In this tutorial I will show you how to simulate the telegram111 in simit and implement the control program in TwinCAT Side.

But before I start, I would like to ask a question – what is the goal of simulation?

My answer will be to implement the machine in the virtual world and the same as in the real world.So,the main point of virtual commissioning is how “real” that you can simulate.

SIMIT will release more libraries in the future to support complex Profidrive telegram – And in this post Telegram111 is used.

By using SIMIT we can decrease the commissioning time on site/debug time but also for the Training purpose with a new programmer or operator.

Please Support some devices for my blog

https://www.amazon.jp/hz/wishlist/ls/H7W3RRD7C5QG?ref_=wl_share

Download

Please access this link to download the library.

https://support.industry.siemens.com/cs/document/109761007/drives-behavior-library-for-simit?dti=0&lc=en-BO

Configration

Here is my configuration. I will replace the PLCSIMAdv with TwinCAT3 ,using TF1800 as HMI Display.An OPC-UA Server is configured on the SIMIT side and TwinCAT TF6100 is used to access this Server.

Telegram111?

Telegram 111 is a standard telegram from Siemens to provide a bridge between your drive and PLC by using the EPOS blocks to control the Drive.

Telegram 111 is very similar to Telegram110 but the message frame is larger – 12 words of PZDs are used.

Telegram 111 provided these features:

Basic positioner for servo positioning
32 bit Position data
32 bit Speed data
16 bit Acceleration and Deceleration data
signs of life monitor
Cyclic exchange of Error code warning code

EPOS Operation Flow

TEL_111 Target

I will explain the structure of Telegram111 in here.

STW1

Bit	Device	Description
0	Off1	ON command0=OFF1 is activated 1=ON
1	Off2	0=Off2 is activated
2	Off3	0=Off3 is activated
3	Enc	Inverter is activated
4	RejTrvTask	0=Travering Records is used1=MDI Discard travsering task is used
5	IntMStop	1=not immediately stopped
6	TrvStart	Traversing Task execution
7	AckFault	Fault Reset
8	Jog1	Jog Signal1
9	Jog2	Jog Signal2
10	LB	Life Bit(1=Control By PLC)
11	RefStart	Start to Homing
12	Bit12
13	Bit13	External block Change (0>1)
14	Bit14
15	Bit15

STW2

Bit	Device	Description
0	DDSBit0	Drive data set bit0
1	DDSBit1	Drive data set bit1
2	DDSBit2	Drive data set bit2
3	DDSBit3	Drive data set bit3
4	DDSBit4	Drive data set bit4
5	GlbStart	Global start
6	ReslComp	Reset the Speed Controller’s I-Component
7	ActPrkAxis	Parking axis Enable
8	TrvFixedStp	Moving to Fixed endstop
9	GlbTrgCom	Global Trigger Command
10	Bit10
11	MotSwOver	Motor Switchover
12	MsZykBit0	Master sign of life bit0
13	MsZykBit1	Master sign of life bit1
14	MsZykBit2	Master sign of life bit2
15	MsZykBit3	Master sign of life bit3

POS_STW1

Bit	Device	Description
0	TrvBit0	Selection Bit 0
1	TrvBit1	Selection Bit 1
2	TrvBit2	Selection Bit 2
3	TrvBit3	Selection Bit 3
4	TrvBit4	Selection Bit 4
5	TrvBit5	Selection Bit 5
6	Bit6
7	Bit7
8	MdiTyp	Type of positioning0=Relative positioning1=Absolute positioning
9	MdiPos	The axis rotation of MDI operation while axis is in rotate axis1=Positive
10	MdiNeg	The axis rotation of MDI operation while axis is in rotate axis1=Negative
11	Bit11
12	MdiTrTyp	The signal Type of MDI Task execution0=rise edge1=Setpoint change
13	Bit13
14	MdiSetup	MDI Mode0=positioning1=Setup
15	MdiStart	1=MDI Operation Mode

POS_STW2

Bit	Device	Description
0	TrkMode	Tracking Mode start
1	SetRefPt	set the Reference Point
2	ActRefCam	Enable the Reference Cam
3	Bit3	Enable the Fixed stop
4	Bit4
5	JogInc	0=continuous Jog1=Jog action from parameters
6	Bit6
7	Bit7
8	RefTyp	Homing method0=Reference Point approach1=Passive (on-the-fly) homing
9	RefStDi	The direction to start find the Reference point0=Positive1=Negative
10	RefInpS	Passive (on-the-fly) homingのSignal source0=Probe 1 Enable1=Probe 2 Enable
11	RefEdge	Passive homing detection0=Rise edge1=Fall edge
12	Bit12
13	Bit13
14	SftLimAct	Software Limit Enable
15	StpCmaAct	Stop Cam Enable

OVERRIDE

The Override Speed.

