S_ValidateJoystickWithDirSwitches (FB)

Epec Programming and Libraries Manual

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Supported platforms: CODESYS 3.5, CODESYS 3.5 SAFETY

S_ValidateJoystickWithDirSwitches (FB)

Description

This function block validates calibrated joystick control signal by direction switch statuses (negative direction, positive direction and middle position).

Limitations

This function block validates only one axis of joystick.

Initialization

Init method is used to initialize the necessary static calculation parameters for the function block instance.

The method shall be called at least once before the actual function block can be called, i.e. at the application initialization phase.

The method checks the validity of input parameters. However, none of the function block outputs are affected by the initialization.

A parameter error is diagnosed if:

• Init method is not called before the main FB call OR

• i_pEventCode = 0 OR

• S_i_MidPosDirSwitchesUse = TRUE AND middle position switch channel event code pointer = 0 OR

• S_i_DirSwitchesInUse = TRUE AND either of direction switch channel event code pointer = 0

The safe output of the function block is 0, so no input parameter for safe value is specified.

Initialization parameters

Parameter	Data type	Unit	Range	Description
S_i_DiagnosticDelay	SAFEUINT	ms	-	Delay time for diagnostics.
S_i_DirSwitchesInUse	SAFEBOOL	-	-	Direction switches are in use.
S_i_MidPosSwitchInUse	SAFEBOOL	-	-	Middle position switch is in use.
i_pEventCode	POINTER TO EventCode	-	≠0	Pointer to application variable which is type EventCode. Used with POUs that use joystick control signal data.
i_pEventCodePDS	POINTER TO EventCode	-	≠0	Pointer to application variable which is type EventCode. Used with POUs that handle positive direction switch data.
i_pEventCodeMPS	POINTER TO EventCode	-	≠0	Pointer to application variable which is type EventCode. Used with POUs that handle middle position switch data.
i_pEventCodeNDS	POINTER TO EventCode	-	≠0	Pointer to application variable which is type EventCode. Used with POUs that handle negative direction switch data.

Initialization method return value

TRUE: All initialization parameters ok.

FALSE: Error in initialization parameter(s).

Operation

The function block writes S_i_Control value to S_o_Control and sets o_Status.OutputValid state TRUE if

The control is enabled, i.e. i_Enable is TRUE AND
No fault (including initialization) has been diagnosed

When S_i_Control < 0,

Negative direction switch status is expected to be TRUE AND
Middle position switch status is expected to be FALSE AND
Positive direction switch status is expected to be FALSE.

When S_i_Control = 0,

Negative direction switch status is expected to be FALSE AND
Middle position switch status is expected to be TRUE AND
Positive direction switch status is expected to be FALSE.

When S_i_Control > 0,

Negative direction switch status is expected to be FALSE AND
Middle position switch status is expected to be FALSE AND
Positive direction switch status is expected to be TRUE.

Operation in fault situations

If control value mismatch switch statuses continuously over S_i_DiagnosticDelay time, then

S_o_Control is set to 0,
Status o_Status.OutputValid is set FALSE,
The corresponding Error bit in o_Status variable is set TRUE, and
The corresponding EventID is set to i_pEventCode

All function block statuses, including errors are reset on rising edge of i_Enable.

Inputs

Input variable name	Data type	Range	Description
i_Enable	BOOL	-	Enable POU operation
S_i_Control	SAFEINT	-	Input control value
S_i_PosDirSwitch	SAFEBOOL	-	Positive direction switch status
S_i_MidPosSwitch	SAFEBOOL	-	Middle position switch status
S_i_NegDirSwitch	SAFEBOOL	-	Negative direction switch status

Outputs

Output variable name	Data type	Range	Description
S_o_Control	SAFEINT	-	Validated control value
o_Status	Status	-	Status of output value. See Status structure.

Error diagnostic

See Diagnostic Interface library description of error status and event code functionality.

