PB 10 - OB 1 3 pb10 is "operating modes"

PB 11 - OB 1 3	"general functions"

PB 15 - OB 1 3	emergency off

PB 21 - OB 1 3	Portable Control Unit (PCU)

PB 50 - OB 11 3	read positions

PB 51 - PB 50 11	evaluation of positions

PB 52 - PB 51 7	Az encoder selection and supervision

PB 53 - OB 1 4	limits

PB 54 - OB 1 4	encoder preset

PB 100 - OB 1 5	general functions during operation

PB 102 - PB100 8	main contactor

PB 109 - OB 1 5 ______added: checks correct sequencing of amp enable and brake release

PB 110 - OB 1 5	program track mode

PB 111 - OB 1 5	stow mode

PB 150 - OB 1 6	Az drive release/faults

PB 151 - PB150 27	azimuth amplifiers

PB 152 - PB 10 17 , 23 , 27	switch off az drives

PB 15 8

PB 21 4

PB111 4

PB150 27

PB156 9

PB 153 - PB150 20	local az functions

PB 154 - PB150 21	computer az functions

PB 155 - PB150 24	az brakes

PB 156 - PB150 25	cable car interlocks

PB 160 - OB 1 6	greg dome drive release/fault

PB 161 - PB160 23	greg amplifiers

PB 162 - PB 10 18 , 24	switch off greg drives

PB 15 8

PB 21 4

PB111 5

PB160 23

PB 163 - PB160 18	local greg functions

PB 164 - PB160 19	computer greg functions

PB 165 - PB160 22	greg brakes

PB 170 - OB 1 6	ch drive release/fault

PB 171 - PB170 22	ch amlifiers

PB 172 - PB 10 19 , 25	switch off ch drives

PB 15 8

PB 21 4

PB111 6

PB170 22

PB 173 - PB170 17	local ch functions

PB 174 - PB170 18	computer ch functions

PB 175 - PB170 21	ch brakes

PB 220 - OB 1 7	interface to cp581

PB 221 - OB 10 3	transfer data to cp581 (interrupt)

PB 222 - OB 10 4	receive data from cp581

PB 223 - PB220 3	communication with cp581 (background)

FB 50 - OB 13 2	generate flashing flags

FB 51 - FB207 8	clear DB

FB 52 - FB207 3 , 4 , 6	copy DWs

FB223 2 , 3 , 4

FB235 22

FB 59 - FB192 3	"nix"___ NOP for delay? ______

FB 61 - FB207 7	calculate setpoint limiter parameters

FB 62 - FB180 2	position control PI loop

FB181 2 , 3 , 4

FB182 2 , 3 , 4

FB 64 - FB208 4	reset control loop memory

FB 66 - FB181 2 , 3 , 4	setpoint limiter

FB182 2 , 3 , 4

Note: FBs in BOLD are "standard" function blocks - runtime software sold by Siemens without source code

FB 68 - FB180 2 , 3 , 4	velocity ramp generator

FB181 2 , 3 , 4

FB182 2 , 3 , 4

FB 120 - PB 21 12 fb120 is standard SEND function block to talk to pcu (see S1p.7/104)

FB 121 - PB 21 13 13 fb121 is standard RECEIVE function to listen to pcu

FB 124 - PB 21 2 fb124 is standard RESET function for comm. with pcu

FB209 6

FB 125 - FB209 6 , 8 fb125 is standard SYNCHRON function block to synch the interface between the cpu and the modules (CP, IP bubble memory) during system start-up.

FB 126 - PB 21 15 fb126, SEND-A is a special version of SEND - shorter function call, more lucid parameter assignment.

PB221 3

FB 127 - PB 21 5 fb127 RECEIVE-A is a special version of RECEIVE.....

PB222 2

FB 130 - FB209 12 Standard function block to initialize WF705 position detector module

FB 131 - PB 50 3 Standard function block to read position from WF705 position detector module

