UT_MOTOR_REV — Reversing starter

A forward and a reverse contactor that are never on together, with a dead time
(reversalDelay) so the motor stops before it changes direction. Everything else
(modes, interlocks, protection, faults, restart rules) is the same as
UT_MOTOR.

Pins

Always wire the contactors' NC auxiliaries as a hardware interlock as well. The
block never turns both on, but only the wiring stops a welded contactor.

Record UT_MOTOR_REV_DATA (pin Rev)

Everything else (modes, protections, cmdStart / cmdStop, status) is in the motor
record Data.

How it works

• Direction. Auto: AutoReverse. Hand: cmdFwd / LocalFwd run it forward,
  cmdRev / LocalRev run it in reverse; each starts it as well. cmdStart starts
  it in the direction chosen last. Forward and reverse pressed together do nothing.
  The direction commands are ignored (and cleared) in Off and Auto. Switching
  Auto → Hand keeps the direction it was running in.
• Changing direction while running: the running contactor goes off at once, the
  dead time runs, then the other contactor comes on. The motor stays requested the
  whole time, so Running stays on, a permissive does not stop it, and the restart
  delay does not apply. If the request goes back to the old direction during the dead
  time, that contactor comes straight back on.
• Starting after a stop: the same direction starts at once; the other direction
  waits until reversalDelay has passed since the last contactor went off (the motor
  may still be turning).
• After a power-up either direction waits reversalDelay first, because the motor
  may still be turning.
• With feedback supervised (useFeedback, not in simulate), the new direction
  also waits until the other contactor's aux shows open. With reversalDelay = T#0s
  there is still at least one scan with both off, and the new direction waits for the
  old contactor to drop out.
• Changeover protection (changeover, bit 9, TRIP · MANUAL by default) trips when
  both auxes show closed, when the aux of the direction that is off shows closed while
  the other direction is on, or when a contactor switched off for a reversal still
  shows closed after stuck.delay (the new direction is never switched on into it).
  A contact that stays closed at standstill is the welded-contactor protection
  (stuck), as on UT_MOTOR.
• If the new direction's aux does not confirm after a reversal, feedbackLost
  trips; if the motor never had feedback, noFeedback does.

Status

statusCode, faultId and statusText say the one main thing the motor is
doing, or what holds it back, so a technician can see on the HMI why it is not
running without opening the program. A motor asked to run that is not running
always shows a held, fault or configuration status. The most important reason wins:
configuration > fault > held / waiting > warning > running > idle. A warning shows
over "Running" so it is seen. The time that goes with a status is in timeLeft.
The text is rebuilt only when the status or the fault changes. The numbers are in
conventions.

<fault> is faultId, one of: UT_F_OVERLOAD (overload) · UT_F_MOTOR_HOT (motor
too hot) · UT_F_NO_FEEDBACK (no run feedback) · UT_F_FEEDBACK_LOST (feedback
lost) · UT_F_WELDED (contactor welded) · UT_F_CURRENT_HIGH (current high) ·
UT_F_CURRENT_LOW (current low) · UT_F_DRIVE (drive fault) · UT_F_SPEED_DEV
(speed deviation) · UT_F_CHANGEOVER (changeover) · UT_F_DRIVE_NOT_READY (drive
not ready).
<setting> is one of: UT_F_FLC (full load current) · UT_F_CURRENT_NEEDS_FLC
(current needs FLC) · UT_F_START_MASK (start mask) · UT_F_RESTART_DELAY (restart
delay) · UT_F_HAND_MAX_RUN (hand max run) · a protection's name (its delay,
recover or maxRetries).
This block adds the setting UT_F_REVERSAL_DELAY (reversal delay, negative) and uses UT_F_CHANGEOVER for its changeover protection.
The rows marked (this block) come from its own sequence and show from the scan after it changes.

Using it

Conv1(AutoCmd := Line.Run, AutoReverse := Line.Back, FeedbackFwd := K1_Aux, FeedbackRev := K2_Aux,
      Overload := Conv1_OL, LocalFwd := PB_Fwd, LocalRev := PB_Rev, LocalStop := PB_Stop, Data := Conv1Data,
      Rev := Conv1Rev);
K1 := Conv1.RunFwd;
K2 := Conv1.RunRev;