Motion Control
Shaft Lock v1
Description

Shaft Lock

Provides the position error of the follower with regard to the reference position.

The count inputs are freely connectable from any Encoder or FI function block Count output in any smarty on the local network.

Floating point ratio parameters are provided for convenient entry of gearbox details and roll diameter differences.

Use the Reset parameter for initialization, typically at zero speed.

The function block Status is Fault and the function block output is zero if the count input is not updated for a period longer than approximately twenty times the timebase, i.e. 100ms, by default.

In the SFD drawing below, the typical electronic line-shaft control scheme is completed with only two other function blocks; Motion Control > Speed and Control > Section Control. Only the essential connections are shown; encoder frequency and counts and the desired motor drive speed command.

Availability
  • Available only in the dw2xx-v2 series products
  • Requires library: Precision Motion (option -39)
  • Firmware versions 0x2105 through 0x211C
savvy-SFD Graphic shaftLock
Graphic with Parameters shaftLock

Parameters

Reference Input Input, Read-only, Placeholder (special (count & timestamp))

Reference Input

The line speed, reference pulse count input.

The count input is freely connectable from any single Encoder or FI function block Count output in any smarty on the local network.
Follower Input Input, Read-only, Placeholder (special (count & timestamp))

Follower Input

The follower pulse count input.

The count input is freely connectable from any single Encoder or FI function block Count output in any smarty on the local network.
Reference Pulses/Rev Input, Read-write, Analog (signed 16-bit integer)
1 ppr to 30000 ppr
Follower Pulses/Rev Input, Read-write, Analog (signed 16-bit integer)
1 ppr to 30000 ppr
Reference Gear Ratio Input, Read-write, Analog (32-bit IEEE-754 floating point value)
-340E36 to 340E36
Follower Gear Ratio Input, Read-write, Analog (32-bit IEEE-754 floating point value)
-340E36 to 340E36
Reference Sign Input, Read-write, Boolean (signed 16-bit integer)
0 = Positive
1 = Negative
Follower Ratio Input, Read-write, Analog (32-bit IEEE-754 floating point value)
-340E36 to 340E36
Reset Input, Read-write, Boolean (signed 16-bit integer)

Reset

Use the Reset parameter for initialization, typically at zero speed.

0 = Inactive
1 = Reset
Upper Clamp Input, Read-write, Analog (signed 16-bit integer)
0.0000 revs to 3.2767 revs

If the Input exceeds this value, the Output will be set to this value.
Lower Clamp Input, Read-write, Analog (signed 16-bit integer)
-3.2767 revs to 0.0000 revs

If the Input is less than this value, the Output will be set to this value.
Output Output, Read-only, Analog (signed 16-bit integer)
-3.2767 revs to 3.2767 revs

Output

The position error of the follower with regard to the reference position in terms of one revolution of the reference after the PPR and gear ratio parameters.

The range is +/-0.5000revs.


-32767 = - overrange
32767 = + overrange
Clamping Output Output, Read-only, Boolean (signed 16-bit integer)
0 = Not Clamping
1 = Clamping
Status Internal Parameter, Read-only, Enumerated (signed 16-bit integer)

Status

The function block Status is Fault and the function block output is zero if one or both of the count inputs is not updated for a period longer than approximately twenty times the timebase, i.e. 100ms, by default.

0 = OK
1 = Ref Fault
2 = Flw Fault
3 = Ref & Flw Fault
Error Internal Parameter, Read-only, Analog (signed 16-bit integer)
-3.2767 revs to 3.2767 revs

Status

The instantaneous error between the reference and follower during any particular FBE cycle.

-32767 = - overrange
32767 = + overrange