[ag-automation] LDI-Interface

[Herbert.Graf at homag.de]

Hello,

we introduce a very small LDI.
Our opinion is, to have a very small interface for cylic data. For all 
other data, there is acyclic interface.
The interface is realized with CoDeSys.

cyclic interface
The cyclic interface is very small and has less overhead. There are only 
values,
which are transported cyclic between PLC/CNC and drives.

Definition of typAxisRef:
        TYPE typAxisRef :
        STRUCT
        wVersionId                      :SGN16;

        dSetPosition                    :SGN32; (* 0,1µ *)
        dSetVelocity                    :SGN32; (* 0,1µ/s *)
        dSetAccaleration                :SGN32; (* 0,1µ/s² *)
        dSetTorque                      :SGN32; (* Nm/10000 *)
        dAxisControl                    :typAxisControl;        (* e.g. 
Start Referenz, cycl, .. *)

        tCommand                        :typMotionCommand;

        tDriveState                     :typDriveState
        dActPosition                    :SGN32; (* 0,1µ *)
        dActVelocity                    :SGN32; (* 0,1µ/s *)
        dActAccaleration                :SGN32; (* 0,1µ/s² *)
        dActTorque                      :SGN32; (* Nm/10000 *)
        dCapturePosition                :SGN32; (* 0,1µ *)
        dAxisState                      :SGN32;
        dActError                       :SGN32; (* act. state/error *)
END_STRUCT
END_TYPE

Definition of typAxisControl:
TYPE typAxisControl :
STRUCT
        bStartHoming                    :BOOL;          (* start homing *)
        bCylicPosition                  :BOOL;          (* interpret data 
as a data stream *)
        bClearError                     :BOOL;          (* clear actual 
error *)
        bPowerOn                        :BOOL;          (* enable power *)
        bEnable                 :BOOL;          (* enable moving *)
        bCapture                        :BOOL;          (* enable capture 
*)
END_STRUCT
END_TYPE

Definition of typMotionCommand:
TYPE typMotionCommand :
(
        idle                            :=0,
        SetPosition                     :=1,
        SetVelocity                     :=2,
        SetTorque                       :=3
);
END_TYPE


Definition of typDriveState:
TYPE typDriveState :
STRUCT
        bHomed                  :BOOL;          (* homing done *)
        bPowerOn                        :BOOL;          (* power on *)
        bEnabled                        :BOOL;          (* drive enabled 
*)
END_STRUCT
END_TYPE

2. acyclic interface
All other parameters for the drives (e.g. software endposition, jerk, ..) 
can be read or written by the FAPIA-Interface (Fieldbus-APplication-I
nterface-Acyclic).
The FAPIA-interface consists of:
ReadRequest:            to get the value of the parameter
WriteRequest    :       to write the value of the parameter 
InfoRequest:            to get the properties of the parameter
FAPIA lib is available from HOMAG.




Mit freundlichen Grüßen / with best regards

i.V. Herbert Graf
Entwicklung Steuerungs-Plattform

Tel.:        +49 (74 43) 13-2378
Fax:        +49 (74 43) 13-8-2378
E-Mail:   Herbert.Graf at homag.de
http://www.homag.de




Homag Holzbearbeitungssysteme AG 
Aktiengesellschaft mit Sitz in D-72296 Schopfloch, Homagstraße 3 - 5; Registergericht Stuttgart HRB 440352 
Vorstand: Dr. Joachim Brenk (Sprecher), Achim Gauß, Andreas Hermann, Herbert Högemann, Rolf Knoll 
Vorsitzender des Aufsichtsrats: Torsten Grede   
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