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| (* Status update timer setup *) | |
| (* #wTmrStatusRefreshValue:= INT_TO_WORD(StatusRefreshInterval); *) | |
| bEnableStatusUpdate:= NOT bStatusUpdateTimerFlag AND NOT bQueStatusUpdate AND NOT bQueInputUpdate AND NOT bQueStatusUpdate; | |
| tmrStatusUpdate(EN:= EN, TON:= bEnableStatusUpdate, TimerValue:= INT_TO_WORD(StatusRefreshInterval), Out=>bStatusUpdateTimerFlag); | |
| (* Retry timer setup *) | |
| tmrRetry(EN:= EN, TON:= bTmrRetryEnable, TimerValue:= INT_TO_WORD(25), Out=> bTmrRetryFlag); | |
| IF bStatusUpdateTimerFlag AND NOT Busy THEN (* If status update timer has triggered *) | |
| bQueStatusUpdate:= TRUE; (* Schedule Status Word Update *) | |
| END_IF; | |
| IF bTmrRetryFlag THEN (* If retry timer has triggered *) | |
| bTmrRetryEnable:= FALSE; (* Disable retry timer *) | |
| (*bQueSetSpeed:= TRUE;*) (* Schedule setting of speed | Disabled*) | |
| bQueSetControlWord:= TRUE; (* Schedule setting of control word *) | |
| END_IF; | |
| (* Main State Machine *) | |
| CASE iState OF | |
| (* Idle State *) | |
| 0: IF bQueStatusUpdate THEN | |
| iState:= 1; (* Send Status Word Request *) | |
| ELSIF bQueInputUpdate THEN | |
| iState:= 3; (* Send Input Request *) | |
| ELSIF wSpeed <> Speed OR bQueSetSpeed THEN | |
| bQueSetSpeed:= FALSE; (* Clear Explicit Speed Update Request *) | |
| iState:= 5; (* Send Speed Update *) | |
| ELSIF bStarted <> Start OR bReversing <> Reversing OR bQueSetControlWord THEN (* If Start or reversing state is different from last transmission or if ControlWord transmission has explicitly been requested *) | |
| bQueSetControlWord:= FALSE; (* Clear Explicit update request flag *) | |
| iState:= 6; (* Send ControlWord Update *) | |
| IF Start THEN (* Make sure to send speed an extra time when start was requested *) | |
| wSpeed:= 0; (* Clear buffered speed to force re-send *) | |
| END_IF; | |
| END_IF; | |
| (* Send Status Word Request *) | |
| 1: IF NOT bBusInUse AND NOT Busy AND NOT bModbus_Executing_P1 THEN | |
| bBusInUse:= TRUE; (* Set Bus in use so no other block tries to claim it *) | |
| Done:= FALSE; (* Clear previously set done flag *) | |
| Busy:= TRUE; (* Set internal busy so we know we claimed the bus *) | |
| w50Modbus_CommandData_P1[0]:= INT_TO_WORD(SlaveID); (* Load Slave ID *) | |
| w50Modbus_CommandData_P1[1]:= 16#0003; (* Function code, 0x3=Read Holding Register *) | |
| w50Modbus_CommandData_P1[2]:= 16#0004; (* Number of bytes to send NOT words. Excluding addr, size and function*) | |
| w50Modbus_CommandData_P1[3]:= 16#C417; (* Holding register address 0xC417 is 50199 is Register(50200) is Status Control Word (SCW)*) | |
| w50Modbus_CommandData_P1[4]:= INT_TO_WORD(1); (* Number of words to read *) | |
| iState:= 2; (* Wait Status Word (SCW) Response *) | |
| bModbus_Executing_P1:= TRUE; (* Initiate transfer *) | |
| END_IF; | |
| (* Wait Status Word Response *) | |
| 2:IF Busy AND NOT bModbus_Executing_P1 THEN | |
| bQueStatusUpdate:= FALSE; | |
| IF InputReading THEN (* If we are interested in input port states *) | |
| iState:= 3; (* Send Input Request *) | |
| ELSE | |
| iState:= 0; (* Idle State *) | |
| END_IF; | |
| IF NOT bModbus_Error_P1 THEN (* Only if no bus error *) | |
| IF w50Modbus_RecievedData_P1[2] = 0 THEN (* Only if response function is 0 *) | |
| IF SHR (w50Modbus_RecievedData_P1[4] AND 16#00F0, 8) = 2 THEN (* If we received requested number of bytes *) | |
