From bf64da273b5d33918c3e238409a3e550ec219687 Mon Sep 17 00:00:00 2001 From: "[Luke Nisbet]" <[Luke.nisbet@STFC.ac.uk]> Date: Thu, 6 Feb 2020 13:38:32 +0000 Subject: [PATCH 01/19] Ticket compleated to original specification The code can read and write all possible PLC Open and Beckhoff axis parameters it uses the MC_ReadParameter and MC_WriteParameter function block within FB_Axis. Errors are passed out to the error handling and it is possible to control it all through MainVisu. --- solution.sln | 38 +- solution/solution.tsproj | 1260 ++++++++++++++--- solution/tc_project_app/GlobalTextList.TcGTLO | 45 + solution/tc_project_app/POUs/MAIN.TcPOU | 4 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 25 +- 6 files changed, 1162 insertions(+), 212 deletions(-) diff --git a/solution.sln b/solution.sln index 9459e68..4dccbdf 100644 --- a/solution.sln +++ b/solution.sln @@ -1,7 +1,7 @@  Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 2013 -VisualStudioVersion = 12.0.21005.1 +# TcXaeShell Solution File, Format Version 11.00 +VisualStudioVersion = 15.0.28010.2050 MinimumVisualStudioVersion = 10.0.40219.1 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" EndProject @@ -33,22 +33,6 @@ Global {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) @@ -65,8 +49,26 @@ Global {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE EndGlobalSection + GlobalSection(ExtensibilityGlobals) = postSolution + SolutionGuid = {3F42AC3D-5210-4834-8C00-062CE02B7502} + EndGlobalSection EndGlobal diff --git a/solution/solution.tsproj b/solution/solution.tsproj index f74cba4..e0f327a 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,6 +1,622 @@ + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + NCTOPLC_AXIS_REF_STATE 32 @@ -694,186 +1310,8 @@ External Setpoint Generation: - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - + @@ -889,8 +1327,456 @@ External Setpoint Generation: + + + + NC-Task 1 SAF + + Inputs + + + Outputs + + + Image + + + + NC-Task 1 SVB + + + Axis 1 + + + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 1024 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 2048 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 1344 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 2368 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + + + + Axis 2 + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 2688 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 4736 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 3008 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 5056 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 1664 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 2688 + + AxisState + + + + HomingState + + + + CoupleState + + + + + + + - + tc_epicscommodule Instance {08500001-0000-0000-F000-000000000064} @@ -1054,5 +1940,19 @@ External Setpoint Generation: + + + + + + + + + + + + + + diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO index 1818614..3982a2b 100644 --- a/solution/tc_project_app/GlobalTextList.TcGTLO +++ b/solution/tc_project_app/GlobalTextList.TcGTLO @@ -10,16 +10,36 @@ "%2.2f" + + "165" + "%2.3f" + + + + "543" + "%2.4f" + + "878" "%d" + + "294" + "%f" + + "706" "%i" + + "821" + "%s" + + "940" "%x" @@ -105,6 +125,11 @@ "bResetDone" + + "693" + "bSet" + + "944" "bWarning" @@ -195,6 +220,16 @@ "gearOut" + + "566" + "homeSensorNeg" + + + + "677" + "homeSensorPos" + + "711" "Inactive:" @@ -240,6 +275,11 @@ "Overflows:" + + "993" + "Read" + + "942" "reset" @@ -260,6 +300,11 @@ "toggle" + + "445" + "Write" + + {062c6d5a-aca0-4f82-8481-8e26e8c8681e} diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index f81cabd..81ced47 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -55,7 +55,7 @@ VAR PERSISTENT bRestoreOnStartup : BOOL; END_VAR]]> - eSUPS_PowerFailure THEN (* next cycles of powerfailure *) (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *) RETURN; -END_IF +END_IF*) RESTORE_POSITIONS(); PROG(); diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 852ea37..ce4d55e 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492 +Subproject commit ce4d55ec59eeb6d4114ec605b1d57f6fecaa59a3 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index