This library was created for the Fischertechnik Factorysimulation 24V. It contains classes for the basic elements of this Model.
In the current state only the SortingLine is finished and can be fully implemented using this library.
This library includes the following classes:
- Actuator
- Compressor
- ColorSensor
- Axis
- TimeBasedEncoder
- Motor
Those classes can be used for the calculation of the position based on the time.
Enter:
apax add @simatic-ax/axftcmlib
Simatic.Ax.axftcmlib
This is a base class for all control modules
---
title: ControlModuleAbstract
---
classDiagram
ExecuteCommand <|-- ControlModuleAbstract
class ControlModuleAbstract{
+WORD GetErrorStatus()
}
class ExecuteCommand{
+BOOL Busy()
+BOOL Done()
+BOOL Error()
+WORD ErrorID()
}
---
title: ActuatorTimeBased
---
classDiagram
ControlModuleAbstract <|-- ActuatorTimeBased
class ControlModuleAbstract{
+WORD GetErrorStatus()
}
class ActuatorTimeBased{
+QControl : IBinOutput;
+OnDuration : TIME;
+itfCommand Start()
}
| Method | Description |
|---|---|
| Start() | Actuator will be activated for the time OnDuration |
Example for the class Cylinder ...
VAR_GLOBAL
Actuator : ActuatorTimeBased := (QControl := Q_Actuator) ;
Q_Actuator : BinOutput;
DQ : BOOL;
END_VAR
PROGRAM
cmd := Actuator.Start();
IF NOT(cmd.Busy()) THEN
IF (cmd.Done()) THEN
; // your code
END_IF;
END_IF;
DQ := Q_Actuator.Q(); // True if actuator is active
END_PROGRAM
| Method | Description |
|---|---|
| Enable() | Turns the compressor on |
| Disable() | Turns the compressor off |
Example for the class Compressor ...
VAR_GLOBAL
Compressor : Compressor := (QControl := Q_Compressor) ;
Q_Compressor : BinOutput;
DQ : BOOL;
END_VAR
PROGRAM
cmd := Compressor.Enable();
IF NOT(cmd.Busy()) THEN
IF (cmd.Done()) THEN
; // your code
END_IF;
END_IF;
DQ := Q_Compressor.Q(); // True if compressor is active
cmd := Compressor.Disable();
DQ := Q_Compressor.Q(); // returns False
END_PROGRAM
</details>
### Class ColorSensor
|Method|Description|
|-|-|
|DetectColor(DetectedColor : INT, ColorArray : ARRAY[*] OF ColorRange) : INT |Takes INT-value from sensor and compares it to a Array to find the correct color. ColorArray is a Array of ColorRanges which contains the thresholds for the corresponding color |
<details><summary>Example for the class ColorSensor ... </summary>
```iec-st
VAR_GLOBAL
SortingLineColorSensorValue : INT; //Actual Value provided from the sensor
ColorSensorClassInstance : ColorSensor; //Instance of the class
ColorValueArray[0..1] OF ColorRange := [(StartValue := 19801, EndValue := 30000, color := Colors#UNKNOWN), (StartValue := 6000, EndValue := 9999, color := Colors#WHITE)];
//Gives the area in which each color is set
ResultColor : INT;
END_VAR
PROGRAM
ResultColor := ColorSensorClassInstance.detectColor(DetectedColor := SortingLineColorSensorValue, ColorArray := ColorValueArray);
//outputs the detected color as an INT/ TYPE Colors (from Lib)
END_PROGRAM
Colors and ColorRange ...
///Contains all Colors that the Sensor should know -> Can be expanded
TYPE
Colors : INT (UNKNOWN := 10, WHITE := 1, RED := 2, BLUE := 3); // default value = UNKNOWN
END_TYPE
///Defines the area in which the values equals a certain color
TYPE
ColorRange : STRUCT
StartValue : INT;
EndValue : INT;
Color : colors;
END_STRUCT;
END_TYPE
The Axis consists of a motor and an Encoder
Motor ...
| Method | Description |
|---|---|
| Move(Velocity : LREAL, direction := Direction) | starts movement depending on the direction |
| Halt() | Stops any current movement |
The motor is usually completely controlled through the Axis but needs to manually write on the output.
VAR_GLOBAL
SortingLineMotor : BOOL; //Actual PLC-variable
MotorOutputWriterForward : BinOutput; //Used to write on the PLC-variable
MotorOutputWriterReverse : BinOutput; //Used to write on the PLC-variable
MotorClassInstance : MotorFT := (Forward := MotorOutputWriterForward, Reverse := MotorOutputWriterReverse ); //Class instance initialized with the needed OutputWriter
END_VAR
PROGRAM
//The methods of the motor are all called by the axis but could be added here.
