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Datatype DB_Any for Positioning Axis

Created by: Nicolayy at: 10/24/2018 5:06 PM (7 Replies)

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10/24/2018 5:06 PM	Rate (0)
Nicolayy Member Joined: 12/12/2015 Last visit: 6/30/2022 Posts: 7 Rating: (0)	Hello I write function block for servodrives control. See Ctrl_Servo.txt file. It works good, I set SP_S (in mm) and SP_V (speed in mm/s) and I set to 1 bit named "is_TO_POS" - it is start bit for movement begining. Or I set bits is_JOG_forward and is_JOG_backward for manual control (via button on machine panel). But it works for only one servodrive, because FB don't contains any DBs inside.There are all DBs outside my FB and I can to create only one instance DB of my FB, because this function call MC_Power, MC_Home and other functions for external DBs (MC_Power_DB, MC_Home_DB etc.) and it use external technology object - Axis_1.I want to include DBs to my FB. I can create static variables inside DB as instances DBs of MC_Power, MC_Home functional blocks etc. It is not problem. But, how to create internal DBs for technology objects (Axis)? I cannot creating variable with type of DB for TO_PositionAxis. How include it into my FB? I read Siemens instruction "Advantages of Using Data Type DB_ANY with Motion Control Applications", it contain example, where they create Datablock with DB_ANY type variable. Then they write: "During the startup of the CPU (in OB 100, for example) you assign the corresponding technology objects of the project to the separate array elements.". They made it via command " := ". In next they write: " technology object "PositioningAxis" retains the data type "TO_PositioningAxis" even when using DB_ANY. ". Okay, I create DB_ANY variable named DB_Axis in my FB. The I write in OB100 function Ctrl_Servo_1.DB_Axis := "Axis_1"; but TIA swears on it: Data type 'Block_DB' cannot be converted implicitly into data type 'DB_ANY'. My attempt to use DB_ANY on MC_Power_DB - also TIA error: Parameters of the function or the function block do not match the transferred formal parameters. What do I do incorrectly? P.S> I use TIA Portal v13 SP1 Attachment Ctrl_Servo.txt (664 Downloads)