MDI_TARPOS

The Target Command.

MDI_VELOCITY

The Target Velocity.

MDI_ACC

The Accelerate command.

MDI_DEC

The Decelerate command.

User

An Extend PZD for user-defined functions.

TEL_111 Actual

ZSW1

Bit	Device	Description
0	RTS	1=Power UP Ready
1	RDY	1=Operation Readt
2	IOp	1=Servo ON,The condition of EPOS
3	Fault	1=Fault
4	NoOff2Act	1=Off2 is not activated
5	NoOff3Act	1=Off3 is not activated
6	PowInhbt	1=Drive ON is not activated
7	Alarm	1=warning
8	NoFlwErr
9	LbCr	1=request to control
10	TargPos	Target position is reached(This bit can be used in positioning)
11	RefPSet	Reference Point is set
12	TrvTskAck	The Traveling Block is enabled.
13	StndStill	1=Drive is stoppedCurrent speed < Speed threshold3
14	Accel	Drive is accelerating
15	Decel	Drive is decelerating

ZSW2

Bit	Device	Description
0	ActDDSBit0	Drive data Set Bit0
1	ActDDSBit1	Drive data Set Bit1
2	ActDDSBit2	Drive data Set Bit2
3	ActDDSBit3	Drive data Set Bit3
4	ActDDSBit4	Drive data Set Bit4
5	CmdActRelBrk	Release holding brake is enabled
6	TrqContMode	Torque Operating
7	ParkAxisAct	Parking axis
8	Bit8
9	GibTrgReq	Global Trigger Requesting
10	PulsEn	Received Pulse signal of Servo ON and Drive is Enabled
11	MotSwOverAct	Motor Data set switchover Active
12	SlvZykBit0	Slave – Sign of life bit0
13	SlvZykBit1	Slave – Sign of life bit1
14	SlvZykBit2	Slave – Sign of life bit2
15	SlvZykBit3	Slave – Sign of life bit3

POS_ZSW1

Bit	Device	Description
0	ActTrvBit0	Activating Traveling Block Bit0
1	ActTrvBit1	Activating Traveling Block Bit1
2	ActTrvBit2	Activating Traveling Block Bit2
3	ActTrvBit3	Activating Traveling Block Bit3
4	ActTrvBit4	Activating Traveling Block Bit4
5	ActTrvBit5	Activating Traveling Block Bit5
6	Bit6
7	Bit7
8	StpCamMinAct	Stop CAM Minus active
9	StpCamPlsAct	Stop CAM Plus active
10	JogAct	Jog mode is activated
11	RefAct	Reference mode is activated
12	FlyRefAct	On-the-fly homing is activated
13	TrvBlAct	Traversing Blocks mode is activated
14	MdiStupAct	MDI setup Mode is activated
15	MdiPosAct	MDI positioning mode is activated

POS_ZSW2

Bit	Device	Description
0	TrkModeAct	Tracking Mode is activated
1	VeloLimact	Speed Limit is reached
2	SetPSたｔ	Setpoint set
3	PrntMrkOut	Print mark outside outer window
4	FWD	Axis is forwarding
5	BWD	Axis is backwarding
6	SftSwMinAct	Software Limit min is activated
7	SftSwPlsAct	Software Limit plus is activated
8	PosSmCam1	Current position <=Cam switch position 1
9	PosSmCam2	Current position <=Cam switch position 2
10	TrvOut1	Direct out 1 from Traversing block
11	TrvOut2	Direct out 2 from Traversing block
12	FxStpRd	Fixed Stop reached
13	FxStpTrRd	Fixed stop clamping torque reached
14	TrvFxStpAct	Travel to fixed stop active
15	CmdAct	Traversing Task is activated

MELDW

The status code of the drive.

XIST_A

The current position.

NIST_B

The current speed.

FAULTCode

The Fault code of the drive.

WARNCode

The Warning code of the drive.

User

An Extend PZD for user-defined functions.

Block EPOS_Tel111

State

There is a popup to show the current status of Simulation Block EPOS_Tel111.

Test with Jog

The Status is changed between 01>02>08>1E , from servo on to jog.

Please refer to the list manual to get more information.

Test

Servo ON From Panel

I will use the Control panel to start the drive one by one to check if the operation is correct or not.Start your Simit simulation and click the block.

