Equipments (Devices) > SCA06 > Ladder > Motion Control > Motion Control Command > MW

Block conducting the Iq control programmed.

Ladder Representation

MW_IqControl_block

Execution Features

Program Memory Size	78 Bytes
Data Memory Size	32 Bytes

Block Structure

Variable Type	Name	Data Type	Description
VAR_IN_OUT	Axis	BYTE	Selection of operation axis (0 - Real axis)
VAR_INPUT	Execute	BOOL	Block enabling
	ContinuousUpdate	BYTE	Automatic update mode (0 – Leading edge) (1 – Real time)
	Iq	REAL	lq Value
	IqRamp	REAL	Iq ramp value
	BufferMode	BYTE	Execution start mode (0 - Starts block immediately, if there is another block in the execution it will be aborted) (1 - When another block is in execution, the block in execution will continue its motion until the end and this new block will wait to be executed.) (6 – If another block is in execution, this block will go into error 52 and will not be executed. The HMI will show the alarm A00052.)
VAR_OUTPUT	InIq	BOOL	Output enabling
	Busy	BOOL	Flag indicating the block has not yet been ended
	Active	BOOL	Block flag with control on the axis
	CommandAborted	BOOL	Flag of aborted command
	Error	BOOL	Error in the execution flag
	ErrorID	WORD	Identifier of the occurred error
VAR	MW_IQCONTROL_INST_0	MW_IQCONTROL	Instance of access to block structure

Operation

When this block detects a leading edge on Execute, it sends an execution command of the lq control according to the programmed parameters.

In the execution of the block the axis status will change to Continuous Motion. It order to finish the block, it is necessary to execute another block or the changing of the drive to the Disable or Errorstop status.

When Execute has FALSE value, Done remains FALSE. The Done output is activated when the block finishes the execution successfully, remaining at TRUE level until Execute receives FALSE.

If there is any error in the execution, the Error output is enabled and ErrorID displays an error code according to the table below.

Code	Description
52	Attempt to execute block with BufferMode in Single when another block is active.
67	Drive in the "Disabled" or "Errorstop" status.
69	Drive in the "Stopping" status.
70	Attempt to execute block with BufferMode in Buffered when another block is active and another block is waiting.
71	P202 different from 4.
74	Drive in the "Homing" status.
78	MC block not executed – Internal fault.
80	Iq programmed above the maximum allowed.
81	IqRamp programmed below the minimum allowed.
82	IqRamp programmed above the maximum allowed.

Example in Ladder

MW_IqControl_example01

In the up transition of IQCONTROL_EXECUTE, the MW_IqControl block is executed. With this, the Busy and Active signals of this block are set and starts the execution of Iq control according to parameters set. When the process finishes, the Done output of the block is set and remains TRUE while the Execute input is set.

Example in ST

The example below displays the instructions for applying the example above in the ST language.

VAR

IQCONTROL_EXECUTE, DONE : BOOL;

IQ, IQ_RAMP : REAL;

MW_IQCONTROL_INST_0 : FB_MW_IqControl;

END_VAR

IQCONTROL_EXECUTE := MW_IQCONTROL_INST_0.Execute;

MW_IQCONTROL_INST_0(

Axis:=0,

ContinuousUpdate:=1,

Iq:=IQ,

IqRamp:=IQ_RAMP,

BufferMode:=0);

DONE := MW_IQCONTROL_INST_0.InIq;