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10/24/2018 7:51 PM	Rate (0)
0_Einstein Diamond Member Joined: 7/7/2010 Last visit: 4/17/2025 Posts: 15809 Rating: (2496)	Not sure I fully understood what you wanted, but this might be a work-around that saves you time: FUNCTION_BLOCK "Ctrl_Servo" TITLE = CTRL_SERVO { S7_Optimized_Access := 'TRUE' } VERSION : 0.1 //Control Technology Object Speed Axis servos. // //Assumes Axis # is DB # for TO Object. VAR_INPUT Axis_Number : UInt := 1; END_VAR VAR is_start : Bool; is_start_prev : Bool; is_start_EU : Bool; is_enabled : Bool; is_busy : Bool; is_done : Bool; SP_S : Real; SP_V : Real; Curr_S : Real; Epsilon : Real; status_power : Bool; is_busy_power : Bool; is_error_power : Bool; error_id_power : Word; error_info_power : Word; GO_home : Bool; GO_power : Bool; GO_reset : Bool; GO_to_position : Bool; GO_JOG_forward : Bool; GO_JOG_backward : Bool; is_done_home : Bool; is_busy_home : Bool; is_aborted_home : Bool; is_error_home : Bool; ErrorID_home : Word; ErrorInfo_home : Word; is_error : Bool; is_aborted : Bool; error_id : Word; error_info : Word; is_busy_reset : Bool; servo_stage : Int; servo_stage_prev : Int; is_busy_JOG : Bool; is_error_JOG : Bool; error_id_JOG : Word; error_info_JOG : Word; is_JOG_forward : Bool; is_JOG_backward : Bool; is_TO_POS : Bool; is_enabled_prev : Bool; is_allow : Bool; Light_Servo_Enabled : Bool; MC_Power_Instance {InstructionName := 'MC_Power'; LibVersion := '6.0'; ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Array[1..2] of MC_Power; MC_Home_Instance {InstructionName := 'MC_Home'; LibVersion := '6.0'; ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Array[1..2] of MC_Home; MC_Reset_Instance {InstructionName := 'MC_Reset'; LibVersion := '6.0'; ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Array[1..2] of MC_Reset; MC_MoveAbsolute_Instance {InstructionName := 'MC_MoveAbsolute'; LibVersion := '6.0'; ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Array[1..2] of MC_MoveAbsolute; MC_MoveJog_Instance {InstructionName := 'MC_MoveJog'; LibVersion := '6.0'; ExternalAccessible := 'False'; ExternalVisible := 'False'; ExternalWritable := 'False'} : Array[1..2] of MC_MoveJog; END_VAR VAR_TEMP variant_conv_err : Int; axis : DB_ANY; END_VAR BEGIN // servo_stage: // 0 - disable servo // 1 - enable servo // 2 - start servo (reset errors on servopack first) // 3 - error reset completed, reset S // 4 - S = 0, go to position // 5 - go forward // 6 - go backward // 7 - finished // is_enabled - ublocking servo // is_TO_POS - work as button (start on EU front) - go to position SP_S on speed = SP_V // is_JOG_forward - go forward on speed = SP_V (work as contact - for manual mode) // is_JOG_backward - go backward on speed SP_V (work as contact - for manual mode) IF (#status_power = false) THEN #is_TO_POS := false; #is_JOG_forward := false; #is_JOG_backward := false; #GO_home := false; #GO_JOG_backward := false; #GO_JOG_forward := false; #GO_to_position := false; END_IF; IF (#is_enabled = false) THEN #is_allow := false; #servo_stage := -2; END_IF; IF (#is_enabled AND #servo_stage = -2) THEN #servo_stage := -1; #GO_reset := true; END_IF; IF (#servo_stage = -1 AND #servo_stage_prev = -1 AND #is_busy_reset = false) THEN #servo_stage := 0; #is_allow := true; END_IF; // #GO_power := #is_allow; // IF (#is_allow AND #status_power = false AND #servo_stage > 0) THEN #servo_stage := -2; END_IF; IF (#status_power AND #servo_stage = 0) THEN #servo_stage := 1; END_IF; // IF (#status_power = false) THEN "Light_Servo_Enabled" := false; END_IF; IF (#status_power AND #is_start AND #is_start_prev = false) THEN "Light_Servo_Enabled" := true; END_IF; // IF ((#is_JOG_forward XOR #is_JOG_backward XOR #is_TO_POS) = false) THEN #is_start := false; //ELSIF(#is_busy = false AND #is_busy_JOG = false) THEN ELSE #is_start := true; END_IF; #is_start_EU := #status_power AND #is_start AND #is_start_prev = false; IF (#is_start_EU) THEN #GO_reset := true; #servo_stage := 2; END_IF; IF (#servo_stage = 2 AND #servo_stage_prev = 2 AND #is_busy_reset = false) THEN #servo_stage := 3; #GO_home := true; END_IF; IF (#servo_stage = 3 AND #servo_stage_prev = 3 AND #is_busy_home = false) THEN IF ((#is_JOG_forward XOR #is_JOG_backward XOR #is_TO_POS) = false) THEN #servo_stage := 0; ELSE #GO_to_position := #is_TO_POS; #GO_JOG_forward := #is_JOG_forward; #GO_JOG_backward := #is_JOG_backward; IF (#GO_to_position) THEN #servo_stage := 4; END_IF; IF (#GO_JOG_forward) THEN #servo_stage := 5; END_IF; IF (#GO_JOG_backward) THEN #servo_stage := 6; END_IF; END_IF; END_IF; IF (#servo_stage = 4 AND #servo_stage_prev = 4 AND #is_busy = false AND #is_busy_JOG = false) THEN #servo_stage := 7; //ELSIF(((#servo_stage = 5 AND #servo_stage_prev = 5) OR // (#servo_stage = 6 AND #servo_stage_prev = 6)) AND // #is_busy = false AND #is_busy_JOG = false) THEN // #servo_stage := 7; ELSIF (#servo_stage = 5 OR #servo_stage = 6) THEN #GO_JOG_forward := #is_JOG_forward; #GO_JOG_backward := #is_JOG_backward; END_IF; #axis := UINT_TO_DB_ANY(IN := #Axis_Number); //#axis := VARIANT_TO_DB_ANY(in := #Axis_DB, err => #variant_conv_err); //------------------------------- #MC_Power_Instance[#Axis_Number](Axis:=#axis, Enable:=#GO_power, StopMode:=1, Status=>#status_power, Busy=>#is_busy_power, Error=>#is_error_power, ErrorID=>#error_id_power, ErrorInfo=>#error_info_power); #MC_Home_Instance[#Axis_Number](Axis:=#axis, Execute:=#GO_home, Position:=0.0, Mode:=0, Done=>#is_done_home, Busy=>#is_busy_home, CommandAborted=>#is_aborted_home, Error=>#is_error_home, ErrorID=>#ErrorID_home, ErrorInfo=>#ErrorInfo_home); #MC_Reset_Instance[#Axis_Number](Axis:=#axis, Execute:=#GO_reset, Restart:=false, Busy=>#is_busy_reset); #MC_MoveAbsolute_Instance[#Axis_Number](Axis:=#axis, Execute:=#GO_to_position, Position:=#SP_S, Velocity:=#SP_V, Done=>#is_done, Busy=>#is_busy, CommandAborted=>#is_aborted, Error=>#is_error, ErrorID=>#error_id, ErrorInfo=>#error_info); #MC_MoveJog_Instance[#Axis_Number](Axis:=#axis, JogForward:=#GO_JOG_forward, JogBackward:=#GO_JOG_backward, Velocity:=#SP_V, Busy=>#is_busy_JOG, Error=>#is_error_JOG, ErrorID=>#error_id_JOG, ErrorInfo=>#error_info_JOG); #GO_power := false; #GO_reset := false; #GO_home := false; #GO_to_position := false; #is_start_prev := #is_start; #servo_stage_prev := #servo_stage; #is_enabled_prev := #is_enabled; // END_FUNCTION_BLOCK Nicolayy Hello I write function block for servodrives control. See Ctrl_Servo.txt file. It works good, I set SP_S (in mm) and SP_V (speed in mm/s) and I set to 1 bit named "is_TO_POS" - it is start bit for movement begining. Or I set bits is_JOG_forward and is_JOG_backward for manual control (via button on machine panel). But it works for only one servodrive, because FB don't contains any DBs inside.There are all DBs outside my FB and I can to create only one instance DB of my FB, because this function call MC_Power, MC_Home and other functions for external DBs (MC_Power_DB, MC_Home_DB etc.) and it use external technology object - Axis_1.I want to include DBs to my FB. I can create static variables inside DB as instances DBs of MC_Power, MC_Home functional blocks etc. It is not problem. But, how to create internal DBs for technology objects (Axis)? I cannot creating variable with type of DB for TO_PositionAxis. How include it into my FB? I read Siemens instruction "Advantages of Using Data Type DB_ANY with Motion Control Applications", it contain example, where they create Datablock with DB_ANY type variable. Then they write: "During the startup of the CPU (in OB 100, for example) you assign the corresponding technology objects of the project to the separate array elements.". They made it via command " := ". In next they write: " technology object "PositioningAxis" retains the data type "TO_PositioningAxis" even when using DB_ANY. ". Okay, I create DB_ANY variable named DB_Axis in my FB. The I write in OB100 function Ctrl_Servo_1.DB_Axis := "Axis_1"; but TIA swears on it: Data type 'Block_DB' cannot be converted implicitly into data type 'DB_ANY'. My attempt to use DB_ANY on MC_Power_DB - also TIA error: Parameters of the function or the function block do not match the transferred formal parameters. What do I do incorrectly? P.S> I use TIA Portal v13 SP1
	science guy
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This contribution was helpful to 1 thankful Users #dP