b5d34ae..00b04b1 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -29,6 +29,9 @@ Code + + Code + Code @@ -352,8 +355,8 @@ - - + + "<ProjectRoot>" {192FAD59-8248-4824-A8DE-9177C94C195A} @@ -404,15 +407,15 @@ - - - System.Boolean - System.Collections.Hashtable - System.Int32 - {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} - System.String - - + + + System.Boolean + System.Collections.Hashtable + System.Int32 + {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} + System.String + + \ No newline at end of file From aeb84c2a7a340283c41ce5307d9e81d6e128493b Mon Sep 17 00:00:00 2001 From: "[Luke Nisbet]" <[Luke.nisbet@STFC.ac.uk]> Date: Wed, 4 Mar 2020 09:52:22 +0000 Subject: [PATCH 02/19] Ticket READY FOR REVIEW The functionality is esentially thhe same as the lasat commit but it has now been changed to fit into the current framework a little better by making fbWriteParameters only run when called. --- solution/tc_project_app/GlobalTextList.TcGTLO | 5 + solution/tc_project_app/tc_mca_std_lib | 2 +- tash show | 2566 +++++++++++++++++ 3 files changed, 2572 insertions(+), 1 deletion(-) create mode 100644 tash show diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO index 3982a2b..08fac26 100644 --- a/solution/tc_project_app/GlobalTextList.TcGTLO +++ b/solution/tc_project_app/GlobalTextList.TcGTLO @@ -305,6 +305,11 @@ "Write" + + "322" + "WriteParameters" + + {062c6d5a-aca0-4f82-8481-8e26e8c8681e} diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ce4d55e..cd3be6a 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ce4d55ec59eeb6d4114ec605b1d57f6fecaa59a3 +Subproject commit cd3be6aabe19ba346c506702eadde42d534ce1b5 diff --git a/tash show b/tash show new file mode 100644 index 0000000..85a62df --- /dev/null +++ b/tash show @@ -0,0 +1,2566 @@ +commit bf64da273b5d33918c3e238409a3e550ec219687 (HEAD -> mbp-100-read-write-axis-parameters, origin/mbp-100-read-write-axis-parameters) +Author: [Luke Nisbet] <[Luke.nisbet@STFC.ac.uk]> +Date: Thu Feb 6 13:38:32 2020 +0000 + + Ticket compleated to original specification + + The code can read and write all possible PLC Open and Beckhoff + axis parameters it uses the MC_ReadParameter and MC_WriteParameter + function block within FB_Axis. Errors are passed out to the error + handling and it is possible to control it all through MainVisu. + +diff --git a/solution.sln b/solution.sln +index 9459e68..4dccbdf 100644 +--- a/solution.sln ++++ b/solution.sln +@@ -1,7 +1,7 @@ +  + Microsoft Visual Studio Solution File, Format Version 12.00 +-# Visual Studio 2013 +-VisualStudioVersion = 12.0.21005.1 ++# TcXaeShell Solution File, Format Version 11.00 ++VisualStudioVersion = 15.0.28010.2050 + MinimumVisualStudioVersion = 10.0.40219.1 + Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" + EndProject +@@ -33,22 +33,6 @@ Global + {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) +- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) +@@ -65,8 +49,26 @@ Global + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) ++ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + EndGlobalSection + GlobalSection(SolutionProperties) = preSolution + HideSolutionNode = FALSE + EndGlobalSection ++ GlobalSection(ExtensibilityGlobals) = postSolution ++ SolutionGuid = {3F42AC3D-5210-4834-8C00-062CE02B7502} ++ EndGlobalSection + EndGlobal +diff --git a/solution/solution.tsproj b/solution/solution.tsproj +index f74cba4..e0f327a 100644 +--- a/solution/solution.tsproj ++++ b/solution/solution.tsproj +@@ -2,746 +2,813 @@ +  +  +  +- NCTOPLC_AXIS_REF_STATE ++ UINTARR2 + 32 ++ UINT ++  ++ 0 ++ 2 ++  ++  ++ [%u, %u] ++ [0] ++ [1] ++  ++  ++ 0x%08x [%u, %u] ++ . ++ [0] ++ [1] ++  ++  ++ 0x%08x (%u) ++ . ++ . ++  ++  ++  ++ NCENCODERSTRUCT_IN2B ++ 320 +  +- Operational +- BIT +- 1 ++ nDataIn1 ++ UINTARR2 ++ 32 + 0 +  +  +- Homed +- BIT +- 1 +- 1 +-  +-  +- NotMoving +- BIT +- 1 +- 2 ++ nDataIn2 ++ UINTARR2 ++ 32 ++ 32 +  +  +- InPositionArea +- BIT +- 1 +- 3 ++ nState1 ++ USINT ++ 8 ++ 64 +  +  +- InTargetPosition +- BIT +- 1 +- 4 ++ nState2 ++ USINT ++ 8 ++ 72 +  +  +- Protected +- BIT +- 1 +- 5 ++ nState3 ++ USINT ++ 8 ++ 80 +  +  +- ErrorPropagationDelayed +- BIT +- 1 +- 6 ++ nState4 ++ USINT ++  ++ 8 ++ 88 +  +  +- HasBeenStopped +- BIT +- 1 +- 7 ++ nDataIn3 ++ UINTARR2 ++ 32 ++ 96 +  +  +- HasJob +- BIT +- 1 +- 8 ++ nDataIn4 ++ UINTARR2 ++ 32 ++ 128 +  +  +- PositiveDirection +- BIT +- 1 +- 9 ++ nDataIn5 ++ UINTARR2 ++ 32 ++ 160 +  +  +- NegativeDirection +- BIT +- 1 +- 10 ++ nDataIn6 ++ UINTARR2 ++ 32 ++ 192 +  +  +- HomingBusy +- BIT +- 1 +- 11 ++ nState5 ++ USINT ++ 8 ++ 224 +  +  +- ConstantVelocity +- BIT +- 1 +- 12 ++ nState6 ++ USINT ++ 8 ++ 232 +  +  +- Compensating +- BIT +- 1 +- 13 ++ nState7 ++ USINT ++ 8 ++ 240 +  +  +- ExtSetPointGenEnabled +- BIT +- 1 +- 14 ++ nState8 ++ USINT ++ 8 ++ 248 +  +  +- PhasingActive +- BIT +- 1 +- 15 ++ nDcInputTime ++ DINT ++ 32 ++ 256 +  +  +- ExternalLatchValid +- BIT +- 1 +- 16 ++ nDataIn7 ++ UINTARR2 ++ 32 ++ 288 +  ++  ++  ++ NCENCODERSTRUCT_IN ++  ++ 96 ++  ++  ++  ++  ++  ++ NCENCODERSTRUCT_OUT2 ++ 320 +  +- NewTargetPos +- BIT +- 1 +- 17 ++ nDataOut1 ++ UINTARR2 ++ 32 ++ 0 +  +  +- ContinuousMotion +- BIT +- 1 +- 19 ++ nDataOut2 ++ UINTARR2 ++ 32 ++ 32 +  +  +- ControlLoopClosed +- BIT +- 1 +- 20 ++ nCtrl1 ++ USINT ++ 8 ++ 64 +  +  +- CamTableQueued +- BIT +- 1 +- 21 ++ nCtrl2 ++ USINT ++ 8 ++ 72 +  +  +- CamDataQueued +- BIT +- 1 +- 22 ++ nCtrl3 ++ USINT ++ 8 ++ 80 +  +  +- CamScalingPending +- BIT +- 1 +- 23 ++ nCtrl4 ++ USINT ++ 8 ++ 88 +  +  +- CmdBuffered +- BIT +- 1 +- 24 ++ nDataOut3 ++ UINTARR2 ++ 32 ++ 96 +  +  +- PTPmode +- BIT +- 1 +- 25 ++ nDataOut4 ++ UINTARR2 ++ 32 ++ 128 +  +  +- SoftLimitMinExceeded +- BIT +- 1 +- 26 ++ nDataOut5 ++ UINTARR2 ++ 32 ++ 160 +  +  +- SoftLimitMaxExceeded +- BIT +- 1 +- 27 ++ nDataOut6 ++ UINTARR2 ++ 32 ++ 192 +  +  +- DriveDeviceError +- BIT +- 1 +- 28 ++ nCtrl5 ++ USINT ++ 8 ++ 224 +  +  +- MotionCommandsLocked +- BIT +- 1 +- 29 ++ nCtrl6 ++ USINT ++ 8 ++ 232 +  +  +- IoDataInvalid +- BIT +- 1 +- 30 ++ nCtrl7 ++ USINT ++ 8 ++ 240 +  +  +- Error +- BIT +- 1 +- 31 ++ nCtrl8 ++ USINT ++ 8 ++ 248 +  +-  +- %08x +-  +-  +- 0x%08x +-  +-  +- 16#%08X +-  ++  ++  ++ NCENCODERSTRUCT_OUT ++  ++ 96 ++  ++  ++  +  +  +- NCTOPLC_AXIS_REF_OPMODE +- 32 ++ NCDRIVESTRUCT_IN2 ++ 320 +  +- OpModePosAreaMonitoring +- BIT +- 1 ++ nDataIn1 ++ UINTARR2 ++ 32 + 0 +  +  +- OpModeTargetPosMonitoring +- BIT +- 1 +- 1 ++ nDataIn2 ++ UINTARR2 ++ 32 ++ 32 +  +  +- OpModeLoop +- BIT +- 1 +- 2 ++ nState1 ++ USINT ++ 8 ++ 64 +  +  +- OpModeMotionMonitoring +- BIT +- 1 +- 3 ++ nState2 ++ USINT ++ 8 ++ 72 +  +  +- OpModePEHTimeMonitoring +- BIT +- 1 +- 4 ++ nState3 ++ USINT ++ 8 ++ 80 +  +  +- OpModeBacklashCompensation +- BIT +- 1 +- 5 ++ nState4 ++ USINT ++  ++ 8 ++ 88 +  +  +- OpModeDelayedErrorReaction +- BIT +- 1 +- 6 ++ nDataIn3 ++ UINTARR2 ++ 32 ++ 96 +  +  +- OpModeModulo +- BIT +- 1 +- 7 ++ nDataIn4 ++ UINTARR2 ++ 32 ++ 128 +  +  +- OpModeSimulationAxis +- BIT +- 1 +- 8 ++ nDataIn5 ++ UINTARR2 ++ 32 ++ 160 +  +  +- OpModePosLagMonitoring +- BIT +- 1 +- 16 ++ nDataIn6 ++ UINTARR2 ++ 32 ++ 192 +  +  +- OpModeVeloLagMonitoring +- BIT +- 1 +- 17 ++ nState5 ++ USINT ++ 8 ++ 224 +  +  +- OpModeSoftLimitMinMonitoring +- BIT +- 1 +- 18 ++ nState6 ++ USINT ++ 8 ++ 232 +  +  +- OpModeSoftLimitMaxMonitoring +- BIT +- 1 +- 19 ++ nState7 ++ USINT ++ 8 ++ 240 +  +  +- OpModePosCorrection +- BIT +- 1 +- 20 ++ nState8 ++ USINT ++ 8 ++ 248 +  +  +- OpModeAllowSlaveCommands +- BIT +- 1 +- 21 ++ nDcOutputTime ++ DINT ++ 32 ++ 256 +  ++  ++  ++ NCDRIVESTRUCT_IN ++  ++ 96 ++  ++  ++  ++  ++  ++ NCDRIVESTRUCT_OUT2 ++ 320 +  +- OpModeAllowExtSetAxisCommands +- BIT +- 1 +- 22 ++ nDataOut1 ++ UINTARR2 ++ 32 ++ 0 +  +  +- ApplicationRequest +- BIT +- 1 +- 23 ++ nDataOut2 ++ UINTARR2 ++ 32 ++ 32 +  +-  +-  +- NCTOPLC_AXIS_REF_STATE2_FLAGS +- 32 +  +- AvoidingCollision +- BIT +- 1 +- 0 ++ nCtrl1 ++ USINT ++ 8 ++ 64 +  +-  +- %08x +-  +-  +- 0x%08x +-  +-  +- 16#%08X +-  +-  +-  +- NCTOPLC_AXIS_REF_STATE2 +- 32 +  +- Value +- DWORD ++ nCtrl2 ++ USINT ++ 8 ++ 72 ++  ++  ++ nCtrl3 ++ USINT ++ 8 ++ 80 ++  ++  ++ nCtrl4 ++ USINT ++ 8 ++ 88 ++  ++  ++ nDataOut3 ++ UINTARR2 + 32 +- 0 ++ 96 +  +  +- Flags +- NCTOPLC_AXIS_REF_STATE2_FLAGS ++ nDataOut4 ++ UINTARR2 + 32 +- 0 ++ 128 +  +-  +- %08x +-  +-  +- 0x%08x +-  +-  +- 16#%08X +-  ++  ++ nDataOut5 ++ UINTARR2 ++ 32 ++ 160 ++  ++  ++ nDataOut6 ++ UINTARR2 ++ 32 ++ 192 ++  ++  ++ nCtrl5 ++ USINT ++ 8 ++ 224 ++  ++  ++ nCtrl6 ++ USINT ++ 8 ++ 232 ++  ++  ++ nCtrl7 ++ USINT ++ 8 ++ 240 ++  ++  ++ nCtrl8 ++ USINT ++ 8 ++ 248 ++  ++  ++  ++ NCDRIVESTRUCT_OUT ++  ++ 96 ++  ++  ++  +  +  +- NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE +- 8 ++ PLCTONC_AXIS_REF_CTRL ++ 32 +  +- CamActivationPending ++ Enable + BIT + 1 + 0 +  +  +- CamDeactivationPending ++ FeedEnablePlus + BIT + 1 + 1 +  +  +- CamActive ++ FeedEnableMinus + BIT + 1 + 2 +  +  +- CamDataQueued ++ HomingSensor + BIT + 1 +- 6 ++ 5 +  +  +- CamScalingPending ++ AcceptBlockedDrive + BIT + 1 +- 7 ++ 8 +  ++  ++ PlcDebugFlag ++ BIT ++ 1 ++ 30 ++  ++  ++ NcDebugFlag ++ BIT ++ 1 ++ 31 ++  ++  ++ %08x ++  ++  ++ 0x%08x ++  ++  ++ 16#%08X ++  +  +  +- UINTARR8 +- 128 +- UINT +-  +- 0 +- 8 +-  +-  +-  +- NCTOPLC_AXIS_REF +- 2048 ++ PLCTONC_AXIS_REF ++ 1024 +  +- StateDWord +- NCTOPLC_AXIS_REF_STATE ++ ControlDWord ++ PLCTONC_AXIS_REF_CTRL + 32 + 0 +  +  +- ErrorCode ++ Override + UDINT + 32 + 32 +  +  +- AxisState ++ AxisModeRequest + UDINT +-  + 32 + 64 +  +  +- AxisModeConfirmation ++ AxisModeDWord + UDINT + 32 + 96 +  +  +- HomingState +- UDINT +-  +- 32 ++ AxisModeLReal ++ LREAL ++ 64 + 128 +  +  +- CoupleState +- UDINT +-  +- 32 +- 160 +-  +-  +- SvbEntries +- UDINT +- 32 ++ PositionCorrection ++ LREAL ++ 64 + 192 +  +  +- SafEntries +- UDINT +- 32 +- 224 +-  +-  +- AxisId +- UDINT +- 32 ++ ExtSetPos ++ LREAL ++ 64 + 256 +  +  +- OpModeDWord +- NCTOPLC_AXIS_REF_OPMODE +- 32 +- 288 +-  +-  +- ActPos ++ ExtSetVelo + LREAL + 64 + 320 +  +  +- ModuloActPos ++ ExtSetAcc + LREAL + 64 + 384 +  +  +- ActiveControlLoopIndex +- UINT +- 16 +- 448 +-  +-  +- ControlLoopIndex +- UINT +- 16 +- 464 +-  +-  +- ModuloActTurns ++ ExtSetDirection + DINT + 32 +- 480 ++ 448 +  +  +- ActVelo ++ ExtControllerOutput + LREAL + 64 + 512 +  +  +- PosDiff ++ GearRatio1 + LREAL + 64 + 576 +  +  +- SetPos ++ GearRatio2 + LREAL + 64 + 640 +  +  +- SetVelo ++ GearRatio3 + LREAL + 64 + 704 +  +  +- SetAcc ++ GearRatio4 + LREAL + 64 + 768 +  +  +- TargetPos +- LREAL +- 64 ++ MapState ++ BOOL ++ 8 + 832 +  +  +- ModuloSetPos +- LREAL +- 64 +- 896 ++ PlcCycleControl ++ BYTE ++ 8 ++ 840 +  +  +- ModuloSetTurns +- DINT +- 32 +- 960 ++ PlcCycleCount ++ BYTE ++ 8 ++ 848 +  ++  ++  ++ NcStructType ++ 1 ++  ++  ++  ++  ++ NCAXLESTRUCT_FROMPLC3 ++  ++  ++  ++  ++ NCTOPLC_AXIS_REF_STATE ++ 32 +  +- CmdNo +- UINT +- 16 +- 992 ++ Operational ++ BIT ++ 1 ++ 0 +  +  +- CmdState +- UINT +- 16 +- 1008 ++ Homed ++ BIT ++ 1 ++ 1 +  +  +- SetJerk +- LREAL +- 64 +- 1024 ++ NotMoving ++ BIT ++ 1 ++ 2 +  +  +- SetTorque +- LREAL +- 64 +- 1088 ++ InPositionArea ++ BIT ++ 1 ++ 3 +  +  +- ActTorque +- LREAL +- 64 +- 1152 ++ InTargetPosition ++ BIT ++ 1 ++ 4 +  +  +- StateDWord2 +- NCTOPLC_AXIS_REF_STATE2 +- 32 +- 1216 ++ Protected ++ BIT ++ 1 ++ 5 +  +  +- StateDWord3 +- DWORD +- 32 +- 1248 ++ ErrorPropagationDelayed ++ BIT ++ 1 ++ 6 +  +  +- TouchProbeState +- DWORD +- 32 +- 1280 ++ HasBeenStopped ++ BIT ++ 1 ++ 7 +  +  +- TouchProbeCounter +- DWORD +- 32 +- 1312 ++ HasJob ++ BIT ++ 1 ++ 8 +  +  +- CamCouplingState +- NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE +-  +- 0 +- 8 +-  +- 64 +- 1344 ++ PositiveDirection ++ BIT ++ 1 ++ 9 +  +  +- CamCouplingTableID +- UINTARR8 +- 128 +- 1408 ++ NegativeDirection ++ BIT ++ 1 ++ 10 +  +  +- ActTorqueDerivative +- LREAL +- 64 +- 1536 ++ HomingBusy ++ BIT ++ 1 ++ 11 +  +  +- SetTorqueDerivative +- LREAL +- 64 +- 1600 ++ ConstantVelocity ++ BIT ++ 1 ++ 12 +  +  +- ActPosWithoutPosCorrection +- LREAL +- 64 +- 1792 ++ Compensating ++ BIT ++ 1 ++ 13 +  +  +- ActAcc +- LREAL +- 64 +- 1856 ++ ExtSetPointGenEnabled ++ BIT ++ 1 ++ 14 +  +  +- DcTimeStamp +- UDINT +- 32 +- 1920 ++ PhasingActive ++ BIT ++ 1 ++ 15 +  +-  +-  +- NcStructType +- 2 +-  +-  +-  +-  +- NCAXLESTRUCT_TOPLC +-  +-  +- NCAXLESTRUCT_TOPLC2 +-  +-  +- NCAXLESTRUCT_TOPLC3 +-  +-  +- NCAXLESTRUCT_TOPLC4 +-  +-  +-  +-  +-  +-  +-  +-  +-  +-  +-  +-  +-  +- PLCTONC_AXIS_REF_CTRL +- 32 +  +- Enable ++ ExternalLatchValid + BIT + 1 +- 0 ++ 16 +  +  +- FeedEnablePlus ++ NewTargetPos + BIT + 1 +- 1 ++ 17 +  +  +- FeedEnableMinus ++ ContinuousMotion + BIT + 1 +- 2 ++ 19 +  +  +- HomingSensor ++ ControlLoopClosed + BIT + 1 +- 5 ++ 20 +  +  +- AcceptBlockedDrive ++ CamTableQueued + BIT + 1 +- 8 ++ 21 +  +  +- PlcDebugFlag ++ CamDataQueued + BIT + 1 +- 30 ++ 22 +  +  +- NcDebugFlag ++ CamScalingPending + BIT + 1 +- 31 ++ 23 +  +-  +- %08x +-  ++  ++ CmdBuffered ++ BIT ++ 1 ++ 24 ++  ++  ++ PTPmode ++ BIT ++ 1 ++ 25 ++  ++  ++ SoftLimitMinExceeded ++ BIT ++ 1 ++ 26 ++  ++  ++ SoftLimitMaxExceeded ++ BIT ++ 1 ++ 27 ++  ++  ++ DriveDeviceError ++ BIT ++ 1 ++ 28 ++  ++  ++ MotionCommandsLocked ++ BIT ++ 1 ++ 29 ++  ++  ++ IoDataInvalid ++ BIT ++ 1 ++ 30 ++  ++  ++ Error ++ BIT ++ 1 ++ 31 ++  ++  ++ %08x ++  +  + 0x%08x +  +@@ -750,130 +817,501 @@ External Setpoint Generation: +  +  +  +- PLCTONC_AXIS_REF +- 1024 ++ NCTOPLC_AXIS_REF_OPMODE ++ 32 +  +- ControlDWord +- PLCTONC_AXIS_REF_CTRL ++ OpModePosAreaMonitoring ++ BIT ++ 1 ++ 0 ++  ++  ++ OpModeTargetPosMonitoring ++ BIT ++ 1 ++ 1 ++  ++  ++ OpModeLoop ++ BIT ++ 1 ++ 2 ++  ++  ++ OpModeMotionMonitoring ++ BIT ++ 1 ++ 3 ++  ++  ++ OpModePEHTimeMonitoring ++ BIT ++ 1 ++ 4 ++  ++  ++ OpModeBacklashCompensation ++ BIT ++ 1 ++ 5 ++  ++  ++ OpModeDelayedErrorReaction ++ BIT ++ 1 ++ 6 ++  ++  ++ OpModeModulo ++ BIT ++ 1 ++ 7 ++  ++  ++ OpModeSimulationAxis ++ BIT ++ 1 ++ 8 ++  ++  ++ OpModePosLagMonitoring ++ BIT ++ 1 ++ 16 ++  ++  ++ OpModeVeloLagMonitoring ++ BIT ++ 1 ++ 17 ++  ++  ++ OpModeSoftLimitMinMonitoring ++ BIT ++ 1 ++ 18 ++  ++  ++ OpModeSoftLimitMaxMonitoring ++ BIT ++ 1 ++ 19 ++  ++  ++ OpModePosCorrection ++ BIT ++ 1 ++ 20 ++  ++  ++ OpModeAllowSlaveCommands ++ BIT ++ 1 ++ 21 ++  ++  ++ OpModeAllowExtSetAxisCommands ++ BIT ++ 1 ++ 22 ++  ++  ++ ApplicationRequest ++ BIT ++ 1 ++ 23 ++  ++  ++  ++ NCTOPLC_AXIS_REF_STATE2_FLAGS ++ 32 ++  ++ AvoidingCollision ++ BIT ++ 1 ++ 0 ++  ++  ++ %08x ++  ++  ++ 0x%08x ++  ++  ++ 16#%08X ++  ++  ++  ++ NCTOPLC_AXIS_REF_STATE2 ++ 32 ++  ++ Value ++ DWORD + 32 + 0 +  +  +- Override ++ Flags ++ NCTOPLC_AXIS_REF_STATE2_FLAGS ++ 32 ++ 0 ++  ++  ++ %08x ++  ++  ++ 0x%08x ++  ++  ++ 16#%08X ++  ++  ++  ++ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE ++ 8 ++  ++ CamActivationPending ++ BIT ++ 1 ++ 0 ++  ++  ++ CamDeactivationPending ++ BIT ++ 1 ++ 1 ++  ++  ++ CamActive ++ BIT ++ 1 ++ 2 ++  ++  ++ CamDataQueued ++ BIT ++ 1 ++ 6 ++  ++  ++ CamScalingPending ++ BIT ++ 1 ++ 7 ++  ++  ++  ++ UINTARR8 ++ 128 ++ UINT ++  ++ 0 ++ 8 ++  ++  ++  ++ NCTOPLC_AXIS_REF ++ 2048 ++  ++ StateDWord ++ NCTOPLC_AXIS_REF_STATE ++ 32 ++ 0 ++  ++  ++ ErrorCode + UDINT + 32 + 32 +  +  +- AxisModeRequest ++ AxisState + UDINT ++  + 32 + 64 +  +  +- AxisModeDWord +- UDINT +- 32 +- 96 ++ AxisModeConfirmation ++ UDINT ++ 32 ++ 96 ++  ++  ++ HomingState ++ UDINT ++  ++ 32 ++ 128 ++  ++  ++ CoupleState ++ UDINT ++  ++ 32 ++ 160 ++  ++  ++ SvbEntries ++ UDINT ++ 32 ++ 192 ++  ++  ++ SafEntries ++ UDINT ++ 32 ++ 224 ++  ++  ++ AxisId ++ UDINT ++ 32 ++ 256 ++  ++  ++ OpModeDWord ++ NCTOPLC_AXIS_REF_OPMODE ++ 32 ++ 288 ++  ++  ++ ActPos ++ LREAL ++ 64 ++ 320 ++  ++  ++ ModuloActPos ++ LREAL ++ 64 ++ 384 ++  ++  ++ ActiveControlLoopIndex ++ UINT ++ 16 ++ 448 ++  ++  ++ ControlLoopIndex ++ UINT ++ 16 ++ 464 ++  ++  ++ ModuloActTurns ++ DINT ++ 32 ++ 480 ++  ++  ++ ActVelo ++ LREAL ++ 64 ++ 512 ++  ++  ++ PosDiff ++ LREAL ++ 64 ++ 576 +  +  +- AxisModeLReal ++ SetPos + LREAL + 64 +- 128 ++ 640 +  +  +- PositionCorrection ++ SetVelo + LREAL + 64 +- 192 ++ 704 +  +  +- ExtSetPos ++ SetAcc + LREAL + 64 +- 256 ++ 768 +  +  +- ExtSetVelo ++ TargetPos + LREAL + 64 +- 320 ++ 832 +  +  +- ExtSetAcc ++ ModuloSetPos + LREAL + 64 +- 384 ++ 896 +  +  +- ExtSetDirection ++ ModuloSetTurns + DINT + 32 +- 448 ++ 960 +  +  +- ExtControllerOutput ++ CmdNo ++ UINT ++ 16 ++ 992 ++  ++  ++ CmdState ++ UINT ++ 16 ++ 1008 ++  ++  ++ SetJerk + LREAL + 64 +- 512 ++ 1024 +  +  +- GearRatio1 ++ SetTorque + LREAL + 64 +- 576 ++ 1088 +  +  +- GearRatio2 ++ ActTorque + LREAL + 64 +- 640 ++ 1152 +  +  +- GearRatio3 ++ StateDWord2 ++ NCTOPLC_AXIS_REF_STATE2 ++ 32 ++ 1216 ++  ++  ++ StateDWord3 ++ DWORD ++ 32 ++ 1248 ++  ++  ++ TouchProbeState ++ DWORD ++ 32 ++ 1280 ++  ++  ++ TouchProbeCounter ++ DWORD ++ 32 ++ 1312 ++  ++  ++ CamCouplingState ++ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE ++  ++ 0 ++ 8 ++  ++ 64 ++ 1344 ++  ++  ++ CamCouplingTableID ++ UINTARR8 ++ 128 ++ 1408 ++  ++  ++ ActTorqueDerivative + LREAL + 64 +- 704 ++ 1536 +  +  +- GearRatio4 ++ SetTorqueDerivative + LREAL + 64 +- 768 ++ 1600 +  +  +- MapState +- BOOL +- 8 +- 832 ++ ActPosWithoutPosCorrection ++ LREAL ++ 64 ++ 1792 +  +  +- PlcCycleControl +- BYTE +- 8 +- 840 ++ ActAcc ++ LREAL ++ 64 ++ 1856 +  +  +- PlcCycleCount +- BYTE +- 8 +- 848 ++ DcTimeStamp ++ UDINT ++ 32 ++ 1920 +  +  +  + NcStructType +- 1 ++ 2 +  +  +  +  +- NCAXLESTRUCT_FROMPLC3 ++ NCAXLESTRUCT_TOPLC ++  ++  ++ NCAXLESTRUCT_TOPLC2 ++  ++  ++ NCAXLESTRUCT_TOPLC3 ++  ++  ++ NCAXLESTRUCT_TOPLC4 ++  ++  ++  ++  ++  ++  ++  ++  ++  +  +  +  +  +-  ++  +  +  +  +@@ -889,8 +1327,456 @@ External Setpoint Generation: +  +  +  ++  ++  ++  ++ NC-Task 1 SAF ++  ++ Inputs ++  ++  ++ Outputs ++  ++  ++ Image ++  ++  ++  ++ NC-Task 1 SVB ++  ++  ++ Axis 1 ++  ++  ++  ++  ++  ++  ++  ++  ++ Inputs ++  ++ In ++ NCENCODERSTRUCT_IN2B ++ 1024 ++  ++ nDataIn1 ++  ++  ++ nDataIn2 ++  ++  ++ nState4 ++  ++  ++  ++ nDataIn3 ++  ++  ++ nDataIn4 ++  ++  ++ nDataIn5 ++  ++  ++ nDataIn6 ++  ++  ++ nDataIn7 ++  ++  ++  ++  ++ Outputs ++  ++ Out ++ NCENCODERSTRUCT_OUT2 ++ 2048 ++  ++ nDataOut1 ++  ++  ++ nDataOut2 ++  ++  ++ nDataOut3 ++  ++  ++ nDataOut4 ++  ++  ++ nDataOut5 ++  ++  ++ nDataOut6 ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ Inputs ++  ++ In ++ NCDRIVESTRUCT_IN2 ++ 1344 ++  ++ nDataIn1 ++  ++  ++ nDataIn2 ++  ++  ++ nState4 ++  ++  ++  ++ nDataIn3 ++  ++  ++ nDataIn4 ++  ++  ++ nDataIn5 ++  ++  ++ nDataIn6 ++  ++  ++  ++  ++ Outputs ++  ++ Out ++ NCDRIVESTRUCT_OUT2 ++ 2368 ++  ++ nDataOut1 ++  ++  ++ nDataOut2 ++  ++  ++ nCtrl2 ++  ++  ++  ++ nCtrl3 ++  ++  ++  ++ nDataOut3 ++  ++  ++ nDataOut4 ++  ++  ++ nDataOut5 ++  ++  ++ nDataOut6 ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ Inputs ++  ++ FromPlc ++ PLCTONC_AXIS_REF ++  ++  ++  ++ Outputs ++  ++ ToPlc ++ NCTOPLC_AXIS_REF ++  ++ AxisState ++  ++  ++  ++ HomingState ++  ++  ++  ++ CoupleState ++  ++  ++  ++  ++  ++  ++ Axis 2 ++  ++  ++  ++  ++  ++ Inputs ++  ++ In ++ NCENCODERSTRUCT_IN2B ++ 2688 ++  ++ nDataIn1 ++  ++  ++ nDataIn2 ++  ++  ++ nState4 ++  ++  ++  ++ nDataIn3 ++  ++  ++ nDataIn4 ++  ++  ++ nDataIn5 ++  ++  ++ nDataIn6 ++  ++  ++ nDataIn7 ++  ++  ++  ++  ++ Outputs ++  ++ Out ++ NCENCODERSTRUCT_OUT2 ++ 4736 ++  ++ nDataOut1 ++  ++  ++ nDataOut2 ++  ++  ++ nDataOut3 ++  ++  ++ nDataOut4 ++  ++  ++ nDataOut5 ++  ++  ++ nDataOut6 ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ Inputs ++  ++ In ++ NCDRIVESTRUCT_IN2 ++ 3008 ++  ++ nDataIn1 ++  ++  ++ nDataIn2 ++  ++  ++ nState4 ++  ++  ++  ++ nDataIn3 ++  ++  ++ nDataIn4 ++  ++  ++ nDataIn5 ++  ++  ++ nDataIn6 ++  ++  ++  ++  ++ Outputs ++  ++ Out ++ NCDRIVESTRUCT_OUT2 ++ 5056 ++  ++ nDataOut1 ++  ++  ++ nDataOut2 ++  ++  ++ nCtrl2 ++  ++  ++  ++ nCtrl3 ++  ++  ++  ++ nDataOut3 ++  ++  ++ nDataOut4 ++  ++  ++ nDataOut5 ++  ++  ++ nDataOut6 ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++ Inputs ++  ++ FromPlc ++ PLCTONC_AXIS_REF ++ 1664 ++  ++  ++  ++ Outputs ++  ++ ToPlc ++ NCTOPLC_AXIS_REF ++ 2688 ++  ++ AxisState ++  ++  ++  ++ HomingState ++  ++  ++  ++ CoupleState ++  ++  ++  ++  ++  ++  ++  +  +-  ++  +  + tc_epicscommodule Instance + {08500001-0000-0000-F000-000000000064} +@@ -1054,5 +1940,19 @@ External Setpoint Generation: +  +  +  ++  +  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  ++  +  +diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO +index 1818614..3982a2b 100644 +--- a/solution/tc_project_app/GlobalTextList.TcGTLO ++++ b/solution/tc_project_app/GlobalTextList.TcGTLO +@@ -10,16 +10,36 @@ + "%2.2f" +  +  ++  ++ "165" ++ "%2.3f" ++  ++  ++  ++ "543" ++ "%2.4f" ++  ++  +  + "878" + "%d" +  +  ++  ++ "294" ++ "%f" ++  ++  +  + "706" + "%i" +  +  ++  ++ "821" ++ "%s" ++  ++  +  + "940" + "%x" +@@ -105,6 +125,11 @@ + "bResetDone" +  +  ++  ++ "693" ++ "bSet" ++  ++  +  + "944" + "bWarning" +@@ -195,6 +220,16 @@ + "gearOut" +  +  ++  ++ "566" ++ "homeSensorNeg" ++  ++  ++  ++ "677" ++ "homeSensorPos" ++  ++  +  + "711" + "Inactive:" +@@ -240,6 +275,11 @@ + "Overflows:" +  +  ++  ++ "993" ++ "Read" ++  ++  +  + "942" + "reset" +@@ -260,6 +300,11 @@ + "toggle" +  +  ++  ++ "445" ++ "Write" ++  ++  +  +  + {062c6d5a-aca0-4f82-8481-8e26e8c8681e} +diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU +index f81cabd..81ced47 100644 +--- a/solution/tc_project_app/POUs/MAIN.TcPOU ++++ b/solution/tc_project_app/POUs/MAIN.TcPOU +@@ -55,7 +55,7 @@ VAR PERSISTENT + bRestoreOnStartup : BOOL; + END_VAR]]> +  +- eSUPS_PowerFailure THEN + (* next cycles of powerfailure *) + (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *) + RETURN; +-END_IF ++END_IF*) +  + RESTORE_POSITIONS(); + PROG(); +diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib +index 852ea37..ce4d55e 160000 +--- a/solution/tc_project_app/tc_mca_std_lib ++++ b/solution/tc_project_app/tc_mca_std_lib +@@ -1 +1 @@ +-Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492 ++Subproject commit ce4d55ec59eeb6d4114ec605b1d57f6fecaa59a3 +diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj +index b5d34ae..00b04b1 100644 +--- a/solution/tc_project_app/tc_project_app.plcproj ++++ b/solution/tc_project_app/tc_project_app.plcproj +@@ -29,6 +29,9 @@ +  + Code +  ++  ++ Code ++  +  + Code +  +@@ -352,8 +355,8 @@ +  +  +  +-  +-  ++  ++  + "<ProjectRoot>" +  + {192FAD59-8248-4824-A8DE-9177C94C195A} +@@ -404,15 +407,15 @@ +  +  +  +-  +-  +- System.Boolean +- System.Collections.Hashtable +- System.Int32 +- {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} +- System.String +-  +- ++  ++  ++ System.Boolean ++ System.Collections.Hashtable ++ System.Int32 ++ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} ++ System.String ++  ++  +  +  +  +\ No newline at end of file From 3e3afe789bc09c9c5cb614fab5b31b0249bc86eb Mon Sep 17 00:00:00 2001 From: "[Luke Nisbet]" <[Luke.nisbet@STFC.ac.uk]> Date: Thu, 5 Mar 2020 13:15:31 +0000 Subject: [PATCH 03/19] Added enum to submodule Hopefully added the new submodule to be tracked --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index cd3be6a..e105ff3 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit cd3be6aabe19ba346c506702eadde42d534ce1b5 +Subproject commit e105ff3c8848100e000a1f18ac99e60b7e6d84a5 From d433e588f4a30e27dd1a39609e3adbff994263bf Mon Sep 17 00:00:00 2001 From: "[Luke Nisbet]" <[Luke.nisbet@STFC.ac.uk]> Date: Tue, 17 Mar 2020 10:49:01 +0000 Subject: [PATCH 04/19] Adding latest files in order to work from home --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index e105ff3..781121c 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit e105ff3c8848100e000a1f18ac99e60b7e6d84a5 +Subproject commit 781121cdad951eb6d5e187423849d0aee10b481b From 48a6b2e793e7e72db3f6ffd15f095402522927a4 Mon Sep 17 00:00:00 2001 From: "[Luke Nisbet]" <[Luke.nisbet@STFC.ac.uk]> Date: Thu, 26 Mar 2020 13:45:12 +0000 Subject: [PATCH 05/19] Trying to sucsessfully push --- solution/_Config/NC/NC.xti | 1735 ++++++++++++++++++++ solution/solution.tsproj | 1012 +++++++++++- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- solution/tc_project_app/PlcTask.TcTTO | 3 + 4 files changed, 2749 insertions(+), 3 deletions(-) diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 759c7a3..9dd4471 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,5 +1,1316 @@ + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + NC-Task 1 SAF @@ -16,5 +1327,429 @@ NC-Task 1 SVB + + Axis 1 + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 1024 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 2048 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 1344 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 2368 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + + + + Axis 2 + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 2688 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 4736 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 3008 + + nDataIn1 + + + nDataIn2 + + + nState4 + + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 5056 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 