited axis type if differential gearboxes are used (traversing range parameter (subindex 30 of the respective axis)).

		L_MC4P_DifferentialDrive2x2
AXES_GROUP_KIN	-	AxesGroup	xBusy	-	BOOL
BOOL	-	xExecute	xCommandAborted	-	BOOL
BOOL	-	xAbort	xError	-	BOOL
IDENT_IN_GROUP_REF	-	eFirstAxis	eErrorID	-	L_IE1P_Error
IDENT_IN_GROUP_REF	-	eSecondAxis	alrACSPosition	-	ARRAY [1..2] OF LREAL
L_MC4P_ DiffGearFactors2x2		scDiffGearRatio	alrJCSPosition	-	ARRAY [1..2] OF LREAL

Inputs/outputs

Name Data type	Information/possible settings
AxesGroup AXES_GROUP_KIN	axes group reference

Name

Data type

Information/possible settings

AxesGroup

AXES_GROUP_KIN

axes group reference

Inputs

Name Datentyp	Information/possible settings
xExecute BOOL	FALSE ä TRUE	Only allowed when the axis group is deactivated: On the positive edge, the FB extends the kinematic transformation of the axis group with a differential with the gear ratios defined in scDiffGearRatio.
xAbort BOOL	FALSE ä TRUE	Only allowed when the axis group is deactivated: With a positive edge, the extension of the kinematic transformation defined and activated via this FB is removed from the axis group.
eFirstAxis IDENT_IN_GROUP_REF	ENUM for defining the involved axes. Only real axes A1..A6 (if available) are allowed. Passing Main or AuxAxes will result in an error!
eSecondAxis IDENT_IN_GROUP_REF
scDiffGearRatio L_MC4P_DiffGearFactors2x2	Structure including numerator and denominator of the differential ratios. The main ratios (gearbox stage on the motor, e.g. Motor1 A1) continue to be defined via the AXIS_REF and are not editable here.

Name

Datentyp

Information/possible settings

xExecute

BOOL

FALSE ä TRUE

Only allowed when the axis group is deactivated: On the positive edge, the FB extends the kinematic transformation of the axis group with a differential with the gear ratios defined in scDiffGearRatio.

xAbort

BOOL

FALSE ä TRUE

Only allowed when the axis group is deactivated: With a positive edge, the extension of the kinematic transformation defined and activated via this FB is removed from the axis group.

eFirstAxis

IDENT_IN_GROUP_REF

ENUM for defining the involved axes.

Only real axes A1..A6 (if available) are allowed. Passing Main or AuxAxes will result in an error!

eSecondAxis

IDENT_IN_GROUP_REF

scDiffGearRatio

L_MC4P_DiffGearFactors2x2

Structure including numerator and denominator of the differential ratios.

The main ratios (gearbox stage on the motor, e.g. Motor1 A1) continue to be defined via the AXIS_REF and are not editable here.

Outputs

Name Data type	Value/meaning
xBusy BOOL	TRUE	Processing is running.
xCommandAborted BOOL	TRUE	The command was aborted by another FB.
xError BOOL	TRUE	An error has occurred. For details see eErrorID .
eErrorID L_IE1P_Error	If xError =Â TRUE: Error number for the error that has occurred.
alrACSPosition ARRAY [1..2] OF LREAL	Axis positions with coupling (ACS) First entry: Position associated to eFirstAxis Second entry: Position associated to eSecondAxis This output is provided for information purposes and does not have to be connected to the application.
alrJCSPosition ARRAY [1..2] OF LREAL	Joint positions of the kinematics (JCS) First entry: Position associated to eFirstAxis. Second entry: Position associated to eSecondAxis This output is provided for information purposes and does not have to be connected to the application.

Name

Data type

Value/meaning

xBusy

BOOL

TRUE

Processing is running.

xCommandAborted

BOOL

TRUE

The command was aborted by another FB.

xError

BOOL

TRUE

An error has occurred. For details see eErrorID .

eErrorID

L_IE1P_Error

If xError =Â TRUE: Error number for the error that has occurred.

alrACSPosition

ARRAY [1..2] OF LREAL

Axis positions with coupling (ACS)

First entry: Position associated to eFirstAxis

Second entry: Position associated to eSecondAxis

This output is provided for information purposes and does not have to be connected to the application.

alrJCSPosition

ARRAY [1..2] OF LREAL

Joint positions of the kinematics (JCS)

First entry: Position associated to eFirstAxis.

Second entry: Position associated to eSecondAxis

This output is provided for information purposes and does not have to be connected to the application.

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