10/24/2018 9:38 PM	Rate (2)
#dP Posts: 2826 Rating: (690)	Hello. ( Nicely styled code you added here.) Why not just call the Axis DB directly through the parameters? I have developed FB code that does exactly that. The picture shows for TIA V13 SP0. The name of the motion control DB did change from one TIA version to the next, but the principle stays the same. Another nice feature - the #AXIS parameter tag is in actual fact a pointer. That means there is no overhead for the data within the FB. This parameter-is-a-pointer happen automatically when having complex (structure) as a datatype and using optimized data structuring. Let us know if this is what you were looking for.
#dP Posts: 2826 Rating: (690)
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This contribution was helpful to 2 thankful Users grrrrrroooo Nicolayy

10/25/2018 1:44 AM	Rate (2)
grrrrrroooo Platinum Member Joined: 3/16/2015 Last visit: 10/10/2021 Posts: 1250 Rating: (174)	Yes something is missing and I'm not entirely sure what. The example clearly shows input parameter with data type TO_PositioiningAxis data type but I couldn't find it. Strange. #dp, what is the new name of the data type? OK I got it, it has to be typed in as it doen't show up in the list of datatypes. What an inconsistent piece of software TIA is!
	Last edited by: Kal.A at: 10/25/2018 1:49:01 AM Last edited by: Kal.A at: 10/25/2018 5:02:41 AM
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This contribution was helpful to 4 thankful Users #dP Nicolayy Sparrebo rzmehdipour