| wReceived:= SHL(w50Modbus_RecievedData_P1[4] AND 16#00FF, 8) OR SHR(w50Modbus_RecievedData_P1[5] AND 16#FF00, 8); | |
| DeviceStatus:= wReceived; (* Output received ControlWord *) | |
| (* Mask out status bits *) | |
| UnitReady:= (SHR(wReceived, 0) AND 16#1) = 1; | |
| ControlReady:= (SHR(wReceived, 1) AND 16#1) = 1; | |
| CoastingEnabled:= (SHR(wReceived, 2) AND 16#1) = 1; | |
| Error_Trip:= (SHR(wReceived, 3) AND 16#1) = 1; | |
| Error_NoTrip:= (SHR(wReceived, 4) AND 16#1) = 1; | |
| TripLocked:= (SHR(wReceived, 6) AND 16#1) = 1; | |
| Warning:= (SHR(wReceived, 7) AND 16#1) = 1; | |
| SpeedOK:= (SHR(wReceived, 8) AND 16#1) = 1; | |
| BusInControl:= (SHR(wReceived, 9) AND 16#1) = 1; | |
| FrequencyLimitOK:= (SHR(wReceived, 10) AND 16#1) = 1; | |
| Running:= (SHR(wReceived, 11) AND 16#1) = 1; | |
| ResistorBreakFault:= (SHR(wReceived, 12) AND 16#1) = 1; | |
| VoltageFault:=(SHR(wReceived, 13) AND 16#1) = 1; | |
| TorqueFault:= (SHR(wReceived, 14) AND 16#1) = 1; | |
| ThermalWarning:= (SHR(wReceived, 15) AND 16#1) = 1; | |
| IF Running <> Start THEN (* If Local Start State differs from Frequency converter *) | |
| bTmrRetryEnable:= TRUE; (* Retry setting state *) | |
| END_IF; | |
| END_IF; | |
| END_IF; | |
| Busy:= FALSE; (* Release Busy Flag *) | |
| Done:= TRUE; (* Tell we are done *) | |
| bBusInUse:= FALSE; (* Release Bus *) | |
| END_IF; | |
| END_IF; | |
| (* Send Input Request *) | |
| 3: IF NOT bBusInUse AND NOT Busy AND NOT bModbus_Executing_P1 THEN | |
| bBusInUse:= TRUE; (* Set Bus in use so no other block tries to claim it *) | |
| Done:= FALSE; (* Clear previously set done flag *) | |
| Busy:= TRUE; (* Set internal busy so we know we claimed the bus *) | |
| w50Modbus_CommandData_P1[0]:= INT_TO_WORD(SlaveID); (* Load Slave ID *) | |
| w50Modbus_CommandData_P1[1]:= 16#0003; (* Function code, 0x3=Read Holding Register *) | |
| w50Modbus_CommandData_P1[2]:= 16#0004; (* Number of bytes to send NOT words. Excluding addr, size and function*) | |
| w50Modbus_CommandData_P1[3]:= 16#40D7; (* Holding register address 0x40D7 is 16599 is Register(16600) is Config Param (16-60)*) | |
| w50Modbus_CommandData_P1[4]:= INT_TO_WORD(1); (* Number of words to read *) | |
| iState:= 4; (* Wait Input Request Response *) | |
| bModbus_Executing_P1:= TRUE; (* Initiate transfer *) | |
| END_IF; | |
| (* Wait Input Request Response *) | |
| 4:IF Busy AND NOT bModbus_Executing_P1 THEN | |
| bQueInputUpdate:= FALSE; | |
| iState:= 0; (* Idle State *) | |
| IF NOT bModbus_Error_P1 THEN (* Only if no bus error *) | |
| IF w50Modbus_RecievedData_P1[2] = 0 THEN (* Only if response function is 0 *) | |
| IF SHR (w50Modbus_RecievedData_P1[4] AND 16#00F0, 8) = 2 THEN (* If we received requested number of bytes *) | |
| wReceived:= SHL(w50Modbus_RecievedData_P1[4] AND 16#00FF, 8) OR SHR(w50Modbus_RecievedData_P1[5] AND 16#FF00, 8); | |
| (* Mask out input states *) | |
| Input18:= (wReceived AND 16#F000) > 0; | |
| Input19:= (wReceived AND 16#0F00) > 0; | |
| Input27:= (wReceived AND 16#00F0) > 0; | |
| Input33:= (wReceived AND 16#000F) > 0; | |
| END_IF; | |
| END_IF; | |
| Busy:= FALSE; (* Release Busy Flag *) | |
| Done:= TRUE; (* Tell we are done *) | |
| bBusInUse:= FALSE; (* Release Bus *) | |
| END_IF; | |
| END_IF; | |
| (* Send Speed Update *) | |
| 5: IF NOT bBusInUse AND NOT Busy AND NOT bModbus_Executing_P1 THEN | |
| bBusInUse:= TRUE;(* Set Bus in use so no other block tries to claim it *) | |
