轴控开发使用手册 > ACP10/ARNC0帮助信息 > ACP10_MC运动库 > 分类的功能块 > 色标控制 (MC_RegMa-Library) > MC_BR

This function block assesses the measured registration mark deviation (MC_BR_RegMarkCaptureXXX, MC_BR_TouchProbe) and returns adjustment values that should be incorporated into the system. As long as the "Enable" input is TRUE, new control errors ("LengthError", "PositionError") can be detected and the corresponding manipulated variables ("Shift", "Distance") calculated.

The controller parameters can be set using the "ControllerParameters" input.

Requirements for use

•This function block can only be used on SG4 target system.

PLCopen axis states in which the function block is permitted to be enabled

All PLCopen axis states, no effect on the PLCopen axis state

Function block

mc_br_regmarkcalc001

Parameter

I/O	Parameter	Data type	Description
IN	Axis	UDINT	Axis reference
IN	Enable	BOOL	Enables calculation
IN	InitData	BOOL	Reapplies "ControllerParameters" when the function block is enabled Note: The mode from MC_RMCALC001_REF is not applied!
IN	Reset	BOOL	Deletes internal values (queues, integrators) and restarts the calculation
IN	Calculate	BOOL	Calculates corrections on each rising edge
IN	LengthError	REAL	Deviation between the length setpoint and the measured length [units]
IN	PositionError	REAL	Deviation between the expected position and the measured position
IN	ControllerParameters	MC_RMCALC001_REF	Parameters for registration mark control
OUT	Valid	BOOL	Valid values calculated, for one task class cycle = TRUE (as the trigger for correction movement)
OUT	Busy	BOOL	The function block is active and must continue to be called.
OUT	Error	BOOL	Error during execution
OUT	ErrorID	UINT	Error numbers
OUT	DataInitialized	BOOL	Input data was initialized
OUT	ResetDone	BOOL	Internal values deleted (queues, integrators), calculation restarted
OUT	ValidCorrections	UDINT	Number of valid correction values
OUT	Distance	REAL	Length deviation [units]
OUT	Shift	REAL	Position deviation [units]
OUT	DistanceLimiterActive	BOOL	Distance limiting enabled
OUT	ShiftLimiterActive	BOOL	Limits for position difference enabled
OUT	AdditionalInfo	MC_ADDINFO001_REF	Interesting topics in the controller, calculated controller parameters, etc.

Table: Parameter MC_BR_RegMarkCalc001

MC_RMCALC001_REF data type

Parameter	Data type	Description
Mode	UINT	mcIMMEDIATE mcAVERAGE mcAVERAGE_WEIGHTED mcQUEUED
MaxDistanceCorrection	REAL	Maximum distance correction
MaxShiftCorrection	REAL	Maximum shift correction
DistanceCorrectionClamp	BOOL	mcOFF ... Limits the distance to MaxDistanceCorrection. mcON ... If Distance > MaxDistanceCorrection, "0" is output as the distance.
AutoParamIntegrator	BOOL	mcOFF ... Uses the integral action times from the parameters. mcON ... Automatically calculates the integral action times.
DistanceGain	REAL	Gain factor for distance control
DistanceIntegralTime	REAL	Integral action time for distance control [s]
ShiftGain	REAL	Gain factor for shift control
ShiftIntegralTime	REAL	Integral action time for position control [s]
ValuesForAveraging	USINT	Number of values to be averaged (1…50)
ValuesForQueuing	USINT	Number of values to be queued (1…50)

MC_ADDINFO001_REF data type

Parameter	Data type	Description
LengthErrorFiltered	REAL	Length error after queue (mcQUEUED) or average calculation (mcAVERAGE, mcAVERAGE_WEIGHTED) Note: Not used with mcIMMEDIATE.
DistancePAction	REAL	Proportional action of distance controller
DistanceIAction	REAL	Integrator action of distance controller
DistanceIntegralTime	REAL	Integral action time of distance controller [s]
PositionErrorFiltered	REAL	Position error after queue (mcQUEUED) or average calculation (mcAVERAGE, mcAVERAGE_WEIGHTED) Note: Not used with mcIMMEDIATE.
ShiftPAction	REAL	Proportional action of shift controller
ShiftIAction	REAL	Integrator action of shift controller
ShiftIntegralTime	REAL	Integral action time of position controller [s]
TimeBetweenRMs	REAL	Measured time between the last two registration marks [s] Note: This value is limited to max. 60 s.

Topics in this section:

• Controller structure

• Operation of the "ControllerParameters.AutoParamIntegrator" input

• Using the "Shift" and "Distance" outputs

• Procedure for configuring the controller

• Error numbers