FUNCTION_BLOCK FB40
TITLE ='Positioning and ramp generator for slitting'
AUTHOR : Tuomo
FAMILY : Slitting
NAME : Slitting
VERSION : '1.0'
//reversed

VAR_INPUT
  Encoder : DINT ;    
  SetPoint : REAL ;    
  Enable : BOOL ;    
  JogFWD : BOOL ;    
  JogBWD : BOOL ;    
  Cycle : INT ;    
END_VAR
VAR_OUTPUT
  ActValue : REAL ;    
  Speed : INT ;    
  OnPos : BOOL ;    
  Release : BOOL ;    
END_VAR
VAR
  Line : ARRAY  [0 .. 2 ] OF STRUCT     
   MaxSpeed : REAL  := 1.000000e+002;    
   ManSpeed : REAL  := 3.000000e+001;    
   MinSpeed : REAL  := 1.000000e+001;    
   Accuracy : REAL  := 5.000000e-001;    
   Accelerate : REAL  := 6.000000e-001;    
   SlowCurve : REAL  := 3.000000e+002;    
   SlowLine : REAL  := 3.000000e+001;    
  END_STRUCT ;    
  Wheel : REAL  := 3.141590e+002;    //Wheel perimeter
  Pulses : REAL  := 1.250000e+003;    //Amount pulses of encoder
  Difference : REAL ;    //Length to go
  AbsValue : REAL ;    //Length to go (absolut value)
  Memory : REAL ;    
END_VAR
VAR_TEMP
  Maksimi : REAL ;    
  Kiihdytys1 : REAL ;    
  Kiihdytys2 : REAL ;    
  Kerroin : REAL ;    
  Nopeus : REAL ;    
  OhjeArvo : REAL ;    
END_VAR

Line[0]:=Line["Order".Line];
      
IF  "Order".Line = 2 AND "Main".Control.LinePot = 1
THEN      
    Line[0].MaxSpeed:="Main".LinePot;
END_IF; 

IF "Order".Line = 1
THEN 

    ActValue:=Wheel / Pulses * DINT_TO_REAL(Encoder) / 4.000000e+000;

ELSE       

    ActValue:=Wheel / Pulses * DINT_TO_REAL(Encoder) / 4.000000e+003;

END_IF;
Difference:=SetPoint - ActValue;
AbsValue:=ABS(Difference);      

IF Line[0].Accuracy >= AbsValue   
THEN
    OnPos:=true;
ELSE 
    OnPos:=false;
END_IF;

Kiihdytys1:=(2.764800e+001 / Line[0].Accelerate) * INT_TO_REAL(Cycle);
Kiihdytys2:=(2.764800e+001 / Line[1].Accelerate) * INT_TO_REAL(Cycle);

IF (NOT JogFWD AND Enable) AND (NOT JogBWD) 
THEN 
    Kerroin:=2.764800e+004/SQRT(Line[0].SlowCurve);

    IF AbsValue > Line[0].SlowLine 
    THEN 
        Nopeus:= SQRT(AbsValue) * Kerroin;    
    ELSE 
        Nopeus:=SQRT(Line[0].SlowLine) * Kerroin / Line[0].SlowLine * AbsValue;  
    END_IF;      

    IF Difference > 0.0
    THEN 
        Maksimi:=Line[0].MaxSpeed * 2.764800e+002;
    ELSE     
        Maksimi:=Line[0].MinSpeed * 2.764800e+002;  
    END_IF;
    
    IF Nopeus > Maksimi
    THEN 
        Nopeus:=Maksimi;
    END_IF;
            
    IF Nopeus > Memory
    THEN
        Memory:=Memory + Kiihdytys1; 
        
        IF Memory > Nopeus
        THEN 
            Memory:=Nopeus;
        END_IF;
    ELSE
        Memory:=Nopeus;      
    END_IF;      
    
    IF Difference > 0.0
    THEN 
        OhjeArvo:=Memory;
    ELSE 
        OhjeArvo:=-Memory;
    END_IF;
ELSE      
    Nopeus:=0.0;
    
    IF JogFWD THEN Nopeus:=Line[0].ManSpeed *  2.764800e+002; END_IF;
    IF JogBWD THEN Nopeus:=Line[0].ManSpeed * -2.764800e+002; END_IF;
    
    IF  Nopeus > Memory
    THEN 
        Memory:=Memory + Kiihdytys2;
        
        IF Memory > Nopeus THEN Memory:=Nopeus; END_IF; 
    
    ELSE 
        Memory:=Memory - Kiihdytys2; 
        
        IF Memory < Nopeus  THEN Memory:=Nopeus; END_IF;
    
    END_IF;

    OhjeArvo:=Memory;

  END_IF; 

IF Memory = 0.0 
THEN 
    Release:=false;
ELSE
    Release:=true;
END_IF;

Speed:=REAL_TO_INT(OhjeArvo);        

END_FUNCTION_BLOCK