MotorClassInstance.MoveVelocity(Velocity := 1.0, direction := Direction#Forward);
MotorOutputWriterForward.WriteCyclic(Q =>SortingLineMotor);//Writing on the Actual PLC-variable ->needs to be called in every cycle
END_PROGRAM
Encoder + TimeProvider ...
If you haven't a hardware encoder for the Axis, then you can simulate this hardware encoder by the TimeBasedEncoder which calculates the position based on time. The time will be provided by a TimeProvider. This TimeProvider is based on the PLC cycle time
| Method | Description |
|---|---|
| Reset() | Sets current Position to 0 |
| SetValue(value : LINT) | Sets position to a certain value |
| GetValue() : LINT | Outputs current value as LINT in mm |
| Evaluate() | Measures change in position based on the velocity and cycle time (from the encoder) |
| Method | Description |
|---|---|
| Evaluate() | Measures the time needed for one cycle of the CPU |
| GetElapsedSeconds() | Outputs the measured time |
VAR_GLOBAL
TimeProviderForAxis : TimeProvider; //Class instance
TimebasedEncoderForAxis : TimeBasedEncoder := (TimeProvider := TimeProviderForAxis, EncoderAxis := ConveyorbeltForSortingLine, Velocity := 1.0); //Class instance
//Encoder needs access to the axis to check, if it is running
END_VAR
PROGRAM
TimebasedEncoderForAxis.Evaluate(); //Checking the position every cycle -> must be called every cycle
TimeProviderForAxis.Evaluate(); //Checking the cycle time -> must be called every cycle
//Axis uses this information for the monitoring of the current position
END_PROGRAM
| Method | Description |
|---|---|
| RunCyclic() | Execute the cyclic evaluation of the axis |
| MoveVelocity(Velocity : LREAL, direction : Direction) | moves the axis with given speed into certain direction until Halt() is called |
| MoveRelative(velocity : LREAL, distance : LINT) : BOOL | moves the axis for a distance based on the current position |
| MoveAbsolute(velocity : LREAL, position : LINT) : BOOL | moves the axis based on a default point -> Axis needs to be homed |
| Homing(velocity : LREAL, direction : Direction) : BOOL | moves the axis into its homing position |
| Homing(Position : LINT) : BOOL | homes the axes without movement -> position is set to given value |
| Halt() | Stops all movement |
| GetPlcOpenState() : PlcOpenState | Returns current status of axis: Ready, busy, done, error |
| IsRUnning() : BOOL | Checks, if the axis is currently moving |
Example for the class Axis ...
VAR_GLOBAL
SortingLineMotor : BOOL; //Actual PLC-variable
MotorOutputWriterForward : BinOutput; //Used to write on the PLC-variable
MotorOutputWriterReverse : BinOutput; //Used to write on the PLC-variable
MotorClassInstance : MotorFT := (Forward := MotorOutputWriterForward, Reverse := MotorOutputWriterReverse ); //Class instance initialized with the needed OutputWriter
TimeProviderForAxis : TimeProvider; //Class instance
TimebasedEncoderForAxis : TimeBasedEncoder := (TimeProvider := TimeProviderForAxis, EncoderAxis := ConveyorbeltForSortingLine, Velocity := 1.0); //Class instance
AxisReferenceSwitch : BinSignal;
ConveyorbeltForSortingLine : Axis := (Motor := MotorForAxis, Encoder := TimebasedEncoderForAxis, ReferenceSwitch := AxisReferenceswitch);
END_VAR
PROGRAM
TimebasedEncoderForAxis.Evaluate(); //Checking the position every cycle -> must be called every cycle
TimeProviderForAxis.Evaluate(); //Checking the cycle time -> must be called every cycle
ConveyorbeltForSortingLine.RunCyclic(); //Must be called every cycle
ConveyorbeltForSortingLine.Homing(Position := 0);
ConveyorbeltForSortingLine.MoveAbsolute(Velocity := 1.0, Position := 4000);
MotorForwardOutputWriter.WriteCyclic(Q => SortingLineMotorForConveyor); // Write output signals
END_PROGRAM
This workspace will be checked by the markdownlint-cli (there is also documented ho to install the tool) tool in the CI workflow automatically.
To avoid, that the CI workflow fails because of the markdown linter, you can check all markdown files locally by running the markdownlint with:
markdownlint **/*.md --fixThanks for your interest in contributing. Anybody is free to report bugs, unclear documentation, and other problems regarding this repository in the Issues section or, even better, is free to propose any changes to this repository using Merge Requests.
Please read the Legal information