= config.numberOfInvertersMinSTD THEN _state := EDriveStateMachine.IDLE; END_IF EDriveStateMachine.IDLE: drvcmd := CMD.Get(); _setProcessValues(0, config.torqueMaxRel); IF ( drvcmd = DriveCMD.ACTIVATE ) THEN _state := EDriveStateMachine.PREPARE; ELSIF drvcmd = DriveCMD.RESET THEN _state := EDriveStateMachine.RESET; END_IF EDriveStateMachine.PREPARE: _setInverterProcessValues(0, config.torqueMaxRel); IF drvcmd = DriveCMD.FASTSTOP THEN _deactivateInverter(); _state := EDriveStateMachine.IDLE; ELSIF _getNoInvertersAvailable() >= config.numberOfInvertersMinSTD THEN _state := EDriveStateMachine.WAIT_FOR_INVERTERS; _activateInverter(); ELSE _state := EDriveStateMachine.IDLE; END_IF EDriveStateMachine.WAIT_FOR_INVERTERS: _setInverterProcessValues(0, config.torqueMaxRel); IF drvcmd = DriveCMD.FASTSTOP THEN _deactivateInverter(); _state := EDriveStateMachine.IDLE; ELSIF inverterWaitTimer.Q THEN _deactivateInverter(); _setFault(EDriveStateMachine.ERROR, p6com.EventIdentifier.DRIVE_ACTIVATION_FAILED); ELSIF _getNoActiveInverters() >= config.numberOfInvertersMinSTD THEN _state := EDriveStateMachine.RUN; END_IF EDriveStateMachine.RUN: drvcmd := THIS^.CMD.Get(); IF drvcmd = DriveCMD.FASTSTOP THEN _deactivateInverter(); _state := EDriveStateMachine.IDLE; ELSIF drvcmd = DriveCMD.RESET THEN _state := EDriveStateMachine.RESET; ELSIF _getNoActiveInverters() < config.numberOfInvertersMinSTD THEN _deactivateInverter(); _setFault(EDriveStateMachine.ERROR, p6com.EventIdentifier.DRIVE_NOT_ENOUGH_MOTORS); ELSIF drvcmd = DriveCMD.STOP THEN _deactivateInverter(); _state := EDriveStateMachine.IDLE; ELSE _setProcessValues(speedInput, torqueRelInput); END_IF EDriveStateMachine.RESET: _resetInverters(); _event := FALSE; _state := EDriveStateMachine.IDLE; EDriveStateMachine.ERROR: drvcmd := THIS^.CMD.Get(); IF _getNoActiveInverters() >= config.numberOfInvertersMinSTD THEN _state := EDriveStateMachine.IDLE; ELSIF _getNoInvertersAvailable() >= config.numberOfInvertersMinSTD THEN _state := EDriveStateMachine.START; ELSIF drvcmd = DriveCMD.RESET THEN _state := EDriveStateMachine.RESET; _event := FALSE; ELSIF NOT _event THEN _state := EDriveStateMachine.IDLE; END_IF END_CASE ]]> = config.numberOfInvertersMinSTD; ]]> 5 THEN IF avgTorqueRel >= 0 THEN IF inverter.getTorqueRel() < (avgTorqueRel - 0.02) THEN speed_updated := Speed + 10; ELSE speed_updated := Speed; END_IF ELSE IF inverter.getTorqueRel() > (avgTorqueRel + 0.02) THEN speed_updated := Speed - 10; ELSE speed_updated := Speed; END_IF END_IF inverter.setProcessValues(speed_updated, TorqueRel); ELSE inverter.setProcessValues(Speed, TorqueRel); END_IF ELSE inverter.setProcessValues(Speed, TorqueRel); END_IF END_FOR _setInverterProcessValues := TRUE; ]]> = config.rpmLimiterMin THEN // _torqueRel := _limitSpeedByTorque(motorSpeed, torqueRelProcess); // _torqueRel := _calcBoostAndPush(_torqueRel); //ELSE // _torqueRel := _calcBoostAndPush(THIS^.torqueRelProcess); //END_IF speedOut := speedProcess; //torqueRelOut := _torqueRel; torqueRelOut := THIS^.torqueRelProcess; ]]> 0 THEN FOR N := 0 TO THIS^.getNoServices()-1 DO IF _getInverter(N).State = p6com.P6State.OP THEN torque := torque + _getInverter(N).getTorqueRel(); END_IF END_FOR _getAvgInverterTorqueRel := torque / DINT_TO_LREAL(noInverters); ELSE _getAvgInverterTorqueRel := 