Conditions	S_o_Control	o_Status. OutputValid	o_Status error status	Event code FunctionID	Event code EventID
i_Enable TRUE AND init parameter error AND i_pEventCode valid	0	FALSE	ParameterError	VALIDATE_DIRSW _JOYSTICK	PARAMETER _ERROR
i_Enable TRUE AND init parameter error AND i_pEventCode NULL	0	FALSE	ParameterError	-	-
i_Enable = TRUE & init parameters Ok & S_i_Control = 0 & S_i_PosDirSwitch = FALSE & S_i_NegDirSwitch = FALSE & S_i_MidPosSwitch = TRUE & S_i_MidPosSwitchInUse = TRUE	S_i_Control	TRUE	-	NO_FUNC	NO_ERROR
i_Enable = TRUE & init parameters Ok & S_i_Control = 0 & S_i_PosDirSwitch = FALSE & S_i_NegDirSwitch = FALSE & S_i_MidPosSwitch = FALSE & S_i_MidPosSwitchInUse = FALSE	S_i_Control	TRUE	-	NO_FUNC	NO_ERROR
i_Enable = TRUE & init parameters Ok & S_i_Control > 0 & S_i_PosDirSwitch = TRUE & S_i_NegDirSwitch = FALSE & S_i_MidPosSwitch = FALSE & S_i_DirSwitchInUse = TRUE	S_i_Control	TRUE	-	NO_FUNC	NO_ERROR
i_Enable = TRUE & init parameters Ok & S_i_Control < 0 & S_i_PosDirSwitch = FALSE & S_i_NegDirSwitch = TRUE & S_i_MidPosSwitch = FALSE & S_i_DirSwitchInUse = TRUE	S_i_Control	TRUE	-	NO_FUNC	NO_ERROR
i_Enable = TRUE & init parameters Ok & S_i_Control <> 0 & S_i_PosDirSwitch = FALSE & S_i_NegDirSwitch = FALSE & S_i_MidPosSwitch = FALSE & S_i_DirSwitchInUse = FALSE	S_i_Control	TRUE	-	NO_FUNC	NO_ERROR
i_Enable = TRUE & init parameters Ok & S_i_Control = 0 & S_i_MidPosSwitch = FALSE & S_i_MidPosSwitchInUse = TRUE	0	FALSE	MidPos Switch Missing	VALIDATE_DIRSW _JOYSTICK	MIDPOS_SWITCH _STATUS_MISSING
i_Enable = TRUE & init parameters Ok & S_i_Control <> 0 & S_i_MidPosSwitch = TRUE	0	FALSE	MidPos Switch On Fault	VALIDATE_DIRSW _JOYSTICK	MIDPOS_SWITCH _STATUS_ON_FAULT
i_Enable = TRUE & init parameters Ok & S_i_Control > 0 & S_i_PosDirSwitch = FALSE & S_i_DirSwitchesInUse = TRUE	0	FALSE	Positive Dir Switch Missing	VALIDATE_DIRSW _JOYSTICK	POSDIR_SWITCH _STATUS_MISSING
i_Enable = TRUE & init parameters Ok & S_i_Control <= 0 & S_i_PosDirSwitch = TRUE	0	FALSE	Positive Dir Switch On Fault	VALIDATE_DIRSW _JOYSTICK	POSDIR_SWITCH _STATUS_ON_FAULT
i_Enable = TRUE & init parameters Ok & S_i_Control < 0 & S_i_NegDirSwitch = FALSE & S_i_ DirSwitchesInUse = TRUE	0	FALSE	Negative Dir Switch Missing	VALIDATE_DIRSW _JOYSTICK	NEGDIR_SWITCH _STATUS_MISSING
i_Enable = TRUE & init parameters Ok & S_i_Control >= 0 & S_i_NegDirSwitch = TRUE	0	FALSE	Negative Dir Switch On Fault	VALIDATE_DIRSW _JOYSTICK	NEGDIR_SWITCH _STATUS_ON_FAULT

Example code

Safe definitions:

(* Voltage conversion FBs (generated by MT) left out of example *)

(* DI conversion FBs *)

