ASCII - Command WPOS    
Syntax Transmit WPOS    
Syntax Receive WPOS <Data>   Available in  
Type Variable ro   MMI No
ASCII Format Integer8   CANBus Object Number 3636 (hex)
DIM -   PROFIBUS PNU 1910 (dec) IND = 1 (dec)
Range 0, 1, 2   DPR 310 (dec)
Default 0    
Opmode All   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 3.20    
Configuration Yes   Last Change of this Object 1.6
Function Group Position Controller   EEPROM No
Short Description Enable Position Registers

Description

In addition to the existing software limit-switches/position thresholds (SWCNFG / SWCNFG2) there is additional option for monitoring positions.using WPOS.
Unlike SWCNFG / SWCNFG2 this monitoring function operates in a deterministic manner. Going above/below a position is detected and signaled within 1 millisecond. With WPOS the position monitoring can be done either continuously or once.
The fast position registers are enabled by WPOS.
WPOS=0 Position register disabled
WPOS=1 Position register enabled, no spontaneous CAN message on change of status.
WPOS=2 Position register enabled, spontaneous CAN message on change of status (this setting is only via CAN-Bus possible).



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Changes to the WPOS variable between 0 and >0 can only be made offline (SAVE and COLDSTART), a change between 1 and 2 can also be made online.


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There are 16 position registers P1 ... P16, that can be configured with the help of 3 control variables. The state of each position register is indicated through a status variable. All control/status variables are 32-bit , only the lower 16 bits (bits 0 ... 15) are used for the position registers P1 ... P16.

Control variables:
WPOSE Enable/disable a position register
Bit=0 the corresponding position register is not monitored
Bit=1 the position register is monitored

WPOSP Polarity for the position signaling
Bit=0 Position signal is generated on going above/beyond (overrun) the position
Bit=1 Position signal is generated on going below/behind (underrun) the position

WPOSX – Type of position monitoring
Bit=0 position is monitored continuously
Bit=1 position is monitored once. When the position signal is generated, the corresponding enable bit (WPOSE) is set to 0, so that the monitoring is disabled for this position register,

Status variable:
POSRSTAT (z_data.Posrstat) – Position signaling
Bit=0 position signaling inactive
Bit=1 position signaling active (position overrun for WPOSP=0 or underrun for WPOSP=1).

Position register:
The position registers 1 to 16 can be accessed by the ASCII command P1 ... P16. Position values are displayed in the same units as the position control loop (PGEARI / PGEARO conversion).
The variables that are required for the fast position registers (WPOSE, WPOSP, WPOSX, P1 ... P16) can be saved in the serial EEPROM by using the SAVE command. Those position registers P1 ... P16 which are not used should be set to 0 (since the default value for a position register is 0, no space will be occupied in the serial EEPROM).
The individual position signals from the status register POSRSTAT can be output from the digital outputs of the motherboard.

OxMODE=40
This function is used to produce the result of a logical OR operation (on the bit-variable POSRSTAT and a bit-mask from the auxiliary variable OxTRIG) at the digital output x.

OxMODE=41
This function is used to produce the result of a logical AND operation (on the bit-variable POSRSTAT and a bit-mask from the auxiliary variable OxTRIG) at the digital output x.