The below Screen is shown.We can force on/off the STW and view the zsw in here.

Let’s turn on the LB signal in STW1.

Click the small blue box near the LB signal.

Now you can see the LB signal is changed to Light blue.

Please turn on the AckFault signal if any error occurs.

Now we can shift the servo condition to ready.

Turn on the Enc, ReqTrvTsk and IntMSop Signals.

Then Turn on Off2,Off3.

Now The NoOFF2Act and NoOff3Act should be on.

And also RTS signals are ON.

Now we can Turn on the Servo.

Please Force on the Off1.

You can see RTS,RDY,IOp are True while the servo on operation is successful.

Absolute Positioning From Panel

After Servo on, we can try to execute an absolute positioning task.

But there is a red lamp displayed in the operation mode settings field. It indicated that the command value is invalid.

Input Value “1” to the Midtyp of POS_STW1.

Now the drive will operate in absolute positioning, and Turn on the MdiStart to set the drive in Mdi Mode.

The reason for the red valid lamp is one of MDI_VELOCITY MDI_ACC MDI_DEC is 0.

Let’s click the simulation block and go to propertery >input.

Let’s input some values of MDI_TARPOS /MDI_VELOCITY /MDI_ACC MDI_DEC.

Press the – button that is near the variable.

Just input some test value 😉

Then press the 123 button to make these values visible in the block.

Good. Values are changed.

The Valid LED is changed to Green ;)!

Before we execute the positioning task, setting a reference point is necessary.

There are so many homing methods but in this tutorial I will use the simple one – Directly set the reference point.

Turn on the SetRelPt Signals in POS_STW2.

Sure you can use the RefStart Signals and change the homing direction, please reference the manual to get more information.

RefStart Signals is on now!

Finally we only need to turn on the TrvStart bit to execute the task!

Just like below, the drive will travel to the target position that you set.

And while the drive has reached the target position, The TargPos of ZSW1 is changed to true.

Relative Positioning From Panel

Then we can test the relative positioning now.

The operation is very similar to Absolute positioning, but just input a value “0” of MidTyp in POS_STW1.

Change the MDI_TARPOS to 50.

It means that the drive will Travel +50 of the current position.

As the gif below, the Position is changed from 500 to 550 after a relative positioning task is done.

Project

SIMIT SIde

Let’s create the simit side first.

Mapping

Create an OPC UA Coupling first.

Define the Input/Output Signals.

Chart

Finally we can assign these signals to the INPUT/OUTPUT of simulation block EPOS_Tel111.

TwinCAT Side

Now we can implement the TwinCAT side. This function block is referenced from the Siemens EPOS Library – SINA_POS function Block.

DUT

DUT_Telg111_ePos_HMI_P

Define the servo operation devices in hmi.

TYPE DUT_Telg111_ePos_HMI_PB :
STRUCT
//PB
bOFF1 :BOOL;
bReset :BOOL;
bJogFw :BOOL;
bJogbw :BOOL;
bHome :BOOL;
bMoveAbs :BOOL;
bMoveRel :BOOL;
//Pars
d32CmdVel :DINT:=100;
d32CmdAcc :DINT:=10;
d32CmdDec :DINT:=10;
d32RelPos :DINT:=10;

//Station
arrStations :ARRAY[0..9]OF DINT;
d16CmdStations :INT;
//
bTableInput :BOOL:=True;
END_STRUCT
END_TYPE

DUT_Telg111_ePos_HMI_PL

Define the servo Status devices in hmi.

TYPE DUT_Telg111_ePos_HMI_PL :
STRUCT
bReady :BOOL;
bBusy :BOOL;
bError :BOOL;
bWarning :BOOL;
bFwing :BOOL;
bBwing :BOOL;
bHomed :BOOL;
bReached :BOOL;
bStopped :BOOL;

d32ActualSpeed :DINT;
d32ActualPos :DINT;
d16WarningCode :DINT;
d16ErrorCode :DINT;
d16StatusWord :DINT;

d16ActualStation :int;

END_STRUCT
END_TYPE

DUT_Telg111_ePos_HMI

Group the operation and status into one DUT.

TYPE DUT_Telg111_ePos_HMI :
STRUCT
PB:DUT_Telg111_ePos_HMI_PB;
PL:DUT_Telg111_ePos_HMI_PL;

END_STRUCT
END_TYPE

DUT_Telegram111_ePos_Pos_STW1

The DUT of STW1.