0.0; END_IF ]]> 0 THEN getTorqueMax := MAX(config.torqueMax * TO_LREAL(noInverter) / TO_LREAL(noInvertersMax), 1); ELSE getTorqueMax := 1; END_IF ]]> 0) THEN _getSpeedMeasured := speedInv / DINT_TO_LREAL(noInverters) / getGearRatio(); ELSE _getSpeedMeasured := 0.0; END_IF ]]> = config.torqueRelBoostStart) AND config.option_Boosting AND (THIS^.OpState = p6com.P6OpState.RUN), PT := T#100MS, Q => wantBoosting ); // The idea to allow boosting for boostTime in a time range of a boostCycle (boostTime < boostCycle). // The cycle is floating forwards in time CASE state OF DriveBoostSM.NOT_BOOSTING : IF wantBoosting AND (THIS^.OpState = p6com.P6OpState.RUN) THEN state := DriveBoostSM.INIT; END_IF; DriveBoostSM.INIT: boostCounter := MAX(1, TIME_TO_UDINT(config.boostTime/100)); boostCycle := MAX(1, TIME_TO_UDINT(config.boostCycle/100)); state := DriveBoostSM.BOOSTING; DriveBoostSM.BOOSTING: // Boosting reduces both times IF (NOT wantBoosting) AND tickTimer.Q THEN state := DriveBoostSM.PAUSE; ELSIF (boostCounter > 0) AND tickTimer.Q THEN boostCounter := MAX(boostCounter - 1, 0); boostCycle := MAX(boostCycle - 1, 0); ELSIF (boostCounter <= 0) AND tickTimer.Q THEN state := DriveBoostSM.WAIT_FOR_NEXT_CYCLE; END_IF; DriveBoostSM.PAUSE: IF NOT (THIS^.OpState = p6com.P6OpState.RUN) THEN state := DriveBoostSM.NOT_BOOSTING; ELSIF (NOT wantBoosting) AND tickTimer.Q THEN boostCounter := MIN(boostCounter + 1, TIME_TO_UDINT(config.boostTime)/100); boostCycle := MIN(boostCycle + 1, TIME_TO_UDINT(config.boostCycle)/100); ELSIF (NOT wantBoosting) AND tickTimer.Q AND boostCycle>=(TIME_TO_UDINT(config.boostCycle)/100) THEN state := DriveBoostSM.NOT_BOOSTING; ELSIF wantBoosting THEN state := DriveBoostSM.BOOSTING; END_IF DriveBoostSM.WAIT_FOR_NEXT_CYCLE: IF NOT (THIS^.OpState = p6com.P6OpState.RUN) THEN state := DriveBoostSM.NOT_BOOSTING; ELSIF tickTimer.Q AND (boostCycle > 0) THEN boostCycle := MAX(boostCycle - 1, 0); ELSIF tickTimer.Q AND (boostCycle <= 0) THEN state := DriveBoostSM.NOT_BOOSTING; END_IF; END_CASE IF state = DriveBoostSM.BOOSTING THEN torque := MIN(TorqueRelUser, config.torqueMaxRel); // Boosting ELSE IF THIS^.Config.option_Boosting THEN torque := MIN(TorqueRelUser, config.torqueRelBoostStart); //Limit to boost range start ELSE torque := MIN(TorqueRelUser, config.torqueMaxRel); END_IF; END_IF _calcBoostAndPush := torque; ]]> = EDriveStateMachine.IDLE) AND (_state < EDriveStateMachine.RESET) THEN State := p6com.P6State.OP; ELSIF (_state >= EDriveStateMachine.RESET) THEN State := p6com.P6State.PREOP; ELSE State := p6com.P6State.INIT; END_IF]]> config.rpmLimiterMin *) METHOD _limitSpeedByTorque : LREAL VAR_INPUT MotorRPM : LREAL; TorqueRelDefault : LREAL; END_VAR ]]> 0 AND MotorRPM > config.rpmLimiterMin THEN IF torqueRelProcess < config.torqueMaxRel THEN _limitSpeedByTorque := torqueRelProcess + (config.torqueMaxRel - torqueRelProcess) * (ABS(MotorRPM) - config.rpmLimiterMin) / MAX(1,(config.rpmLimiterMax - config.rpmLimiterMin)) ; ELSE _limitSpeedByTorque := config.torqueMaxRel; END_IF ELSE _limitSpeedByTorque := TorqueRelDefault; END_IF ]]> p6com.P6State.OP THEN inverter.setOperation(InverterCMD.RESET); END_IF END_FOR _resetInverters := TRUE; ]]> 0) THEN _getAverageMotorSpeed := speedInv / DINT_TO_LREAL(noInverters); ELSE _getAverageMotorSpeed := 0.0; END_IF ]]>