ProcessingBlock

The ProcessingBlock is used to configure a processing block. A processing block consumes data from its inputs, processes it, and produces output on its signals.

Example

<Controller Name="Arcas 5EG-0">
  <AxisControl Name="X" Template="LogicalAxisControlStandard3rdOrderTemplate">
    <ProcessingBlock Name="Watchdog" Template="WatchdogTemplate">
      <Signal Name="Interval" Unit="s">1.0</Signal>
    </ProcessingBlock>
  </AxisControl>

  <ProcessingBlock Name="WaveformGenerator" Template="WaveformGeneratorTemplate">
    <Signal Name="Gain" Unit="">1.0</Signal>
    <Signal Name="Type" Unit="">1</Signal>
  </ProcessingBlock>
</Controller>

Note

A ProcessingBlock is instantiated (and scoped) within a controller. If a ProcessingBlock block with the provided name already exists in the controller where it is defined, then either:

• if it has the exact same attributes (specifying attributes when Template already exists is optional), then input connections, signal values or updatable content can be changed.

• otherwise, initialization fails.

XML schema

Complex type ProcessingBlockType

<xs:complexType name="ProcessingBlockType">
  <xs:choice minOccurs="0" maxOccurs="unbounded">
    <xs:element name="Signal" type="SignalType"/>
    <xs:element name="Event" type="EventType"/>
    <xs:element name="Input" type="InputType"/>
    <xs:element name="Updatable" type="UpdatableType"/>
    <xs:element name="Filter" type="FilterType"/>
    <xs:element name="Variant" type="ProcessingBlockVariantType"/>
    <xs:element name="NamedMutation" type="NamedMutationType"/>
  </xs:choice>
  <xs:attribute name="Name" type="xs:string" use="required"/>
  <xs:attribute name="Template" type="xs:string"/>
  <xs:attribute name="ExecutionBudget" type="xs:string"/>
  <xs:attribute name="ExecutionType" type="xs:string"/>
  <xs:attribute name="Period" type="xs:string"/>
  <xs:attribute name="CalculationStart" type="Boolean"/>
</xs:complexType>

Attribute	Description
Name	Used to define a name for a processing block.
Template	Specifies the template, which is required to be instantiated.
ExecutionBudget	Defines the maximum amount of time required by the processing block for each process step`.
ExecutionType	Defines whether a processing block is processed synchronously or asynchronously on the controller.
Period	Processing block sample period.
CalculationStart	Defines the block to be calculated first In case of a circular dependency.

Complex type ProcessingBlockVariantType

<xs:complexType name="ProcessingBlockVariantType">
  <xs:complexContent>
    <xs:extension base="BaseVariantType">
      <xs:choice minOccurs="0" maxOccurs="unbounded">
        <xs:element name="Signal" type="SignalType"/>
        <xs:element name="Event" type="EventType"/>
        <xs:element name="Input" type="InputType"/>
        <xs:element name="Updatable" type="UpdatableType"/>
        <xs:element name="Filter" type="FilterType"/>
        <xs:element name="Variant" type="ProcessingBlockVariantType"/>
        <xs:element name="NamedMutation" type="NamedMutationType"/>
      </xs:choice>
    </xs:extension>
  </xs:complexContent>
</xs:complexType>

Inputs

Inputs	Description
Velocity	Demand velocity from TrajectoryInterpolator.
Acceleration	Demand acceleration from TrajectoryInterpolator.
Jerk	Demand jerk from TrajectoryInterpolator.
Snap	Demand snap from TrajectoryInterpolator.
Reset	Clear the feedforward control output from the time delay.

Read-only signals

Signals R	Description
KfvOutput	Viscous friction compensation.
KfcOutput	Coulomb friction compensation.
KfaOutput	Acceleration friction compensation.
kfjOutput	Jerk friction compensation.
kfsOutput	Snap friction compensation.

Read-write signals

Signals R/W	Description
Kfv	Viscous friction compensation gain.
Kfc	Coulomb friction compensation gain.
Kfa	Acceleration compensation gain.
Kfj	Jerk compensation gain.
Kfs	Snap compensation gain.
FeedforwardDelay	Delay of the feedforward signal.