TYPE DUT_Telegram111_ePos_Pos_STW1 :
STRUCT
bTrvBit0 :BIT;
bTrvBit1 :BIT;
bTrvBit2 :BIT;
bTrvBit3 :BIT;
bTrvBit4 :BIT;
bTrvBit5 :BIT;
b6,b7 :BIT;
bMdiTyp :BIT; //0=Relative,1=absolute
bMdiPos :BIT;
bMdiNeg :BIT;
b11 :BIT;
bMdiTrTyp :BIT;
b13 :BIT;
bMdiSetup :BIT; //0=Position,1=Setup
bMdiStart :BIT; //Operating mode MDI / direct setpoint specification
END_STRUCT
END_TYPE

DUT_Telegram111_ePos_Pos_STW2

The DUT of STW2.

TYPE DUT_Telegram111_ePos_Pos_STW2 :
STRUCT
bTrkMode :BIT;
bSetRefPt :BIT;
bActRefCam :BIT;
b3,b4 :BIT;
bJogInc :BIT;
b6,b7 :BIT;
bRefTyp :BIT;
bRefStDi :BIT;
bRefInpS :BIT;
bRefEdge :BIT;
b12,b13 :BIT;
bSftLimAct :BIT;
bStpCamAct :BIT;

END_STRUCT
END_TYPE

DUT_Telegram111_ePos_STW1

The DUT of POS_STW1.

TYPE DUT_Telegram111_ePos_STW1 :
STRUCT
bOff1 :BIT;
bOff2 :BIT;
bOff3 :BIT;
bEnc :BIT; //Ivnerter Enable
bRejTrvTsk :BIT;
bIntMStop :BIT;
bTrvStart :BIT; //Activate traversing task
bAckFault :BIT;
bJog1 :BIT;
bJog2 :BIT;
bLB :BIT;
bRefStart :BIT;
b12,b13,b14,b15 :BIT;
END_STRUCT
END_TYPE

DUT_Telegram111_ePos_STW2

The DUT of POS_STW2.

TYPE DUT_Telegram111_ePos_STW2 :
STRUCT
bDDSBit0 :BIT;
bDDSBit1 :BIT;
bDDSBit2 :BIT;
bDDSBit3 :BIT;
bDDSBit4 :BIT;
bGlbStart :BIT;
bResIComp :BIT;
bActPrkAxis :BIT;
bTrvFixedStp :BIT;
bGlbTrgCom :BIT;
b10 :BIT;
bMotSwOver :BIT;
bMsZykBit0 :BIT;
bMsZykBit1 :BIT;
bMsZykBit2 :BIT;
bMsZykBit3 :BIT;

END_STRUCT
END_TYPE

u_Telegram111_ePos_STW1

Using union data type to set the DUT and raw data is the same memory offset.

Because SIMIT can not support user data types.

TYPE u_Telegram111_ePos_STW1 :
UNION
STW :DUT_Telegram111_ePos_STW1;
raw :LINT;
END_UNION
END_TYPE

u_Telegram111_ePos_STW2

Using union data type to set the DUT and raw data is the same memory offset.

Because SIMIT can not support user data types.

TYPE u_Telegram111_ePos_STW2 :
UNION
STW :DUT_Telegram111_ePos_STW2;
raw :LINT;
END_UNION
END_TYPE

DUT_Telegram111_ePos_STW

Finally , Group all the STW into one DUT, Done!

TYPE DUT_Telegram111_ePos_STW :
STRUCT
STW1 :u_Telegram111_ePos_STW1;
Pos_STW1 :u_Telegram111_ePos_Pos_STW1;
Pos_STW2 :u_Telegram111_ePos_Pos_STW2;
STW2 :u_Telegram111_ePos_STW2;
OVERRIDE :LINT;
MDI_TAGPOS :LINT;
MDI_VELOCITY :LINT;
MDI_ACC :LINT;
MDI_DEC :LINT;
User :LINT;

END_STRUCT
END_TYPE

DUT_Telegram111_ePos_Pos_ZSW1

The DUT of ZSW1.

TYPE DUT_Telegram111_ePos_Pos_ZSW1 :
STRUCT
bActTrvBit0 :BIT;
bActTrvBit1 :BIT;
bActTrvBit2 :BIT;
bActTrvBit3 :BIT;
bActTrvBit4 :BIT;
bActTrvBit5 :BIT;
b6,b7 :BIT;
bStpCamMinAct :BIT;
bStpCamPlsAct :BIT;
bJogAct :BIT;
bRefAct :BIT;
bFlyRefAct :BIT;
bTrvBlAct :BIT;
bMdiStupAct :BIT;
bMdiPosAct :BIT;

END_STRUCT
END_TYPE

DUT_Telegram111_ePos_Pos_ZSW2

The DUT of ZSW2.