| Done:= FALSE; (* Clear previously set done flag *) | |
| Busy:= TRUE; (* Set internal busy so we know we claimed the bus *) | |
| wSpeed:= Speed; | |
| w50Modbus_CommandData_P1[0]:= INT_TO_WORD(SlaveID); (* Load Slave ID *) | |
| w50Modbus_CommandData_P1[1]:= 16#0010; (* Function code, 0x10=Write Holding Register *) | |
| w50Modbus_CommandData_P1[2]:= 16#0007; (* Number of bytes to send NOT words. Excluding addr, size and function*) | |
| w50Modbus_CommandData_P1[3]:= 16#C359; (* Holding register address 0xC359 is 50009 is Register(50010) is Bus Reference Value*) | |
| w50Modbus_CommandData_P1[4]:= 16#0001; (* Number of words to write *) | |
| w50Modbus_CommandData_P1[5]:= 16#0200 OR SHR(wSpeed,8); (* Byte Count + speed high-byte*) | |
| w50Modbus_CommandData_P1[6]:= SHL(wSpeed AND 16#FF, 8); (* Speed low-byte *) | |
| iState:= 100; (* State to Wait transfer complete / error*) | |
| bModbus_Executing_P1:= TRUE; (* Initiate transfer *) | |
| END_IF; | |
| (* Send ControlWord Update *) | |
| 6: IF NOT bBusInUse AND NOT Busy AND NOT bModbus_Executing_P1 THEN (* Wait for bus to be free *) | |
| bBusInUse:= TRUE;(* Set Bus in use so no other block tries to claim it *) | |
| Done:= FALSE; (* Clear previously set done flag *) | |
| Busy:= TRUE; (* Set internal busy so we know we claimed the bus *) | |
| wTemp:= 0; (* Use a temporary variable to store the CTW *) | |
| IF Start THEN (* If Start requested *) | |
| wTemp:= wTemp OR SHR(16#1, 6); (* Set bit 6 of CTW *) | |
| END_IF; | |
| IF Reversing THEN (* If Reversing requested *) | |
| wTemp:= wTemp OR SHR(16#1, 15); (* Set bit 15 of CTW *) | |
| END_IF; | |
| bReversing:= Reversing; (* Store written reversing state *) | |
| bStarted:= Start; (* Store written start state *) | |
| w50Modbus_CommandData_P1[0]:= INT_TO_WORD(SlaveID); (* Load Slave ID *) | |
| w50Modbus_CommandData_P1[1]:= 16#0010; (* Function code, 3=Read Holding Register *) | |
| w50Modbus_CommandData_P1[2]:= 16#0007; (* Number of bytes to send NOT words. Excluding addr, size and function*) | |
| w50Modbus_CommandData_P1[3]:= 16#C34F; (* Holding register address 0xC34F is 49999 is Register(50000) is Control Word (CTW)*) | |
| w50Modbus_CommandData_P1[4]:= 16#1; (* Number of words to write *) | |
| w50Modbus_CommandData_P1[5]:= 16#0200 OR SHR(wTemp,8); (* Byte Count + CTW high-byte*) | |
| w50Modbus_CommandData_P1[6]:= SHL(wTemp AND 16#FF, 8); (* CTW low-byte *) | |
| iState:= 100; (* State to Wait bus Ready *) | |
| bModbus_Executing_P1:= TRUE; (* Initiate transfer *) | |
| END_IF; | |
| (* Wait Transfer complete / error *) | |
| 100: IF Busy AND NOT bModbus_Executing_P1 THEN | |
| iState:= 0; (* State to Idle State *) | |
| Busy:= FALSE; (* Release Busy Flag *) | |
| Done:= TRUE; (* Tell we are done *) | |
| bBusInUse:= FALSE; (* Release Bus *) | |
| END_IF; | |
| END_CASE; | |
| (* Bus error checking *) | |
| IF Busy AND NOT bModbus_Executing_P1 AND bModbus_Error_P1 AND NOT ErrorClear AND NOT Error THEN (* If We own the bus and Executing stopped and there is a bus error *) | |
| Error:= TRUE; (* Flag error *) | |
| Busy:= FALSE; (* Clear Busy *) | |
| bBusInUse:= FALSE; (* Release Bus *) | |
| ELSIF Error AND ErrorClear THEN (* If there is an error and clearing it is requested *) | |
| iState:= 0; (* Idle State *) | |
| Error:= FALSE; (* Clear error flag *) | |
| END_IF; |
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