10/25/2018 10:15 AM	Rate (0)
Nicolayy Member Joined: 12/12/2015 Last visit: 6/30/2022 Posts: 7 Rating: (0)	huggy_d1, you wrote: //---------------------------------------------------------------- VAR_TEMP axis : DB_ANY; ... #MC_Power_Instance[#Axis_Number](Axis:=#axis, Enable:=#GO_power, StopMode:=1, Status=>#status_power, Busy=>#is_busy_power, Error=>#is_error_power, ErrorID=>#error_id_power, ErrorInfo=>#error_info_power); //---------------------------------------------------------------- How you can call MC_Power function with parameter DB_Any in place of parameter TO_PositioningAxis type? When I did it, TIA show error: Parameters of the function or the function block do not match the transferred formal parameters. I wrote about it in my first message. I.e. TIA don't accept DB_ANY type parameter for MC_Power and other functions. See attachment. Secondly, there is not need to create array for instance DBs of MC_Power (and other FBs). My task is creation FB with one internal instance DB for each FB (MC_Power and other). Then I want to create some instance DBs for my FB. Thus there will be one copy of DB for each servodrive. Therefore it isn't necessary to create arrays. Thirdly, I don't understand what is it: //---------------------------------------------------------------- #axis := UINT_TO_DB_ANY(IN := #Axis_Number); //---------------------------------------------------------------- Do you convert integer value to data block? ////////////////////////////////////////////////// Perhaps, I not really correctly express in English therefore it is difficult to you to understand me. I will try to explain in a different way. If to present that my problem would be solved not on PLC, and by means of usual programming (C ++, for example), then Ctrl_Servo would be a certain class, and its instance DBs - objects of this class. In that case the main function of my FB would be method of this class, and the static FB variables would be class Ctrl_Servo variables. Axis_1 would be an object of other class. To transfer him to function of my class to me it was required to use the reference or the pointer, it would be very simple task. It would look approximately so: //---------------------------------------------------------------- class Ctrl_Servo { public: bool is_start; bool is_start_prev; // . . . etc. other static variables MC_Power MC_Power_Instance; MC_Home MC_Home_Instance; MC_Reset MC_Reset_Instance; MC_MoveAbsolute MC_MoveAbsolute_Instance; MC_MoveJog MC_MoveJog_Instance; void func(TO_PositioningAxis* axis); } ... some TForm class: class TForm_1 : public TForm { // ... Ctrl_Servo* Ctrl_Servo_1; Ctrl_Servo* Ctrl_Servo_2; void Init(); void Servo(); } ... in some system unit: { TO_PositioningAxis Axis_1; TO_PositioningAxis Axis_2; } ... void TForm_1::Init() { Ctrl_Servo_1 = new Ctrl_Servo(); // ~~ instance DB for first servodrive Ctrl_Servo_2 = new Ctrl_Servo(); // ~~ instance DB for second servodrive } void TForm_1::Servo() { Ctrl_Servo_1->func(&Axis_1); Ctrl_Servo_2->func(&Axis_2); } //---------------------------------------------------------------- How to implement this simple task in SCL? ////////////////////////////////////////////////// #dp, I don't know how you create input variable with type TO_PositioningAxis. My TIA don't offer to choose this. Attachment tia_err.png (664 Downloads)
	Last edited by: Nicolayy at: 10/25/2018 10:35:02 AM Last edited by: Nicolayy at: 10/25/2018 10:36:35 AM
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10/25/2018 11:17 AM	Rate (1)
#dP Posts: 2826 Rating: (690)	Hello. Nicolayy #dp, I don't know how you create input variable with type TO_PositioningAxis. My TIA don't offer to choose this. Sorry that is my mistake to have left out an important piece of information. Happily @Kal.A already wrote the important information: Kal.A OK I got it, it has to be typed in as it doen't show up in the list of datatypes. What an inconsistent piece of software TIA is! So, do not hope to make the selection. Write out the datatype and press enter. Does this work for you too?
#dP Posts: 2826 Rating: (690)
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This contribution was helpful to 2 thankful Users Nicolayy JanMa1

10/25/2018 11:35 AM	Rate (0)
Nicolayy Member Joined: 12/12/2015 Last visit: 6/30/2022 Posts: 7 Rating: (0)	>>> So, do not hope to make the selection. Write out the datatype and press enter. It works! Incredible )) I hope it would be successfull Thanks for all Attachment Ctrl_Servo_new.txt (797 Downloads)
	Last edited by: Nicolayy at: 10/25/2018 11:35:33 AM Last edited by: Nicolayy at: 10/25/2018 11:49:51 AM Last edited by: Nicolayy at: 10/25/2018 11:50:25 AM
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3/15/2020 11:54 AM	Rate (0)
rzmehdipour Advanced Member Joined: 2/22/2020 Last visit: 4/17/2022 Posts: 44 Rating: (1)	Kal.A Yes something is missing and I'm not entirely sure what. The example clearly shows input parameter with data type TO_PositioiningAxis data type but I couldn't find it. Strange. #dp, what is the new name of the data type? OK I got it, it has to be typed in as it doen't show up in the list of datatypes. What an inconsistent piece of software TIA is! For a few days I was wondering and looking to find out where TO_PositioningAxis is in the list of data types.

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