TYPE DUT_Telegram111_ePos_Pos_ZSW2 :
STRUCT
bTrkModeAct :BIT;
bVeloLimAct :BIT;
bSetPStat :BIT;
bPrntMrkOut :BIT;
bFWD :BIT;
bBWD :BIT;
bSftSwMinAct :BIT;
bSftSwPlsAct :BIT;
bPosSmCam1 :BIT;
bPosSmCam2 :BIT;
bTrvOut1 :BIT;
bTrvOut2 :BIT;
bFxStpRd :BIT;
bFxStpTrRd :BIT;
bTrvFxStpAct :BIT;
bCmdAct :BIT;

END_STRUCT
END_TYPE

DUT_Telegram111_ePos_ZSW1

The DUT of POS_ZSW1.

TYPE DUT_Telegram111_ePos_ZSW1 :
STRUCT
bRTS :BIT;
bRDY :BIT;
bIOp :BIT;
bFault :BIT;
bNoOff2Act :BIT;
bNoOff3Act :BIT;
bPowInhbt :BIT;
bAlarm :BIT;
bNoFlwErr :BIT;
bLbCr :BIT;
bTargPos :BIT;
bRefPSet :BIT;
bTrvTskAck :BIT;
bStndStill :BIT;
bAccel :BIT;
bDecel :BIT;

END_STRUCT
END_TYPE

DUT_Telegram111_ePos_ZSW2

The DUT of ZSW2.

TYPE DUT_Telegram111_ePos_ZSW2 :
STRUCT
bActDDSBit0 :BIT;
bActDDSBit1 :BIT;
bActDDSBit2 :BIT;
bActDDSBit3 :BIT;
bActDDSBit4 :BIT;
bCmdActRelBrk :BIT;
bTrqContMode :BIT;
bParkAxisAct 　 :BIT;
b8 :BIT;
bGlbTrgReq :BIT;
bPulsEn :BIT;
bMotSwOverAct :BIT;
bSlvZykBit0 :BIT;
bSlvZykBit1 :BIT;
bSlvZykBit2 :BIT;
bSlvZykBit3 :BIT;

END_STRUCT
END_TYPE

u_Telegram111_ePos_Pos_ZSW1

Using union data type to set the DUT and raw data is the same memory offset.

Because SIMIT can not support user data types.

TYPE u_Telegram111_ePos_Pos_ZSW1 :
UNION
ZSW :DUT_Telegram111_ePos_Pos_ZSW1;
raw :LINT;
END_UNION
END_TYPE

u_Telegram111_ePos_Pos_ZSW2

Using union data type to set the DUT and raw data is the same memory offset.

Because SIMIT can not support user data types.

TYPE u_Telegram111_ePos_Pos_ZSW2 :
UNION
ZSW :DUT_Telegram111_ePos_Pos_ZSW2;
raw :LINT;
END_UNION
END_TYPE

u_Telegram111_ePos_ZSW1

Using union data type to set the DUT and raw data is the same memory offset.

Because SIMIT can not support user data types.

TYPE u_Telegram111_ePos_ZSW1 :
UNION
ZSW :DUT_Telegram111_ePos_ZSW1;
raw :LINT;
END_UNION
END_TYPE

u_Telegram111_ePos_ZSW2

Using union data type to set the DUT and raw data is the same memory offset.

Because SIMIT can not support user data types.

TYPE u_Telegram111_ePos_ZSW2 :
UNION
ZSW :DUT_Telegram111_ePos_ZSW2;
raw :LINT;
END_UNION
END_TYPE

DUT_Telegram111_ePos_ZSW

Finally , Group all the ZSW into one DUT, Done!

TYPE DUT_Telegram111_ePos_ZSW :
STRUCT
ZSW1 :u_Telegram111_ePos_ZSW1;
POS_ZSW1 :u_Telegram111_ePos_Pos_ZSW1;
POS_ZSW2 :u_Telegram111_ePos_Pos_ZSW2;
ZSW2 :u_Telegram111_ePos_ZSW2;
MELDW :LINT;
XIST_A :LINT;
NIST_B :LINT;
FAULTCode :LINT;
WARNCode :LINT;
User :LINT;
END_STRUCT
END_TYPE

DUT_Telegram111_ePos

This is a DUT for me to define the process IO of STW and ZSW into a variable and this DUT is used inside the function block.

