AIK-FAT/TC_iTomcat-ES2-Detector-Tower-FAT
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This commit is contained in:
schwarb
2025-05-14 12:32:48 +02:00
parent c61edcfeb8
commit 441008fba7
6 changed files with 21 additions and 9 deletions
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1
solution/TC_iTomcat-ES2-Detector-Tower-FAT.tsproj
View File

@@ -29,6 +29,5 @@
<MappingInfo Identifier="{00000000-0030-0304-1000-040330000403}" Id="#x02030010"/>
<MappingInfo Identifier="{00000000-0040-0304-1000-040341000403}" Id="#x02030020"/>
<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
<MappingInfo Identifier="{08502041-0030-0304-4020-500830000403}" Id="#x02030040" Watchdog="00000000000000000000000000000000"/>
</Mappings>
</TcSmProject>

8
solution/_Config/IO/Device 3 (EtherCAT)/Term 1 (EK1100)/Term 10 (EL7211-9014) Ax3 herizontal.xti
View File

@@ -854,7 +854,7 @@
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
<SyncMan>801106002000010004000000000000000600801120010000</SyncMan>
<SyncMan>801108002000010004000000000000000600801120010000</SyncMan>
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
@@ -930,7 +930,7 @@ Bit 14 - 15 : reserved]]></Comment>
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010" SyncMan="3">
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
<Type>BIT</Type>
</Entry>
@@ -943,7 +943,7 @@ Bit 14 - 15 : reserved]]></Comment>
<Entry Name="Touch probe status__">
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
@@ -958,7 +958,7 @@ Bit 14 - 15 : reserved]]></Comment>
<Entry Name="Touch probe status__">
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
</Pdo>

8
solution/_Config/IO/Device 3 (EtherCAT)/Term 1 (EK1100)/Term 9 (EL7211-9014) Ax2 vertical.xti
View File

@@ -472,7 +472,7 @@
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>02</Data>
<Data>03</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>001a</Data>
@@ -481,7 +481,7 @@
<Data>011a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
<Data>071a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
@@ -604,7 +604,7 @@
<Data>b3000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="23" MotorDataLevel="0" DisableMode="0">
<Data>0a000000</Data>
<Data>32000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="25" MotorDataLevel="0" DisableMode="0">
<Data>80bb0000</Data>
@@ -864,6 +864,7 @@
<DcMode>44430000000000000000000000000000534d2d53796e6368726f6e0000000000000000000000000000000000000000000000000030750000e8030000ffff01000100000000000000000000000000000000000000000000000000000000000000</DcMode>
<MBoxUserCmdData>004003000c0000000000000000000000000000000000000000000000000000002081f001040000003623200000</MBoxUserCmdData>
<MBoxUserCmdData>004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
<MBoxUserCmdData>020003000c0000001f0000000000000000000000000000000000000000000000201080170400000032000000506f736974696f6e206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
<MBoxUserCmdData>02000300090000001000000000000000000000000000000000000000000000002011801301000000044d6f746f7220706f6c6520706169727300</MBoxUserCmdData>
<MBoxUserCmdData>020003000c0000000d000000000000000000000000000000000000000000000020118012040000005613000052617465642063757272656e7400</MBoxUserCmdData>
<MBoxUserCmdData>020003000c0000000b00000000000000000000000000000000000000000000002011801104000000986c00004d61782063757272656e7400</MBoxUserCmdData>
@@ -881,6 +882,7 @@
<MBoxUserCmdData>020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
<MBoxUserCmdData>020003000c0000001f00000000000000000000000000000000000000000000002010801504000000b300000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00</MBoxUserCmdData>
<MBoxUserCmdData>020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500</MBoxUserCmdData>
<MBoxUserCmdData>020003000a0000001100000000000000000000000000000000000000000000002010700b02000000ff7f546f72717565206c696d69746174696f6e00</MBoxUserCmdData>
<Pdo Name="FB Position" Index="#x1a00" Flags="#x0010" SyncMan="3">
<Entry Name="Position" Index="#x6000" Sub="#x11">
<Type>UDINT</Type>

3
solution/_Config/NC/Axes/Axis 2.xti
View File

@@ -1432,7 +1432,7 @@ External Setpoint Generation:
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="29">
<EncPara ScaleFactorNumerator="2" ScaleFactorDenominator="1048576" MaxCount="#xffffffff" MaxCountHighDWord="#x0000001f"/>
<EncPara ScaleFactorNumerator="1e-06" Inverse="true" MaxCount="#xffffffff" MaxCountHighDWord="#x0000001f"/>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
@@ -1524,6 +1524,7 @@ External Setpoint Generation:
</Drive>
<Controller Name="Ctrl" CtrType="1">
<CtrPara PriorControlFactor="1">
<PID PosKp="50"/>
<Observer BandWidth="20"/>
</CtrPara>
</Controller>

6
solution/_Config/NC/Axes/Axis 3.xti
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@@ -1580,6 +1580,12 @@ External Setpoint Generation:
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nState5" VarB="FB Touch probe status^Touch probe status^TP1 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState5" VarB="FB Touch probe status^Touch probe status^TP1 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState5" VarB="FB Touch probe status^Touch probe status^TP1 Pos value stored" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState6" VarB="FB Touch probe status^Touch probe status^TP2 Enable" Size="1"/>
<Link VarA="Enc^Inputs^In^nState6" VarB="FB Touch probe status^Touch probe status^TP2 Neg value stored" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState6" VarB="FB Touch probe status^Touch probe status^TP2 Pos value stored" Size="1" OffsA="1"/>
</OwnerB>
</OwnerA>
</Mappings>

4
solution/_Config/PLC/tc_project_app.xti
View File

@@ -1195,6 +1195,10 @@ External Setpoint Generation:
</Project>
<Mappings>
<OwnerA Name="tc_project_app Instance">
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 10 (EL7211-9014) Ax3 herizontal">
<Link VarA="PlcTask Inputs^GVL.astAxes[3].stInputs.bLimitBwd" VarB="FB Touch probe status^Touch probe status^TP1 Input" Size="1"/>
<Link VarA="PlcTask Inputs^GVL.astAxes[3].stInputs.bLimitFwd" VarB="FB Touch probe status^Touch probe status^TP2 Input" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 9 (EL7211-9014) Ax2 vertical">
<Link VarA="PlcTask Inputs^GVL.astAxes[2].stInputs.bLimitBwd" VarB="FB Touch probe status^Touch probe status^TP1 Input" Size="1"/>
<Link VarA="PlcTask Inputs^GVL.astAxes[2].stInputs.bLimitFwd" VarB="FB Touch probe status^Touch probe status^TP2 Input" Size="1"/>