FB 133 - FB130 Standard function for ? called by Standard function FB130

FB 173 - FB232 3	checksum calculation

FB233 8

FB 180 - OB 11 6	rate mode control loop organization

FB 181 - OB 11 7	preset mode control loop organization

FB 182 - OB 11 8	program track mode control loop organization

FB 184 - PB100 3	no operation functions

FB 186 - PB110 5	program track control

FB 187 - PB110 4	program track start-up

FB 190 - FB215 6 , 7 , 8	absolute difference of two values

FB220 3

FB225 2 , 3 , 4

FB229 2

FX 20 4

FB 191 - FB186 6 , 14	program track: use next data set

FB 192 - FB187 2 , 5	program track search next data set

FB191 2

FB 193 - FB232 8	potentiometer hysteresis

FB 194 - FB182 2 , 3 , 4	program track ramp

FB 195 - FB186 11	position inrcrement calculation

FB 196 - FB186 13	TOT signal adaption

FB 198 - FB232 6	byte check

FB236 2

FB 199 - FB186 10	__check setpoint limit

FB231 9

FB232 8

FB 200 - PB 11 11	general functions

FB 201 - OB 1 8	lamp test

FB 207 - OB 20 2	cold restart functions

FB 208 - PB 11 8	function reset

PB 15 9

PB152 7

PB162 7

PB172 7

FB209 7

FB 209 - OB 20 3	start-up functions

OB 21 2

OB 22 2

FB 210 - PB151 5	drive control

PB161 5

PB171 4

FB 211 - PB151 prepare inputs to fb210

PB161 4

PB171 3

FB 212 - PB151 22	feedarm bending compensation

FB 213 - PB161 18	gravity compensation

PB171 17

FB 214 - PB161 15	variable torque bias

PB171 17

FB 215 - PB111 2	stow positions

FB 216 - PB 53 4 , 5 , 6	determination of axis limits

FB 217 - PB151 23	heating of drive motors

PB161 19

PB171 18

FB 218 - PB 53 2	greg and ch variable soft limits

FB 219 - PB156 2 , 5	cable car interlock limits

FB 220 - PB 51 5 , 6 , 8 , 9 , 10	evaluation of positions

FB 221 - PB 50 6 , 7 , 8 , 9	position read-out

FB 222 - PB 11 10	cycle time measurement

FB 223 - PB100 2	load control loop parameters

FB 224 - PB171 17	ch torque bias in aux mode

FB 225 - PB100 4	__drive standstill after preset: added to "unstick" az (see comments in listing)

FB215 5

FB 226 - PB 50 10	encoder readout failure handling

FB 227 - PB100 5	auxiliary flags

FB 229 - OB 11 4	time synchronization

FB 230 - PB221 2 prepare data for cp581 (interrupt)

FB 231 - PB223 4	evaluate data from cp581

FB211 8

FB 232 - PB 21 7	evaluate data from pcu

FB 233 - PB 21 11 prepare data for pcu

FB 234 - FB233 6	axis related data for pcu

FB 235 - PB223 2	prepare data for cp581 (background loop)

FB 236 - FB231 5 , 6 , 7	evaluate cp581 jack mode command

FB 237 - FB235 6 , 10 , 14	axis related data for cp581

FB 250 - OB 11 9	analog test outputs

note: OBs in bold are SIMATIC system routines, without source code, but included in the STEP5 development package. (see 928B Programming Guide)

OB1	called cyclically by SIMATIC operating system "main loop"

OB10	called every 10ms by SIMATIC operating system: used for data transfer to/from cp581

OB11 called every 20 ms by SIMATIC operating system: updates tracking via call to FB182

OB13 called every 100ms by SIMATIC operating system: update flashing lights, cp581 watchdog timer

OB16 called every 1 second by SIMATIC operating system: update "time since reset" (DD7)

OB20 called by SIMATIC operating system at CPU restart

OB21 called by SIMATIC operating system after manual restart

OB22 called by SIMATIC operating after power break

OB31d called by SIMATIC operating system after internal timeout

OB 152 - FB209 9 , 10 ob152 cycle statistics

FB222 1

OB 180 - FB187 4 , 6 ob180 variable data block access enter DWO offset

FB191 3

FB192 3

OB 190 - FB230 2 ob180 variable data block access transfer flags into DBs

OB 11 2

OB 191 - FB230 2 ob191 transfers data fields to flag area transfer DWs into flag buffer

OB 11 10

OB 220 - FB184 5 ob220 is sign extension extend sign

FB207 4

FB213 2

FB214 2

FB227 6

FB232 8

FB234 3 , 4

FB236 8

FB250 2 , 3 , 4 , 5 , 7 , 8 , 9 , 10

OB 221 - FB209 14 ob21 sets the cycle monitoring time (to 500 ms)

OB 230 - FB120 1 ob230 to ob237 are reserved for data handling for use by the standard function blocks fb120 to fb127

OB 231 - FB121 1

OB 233 - FB123 1

OB 234 - FB124 1

OB 235 - FB125 1

OB 236 - FB126 1

OB 237 - FB127 1

DB 0 - FB133 1*

FB210 8#, 10#, 11#

FB221 2#

DB 10 - PB 11 1

FB207 2*

DB 11 - FB186 4 , 5 , 11

FB187 2 , 7

FB192 2

FB207 2*, 9

FB229 2 , 3

FB230 1

FB235 24

FX 20 4

OB 16 2

OB 20 4

OB 21 3