S_1_09_ToDI: EPEC_SC.S_VoltageToDI; // generated by MT

S_1_10_ToDI: EPEC_SC.S_VoltageToDI; // generated by MT

S_1_11_ToDI: EPEC_SC.S_VoltageToDI; // generated by MT

(* DI statuses from AI values, converted with S_VoltageToDI *)

S_DI_1_09_State: SAFEBOOL := FALSE; // generated by MT

S_DI_1_10_State: SAFEBOOL := FALSE; // generated by MT

S_DI_1_11_State: SAFEBOOL := FALSE; // generated by MT

EC_DI1_09: EPEC_DITF.EventCode; // these event codes are generated by MT

EC_DI1_10: EPEC_DITF.EventCode; // and used by conversions AND validation

EC_DI1_11: EPEC_DITF.EventCode; //

// joystick and validation data is not generated by MT

S_SteeringJoystick: EPEC_SJCD.S_Joystick; // joystick FB

EC_SteeringJoystick: EPEC_DITF.EventCode; // event code of joystick

S_JoystickControl: SAFEINT; // control signal to be validated

S_DirSwitchValidation: EPEC_SDV.S_ValidateJoystickWithDirSwitches;

S_Joystick_DirSwitchDiagDelay: SAFEUINT:=UINT#100;

JoystickValidationStatus: EPEC_SDV.Status;

S_ValidJoystickControl: SAFEINT; // validated control signal

Init at safe PRG:

EC_DI1_09.DeviceID := DeviceIDs.VoltageInput;

EC_DI1_09.ChannelID := ChannelIDs.Ch2;

EC_DI1_09.FunctionID := EPEC_DITF.FunctionIDs.NO_FUNC;

EC_DI1_09.EventID := EPEC_DITF.ErrorIDs.NO_ERROR;

EC_DI1_10.DeviceID := DeviceIDs.VoltageInput;

EC_DI1_10.ChannelID := ChannelIDs.Ch3;

EC_DI1_10.FunctionID := EPEC_DITF.FunctionIDs.NO_FUNC;

EC_DI1_10.EventID := EPEC_DITF.ErrorIDs.NO_ERROR;

EC_DI1_11.DeviceID := DeviceIDs.VoltageInput;

EC_DI1_11.ChannelID := ChannelIDs.Ch4;

EC_DI1_11.FunctionID := EPEC_DITF.FunctionIDs.NO_FUNC;

EC_DI1_11.EventID := EPEC_DITF.ErrorIDs.NO_ERROR;

EC_SteeringJoystick.DeviceID := DeviceIDs.SteeringJoystick;

EC_SteeringJoystick.ChannelID := ChannelIDs.Ch1;

EC_SteeringJoystick.FunctionID := EPEC_DITF.FunctionIDs.NO_FUNC;

EC_SteeringJoystick.EventID := EPEC_DITF.ErrorIDs.NO_ERROR;

S_DirSwitchValidation.Init(

S_i_DirSwitchesInUse := TRUE,

S_i_MidPosSwitchInUse := TRUE,

S_i_DiagnosticDelay := Joystick_DirSwitchDiagDelay,

i_pEventCode := ADR(EC_SteeringJoystick),

i_pEventCodePDS := ADR(EC_DI1_09),

i_pEventCodeMPS := ADR(EC_DI1_10),

i_pEventCodeNDS := ADR(EC_DI1_11)

);

Code at safe PRG:

S_DirSwitchValidation(

i_Enable := S_SteeringJoystick.o_Status.OutputValid AND

S_1_09_ToDI.o_Status.OutputValid AND

S_1_10_ToDI.o_Status.OutputValid AND

S_1_11_ToDI.o_Status.OutputValid,

S_i_Control := S_JoystickControl,

S_i_PosDirSwitch := S_DI_1_09_State,

S_i_MidPosSwitch := S_DI_1_10_State,

S_i_NegDirSwitch := S_DI_1_11_State,

S_o_Control => S_ValidJoystickControl,

o_Status => JoystickValidationStatus

);