TYPE DUT_Telegram111_ePos :
STRUCT
STW AT %Q* :DUT_Telegram111_ePos_STW;
ZSW AT %I* :DUT_Telegram111_ePos_ZSW;
END_STRUCT
END_TYPE

FB_Telgram111_Basic

This Function block implements Telegram111 with Mdi Mode – Servo on, home, jog operation and Absolute/Relative Positioning.Because It is a draft version ,interlocking is not enough to protect all the operations.It may be better to extend this Block and overwrite some methods.

VAR

FUNCTION_BLOCK FB_Telgram111_Basic IMPLEMENTS ITF_Teleg111
VAR_INPUT
END_VAR
VAR_OUTPUT
END_VAR
VAR
IOs :DUT_Telegram111_ePos;
_bError :BOOL;
_bWarning :BOOL;
END_VAR

PROPERTY Busy : BOOL

GET

True is returned while the servo command is executing.

Busy:=NOT Fwing
AND NOT Bwing
AND NOT IOs.ZSW.POS_ZSW2.ZSW.bCmdAct
;

PROPERTY Bwing : BOOL

GET

True is returned while the servo is backwarding.

Bwing:=IOs.ZSW.POS_ZSW2.ZSW.bBWD;

PROPERTY DriveErroCode : DINT

GET

Return the Error code of the servo.

DriveErroCode:=LINT_TO_DINT(IOs.ZSW.WARNCode);

PROPERTY DriveStatusCode : DINT

GET

Return the status code of the servo.

DriveStatusCode:=LINT_to_DINT(IOs.ZSW.MELDW);

PROPERTY DriveWarningCode : DINT

GET

Return the warning code of the servo.

DriveWarningCode:=LINT_TO_DINT(IOs.ZSW.WARNCode);

PROPERTY Error : BOOL

True is returned while the servo is in error.

GET

Error:=IOs.ZSW.ZSW1.ZSW.bFault;

PROPERTY Fwing : BOOL

True is returned while the servo is forwarding.

GET

Fwing:=IOs.ZSW.POS_ZSW2.ZSW.bFWD;

PROPERTY Homed : BOOL

True is returned while the referenced point is set.

GET

Homed:=IOs.ZSW.ZSW1.ZSW.bRefPSet;

PROPERTY ReachPosition : BOOL

True is returned while the positioning task is done.

GET

ReachPosition:=IOs.ZSW.ZSW1.ZSW.bTargPos;

PROPERTY Ready : BOOL

True is returned while the servo is ready.

GET

Ready:=IOs.ZSW.ZSW1.ZSW.bIOp;

PROPERTY Stopped : BOOL

True is returned when the servo is stopped.

GET

Stopped:=NOT Fwing AND NOT Bwing;

PROPERTY Warning : BOOL

True is returned while the servo is in warning.

GET

Warning:=IOs.ZSW.ZSW1.ZSW.bAlarm;

PROPERTY ActualPos : DINT

return the actual position.

GET

ActualPos:=LINT_TO_DINT(IOs.ZSW.XIST_A);

PROPERTY ActualSpeed : DINT

return the actual speed.

GET

ActualSpeed:=LINT_TO_DINT(IOs.ZSW.NIST_B);

METHOD Home : BOOL

A method to set the servo reference point.

VAR_INPUT
in : BOOL;
END_VAR
VAR_INST
R_TRIG:R_TRIG;
TON:TON;

END_VAR

R_TRIG(
CLK:=in
);

IF R_TRIG.Q AND Stopped AND NOT Error THEN
IOs.STW.Pos_STW2.STW.bSetRefPt:=TRUE;
END_IF

TON(IN:=IOs.STW.Pos_STW2.STW.bSetRefPt
,PT:=T#1S
);
IF TON.Q THEN
IOs.STW.Pos_STW2.STW.bSetRefPt:=False;
END_IF

METHOD JogBW : BOOL

A method to operate the servo in a Backward direction.

VAR_INPUT
in:BOOL;
END_VAR

IOs.STW.STW1.STW.bJog2:=in AND NOT Error;
JogBW:=IOs.STW.STW1.STW.bJog2;

METHOD JogFW : BOOL

A method to operate the servo in a Forward direction.

VAR_INPUT
in:BOOL;
END_VAR

IOs.STW.STW1.STW.bJog1:=in AND NOT Error;
JogFW:=IOs.STW.STW1.STW.bJog1;

METHOD moveAbs : BOOL

A method to operate the servo in Absolute positioning mode.

