Page History

FUNCTION_BLOCK FbEndBrakes
VAR_INPUT
	EB_TL: BOOL;
	EB_TR: BOOL;
	EB_BL: BOOL;
	EB_BR: BOOL;
	actPos: LREAL;
	setPos: LREAL;
END_VAR
VAR_OUTPUT
	pos: LREAL;
	Execute: BOOL;
END_VAR
VAR
	upperLimit: BOOL;
	bottomLimit: BOOL;
	topPosSet: BOOL;
	bottomPosSet: BOOL;
END_VAR

// Top enbreakers
upperLimit:= EB_TL OR EB_TR;

IF upperLimit AND NOT topPosSet THEN
	pos:=actPos;
	Execute:=FALSE;
	topPosSet :=TRUE;
END_IF

IF topPosSet AND (setPos < actPos) THEN
	pos:= setPos;
	Execute:=TRUE;
	IF NOT upperLimit THEN
		topPosSet := FALSE;
	END_IF
END_IF

// Bottom endbreakers
bottomLimit:= EB_BL OR EB_BR;

IF bottomLimit AND NOT bottomPosSet THEN
	pos:=actPos;
	Execute:=FALSE;
	bottomPosSet :=TRUE;
END_IF

IF bottomPosSet AND (setPos > actPos) THEN
	pos:= setPos;
	Execute:=TRUE;
	IF NOT bottomLimit THEN
		bottomPosSet := FALSE;
	END_IF
END_IF

// Set pos equal to setpoint if not bottom or top limit
IF NOT upperLimit AND NOT bottomLimit THEN 
	pos:= setPos;
END_IF