VAR_INPUT
in : BOOL;
pos:DINT;
vel:DINT;
Acc:DINT;
dec:DINT;
END_VAR
VAR_INST
StartCmd :R_TRIG;
CmdDelay :TON;
CmdOff :TON;
END_VAR
.

CmdDelay(
IN:=CmdDelay.Q AND NOT Busy AND Homed
,PT:=T#0.2S
);

StartCmd(
CLK:=in
);

IF StartCmd.Q THEN
IOs.STW.Pos_STW1.STW.bMdiTyp:=TRUE;
IOs.STW.MDI_TAGPOS:=pos;
IOs.STW.MDI_ACC:=Acc;
IOs.STW.MDI_DEC:=dec;
IOs.STW.MDI_VELOCITY:=vel;
IOs.STW.STW1.STW.bTrvStart:=TRUE;
END_IF

CmdOff(
IN:=IOs.STW.STW1.STW.bTrvStart
,PT:=T#1S
);

IF CmdOff.Q THEN
IOs.STW.STW1.STW.bTrvStart:=FALSE;
END_IF

moveAbs:=IOs.STW.Pos_STW1.STW.bMdiTyp ;

METHOD moveRel : BOOL

A method to operate the servo in Relative positioning mode.

VAR_INPUT
in : BOOL;
pos : DINT;
vel : DINT;
Acc : DINT;
dec : DINT;
END_VAR
VAR_INST
StartCmd :R_TRIG;
CmdDelay :TON;
CmdOff :TON;
END_VAR

CmdDelay(
IN:=CmdDelay.Q AND NOT Busy AND Homed
,PT:=T#0.2S
);

StartCmd(
CLK:=in
);

IF StartCmd.Q THEN
IOs.STW.Pos_STW1.STW.bMdiTyp:=FALSE;
IOs.STW.MDI_TAGPOS:=pos;
IOs.STW.MDI_ACC:=Acc;
IOs.STW.MDI_DEC:=dec;
IOs.STW.MDI_VELOCITY:=vel;
IOs.STW.STW1.STW.bTrvStart:=TRUE;
END_IF

CmdOff(
IN:=IOs.STW.STW1.STW.bTrvStart
,PT:=T#1S
);

IF CmdOff.Q THEN
IOs.STW.STW1.STW.bTrvStart:=FALSE;
END_IF

moveRel:=NOT IOs.STW.Pos_STW1.STW.bMdiTyp ;

METHOD Reset : BOOL

A method to reset the Servo.

VAR_INPUT
in:BOOL;
END_VAR

IOs.STW.STW1.STW.bAckFault:=in;

METHOD ServoON : BOOL

A method to Turn on the Servo on the OFF1 bit.

VAR_INPUT
in : BOOL;
END_VAR
VAR_INST
TON:TON;
END_VAR

TON(IN:=in
,PT:=T#0.2S
);

IOs.STW.STW1.STW.bOff1:=TON.Q;

METHOD SetDefaultConfiguration : BOOL

A method to write the basic configuration and please modify the status base on application.

IOs.STW.STW1.STW.bOff2 :=TRUE;
IOs.STW.STW1.STW.bOff3 :=TRUE;
IOs.STW.STW1.STW.bEnc :=TRUE;
IOs.STW.STW1.STW.bIntMStop :=TRUE;
IOs.STW.STW1.STW.bRejTrvTsk :=TRUE;
IOs.STW.STW1.STW.bLB :=TRUE;
IOs.STW.Pos_STW1.STW.bMdiStart :=TRUE;

POU-MAIN

This Time I will not integrate the HMI devices into my function block, because most of the libraries provided from Beckhoff/Siemens/Codesys are only implemented in the basic level,

The user needs to implement the interface linking to other devices like HMI,interlock..etc.

This sample code will show you how to check the opc ua connection>call the function block>servo on>reset>home>jog>error detection>wait the positioning task>refresh the hmi data.

PROGRAM MAIN
VAR
bEnable:BOOL;
OpcUaDeviceStatus AT %I*:OpcUaDeviceStatus;
OpcUaDeviceControl AT %Q*:OpcUaDeviceControl;
Servo1 :FB_Telgram111_Basic;
HMIs:DUT_Telg111_ePos_HMI;
bCmdsVaild:BOOL;
BackupCmd:INT;
d32Cmdpos:DINT;
bIL:BOOL;
R_TRIG,PosReached,AbsMoving:R_TRIG;
END_VAR

IF OpcUaDeviceStatus.Connected THEN
OpcUaDeviceControl.Write_Enable:=TRUE;
bEnable:=True;
ELSE
OpcUaDeviceControl.Write_Enable:=FALSE;
bEnable:=FALSE;
END_IF

Servo1();
Servo1.SetDefaultConfiguration();
Servo1.ServoON(in:=HMIs.PB.bOFF1 AND bEnable);
Servo1.Reset(in:=HMIs.PB.bReset);
Servo1.Home(in:=HMIs.PB.bHome);
R_TRIG(
CLK:=Servo1.Homed
);
IF R_TRIG.Q THEN
HMIs.PB.bHome:=FALSE;
END_IF;

bIL:= NOT HMIs.PB.bMoveRel AND NOT HMIs.PB.bJogbw AND NOT HMIs.PB.bMoveAbs;
IF Servo1.JogFW(in:=HMIs.PB.bJogFw AND bIL) THEN
HMIs.PL.d16ActualStation:=0;
END_IF

bIL:= NOT HMIs.PB.bMoveRel AND NOT HMIs.PB.bJogfw AND NOT HMIs.PB.bMoveAbs;
IF Servo1.JogBW(in:=HMIs.PB.bJogbw AND bIL) THEN
HMIs.PL.d16ActualStation:=0;
END_IF

bIL:= NOT HMIs.PB.bMoveRel AND NOT HMIs.PB.bJogbw AND NOT HMIs.PB.bJogFw;

bCmdsVaild:=HMIs.PB.d16CmdStations <>0 AND BackupCmd <> HMIs.PB.d16CmdStations;

AbsMoving(CLK:=HMIs.PB.bMoveAbs AND bCmdsVaild AND bIL);

IF AbsMoving.Q THEN
d32Cmdpos:=HMIs.PB.arrStations[HMIs.PB.d16CmdStations];
BackupCmd:=HMIs.PB.d16CmdStations;
HMIs.PB.d16CmdStations:=0;
HMIs.PL.d16ActualStation:=0;
END_IF

Servo1.moveAbs(
in:=HMIs.PB.bMoveAbs AND bCmdsVaild
,pos:=d32Cmdpos
,vel:=HMIs.PB.d32CmdVel
,Acc:=HMIs.PB.d32CmdAcc
,dec:=HMIs.PB.d32CmdDec
)
;
bIL:= NOT HMIs.PB.bMoveAbs AND NOT HMIs.PB.bJogbw AND NOT HMIs.PB.bJogFw;
IF
Servo1.moveRel(
in:=HMIs.PB.bMoveRel AND bIL
,pos:=HMIs.PB.d32RelPos
,vel:=HMIs.PB.d32CmdVel
,Acc:=HMIs.PB.d32CmdAcc
,dec:=HMIs.PB.d32CmdDec)
THEN
HMIs.PL.d16ActualStation:=0;
END_IF;

PosReached(CLK:=Servo1.ReachPosition);

IF PosReached.Q THEN

HMIs.PL.d16ActualStation:=BackupCmd;
HMIs.PB.d16CmdStations:=0;
BackupCmd:=0;

END_IF

//Status
HMIs.PL.bBusy:=Servo1.Busy;
HMIs.PL.bBwing:=Servo1.Bwing;
HMIs.PL.bFwing:=Servo1.Fwing;
HMIs.PL.bError:=Servo1.Error;
HMIs.PL.bHomed:=Servo1.Homed;
HMIs.PL.bReached:=Servo1.ReachPosition;
HMIs.PL.bReady:=Servo1.Ready;
HMIs.PL.bStopped:=Servo1.Stopped;
HMIs.PL.bWarning:=Servo1.Warning;
HMIs.PL.d32ActualPos:=Servo1.ActualPos/10;
HMIs.PL.d32ActualSpeed:=Servo1.ActualSpeed/100;
HMIs.PL.d16ErrorCode:=Servo1.DriveErroCode;
HMIs.PL.d16StatusWord:=Servo1.DriveStatusCode;
HMIs.PL.d16WarningCode:=Servo1.DriveWarningCode;

HMIs.PB.arrStations[1]:=-100;
HMIs.PB.arrStations[2]:=100;
HMIs.PB.arrStations[3]:=150;
HMIs.PB.arrStations[4]:=300;
HMIs.PB.arrStations[5]:=10;
HMIs.PB.arrStations[6]:=0;
HMIs.PB.arrStations[7]:=-40;
HMIs.PB.arrStations[8]:=60;
HMIs.PB.arrStations[9]:=90;