1664 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 2688 + + AxisState + + + + HomingState + + + + CoupleState + + + + + diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 7219f74..5c931a6 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,5 +1,878 @@ + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + @@ -22,6 +895,135 @@ tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + GVL.axes[1].inputs.bLimitFwd + + BOOL + + + GVL.axes[1].inputs.bLimitBwd + + BOOL + + + GVL.axes[1].inputs.bHomeSensor + + BOOL + + + GVL.axes[1].inputs.bEncLAtch + + BOOL + + + GVL.axes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + + GVL.axes[2].inputs.bLimitFwd + + BOOL + + + GVL.axes[2].inputs.bLimitBwd + + BOOL + + + GVL.axes[2].inputs.bHomeSensor + + BOOL + + + GVL.axes[2].inputs.bEncLAtch + + BOOL + + + GVL.axes[2].Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + PlcTask Outputs @@ -29,6 +1031,14 @@ BOOL + + GVL.axes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.axes[2].Axis.PlcToNc + PLCTONC_AXIS_REF + @@ -36,10 +1046,8 @@ - - diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index c284299..d198872 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -7,7 +7,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - axisNum : UINT:=0; + axisNum : UINT:=2; END_VAR]]> \ No newline at end of file diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO index b5badec..3be8aea 100644 --- a/solution/tc_project_app/PlcTask.TcTTO +++ b/solution/tc_project_app/PlcTask.TcTTO @@ -7,6 +7,9 @@ MAIN + + tcUNIT_STD_LIB_RUN + {26d89752-95b4-4b52-80c0-c79242bc34d7} {137c4fd1-c794-4dee-a041-b4fea1d22866} {2478772d-357b-433f-886f-15340bef9bdf} From dfb809b53d516f86349e9f9622f52c9e6d3de2d9 Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Mon, 6 Apr 2020 17:21:03 +0100 Subject: [PATCH 06/19] Commit for merge --- solution/_Config/NC/NC.xti | 1735 ----------------- solution/solution.tsproj | 1025 +--------- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- solution/tc_project_app/GlobalTextList.TcGTLO | 15 + solution/tc_project_app/PlcTask.TcTTO | 3 - solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 34 - 7 files changed, 18 insertions(+), 2798 deletions(-) diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 9dd4471..759c7a3 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,1316 +1,5 @@ - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - NC-Task 1 SAF @@ -1327,429 +16,5 @@ External Setpoint Generation: NC-Task 1 SVB - - Axis 1 - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 1024 - - nDataIn1 - - - nDataIn2 - - - nState4 - - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 2048 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 1344 - - nDataIn1 - - - nDataIn2 - - - nState4 - - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 2368 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - - - - Axis 2 - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 2688 - - nDataIn1 - - - nDataIn2 - - - nState4 - - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 4736 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 3008 - - nDataIn1 - - - nDataIn2 - - - nState4 - - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 5056 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 1664 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 2688 - - AxisState - - - - HomingState - - - - CoupleState - - - - - diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 5c931a6..e5b3f3e 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,881 +1,7 @@ - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - + - {3EBB9639-5FF3-42B6-8847-35C70DC013C8} @@ -895,135 +21,6 @@ External Setpoint Generation: tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.axes[1].inputs.bLimitFwd - - BOOL - - - GVL.axes[1].inputs.bLimitBwd - - BOOL - - - GVL.axes[1].inputs.bHomeSensor - - BOOL - - - GVL.axes[1].inputs.bEncLAtch - - BOOL - - - GVL.axes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - - GVL.axes[2].inputs.bLimitFwd - - BOOL - - - GVL.axes[2].inputs.bLimitBwd - - BOOL - - - GVL.axes[2].inputs.bHomeSensor - - BOOL - - - GVL.axes[2].inputs.bEncLAtch - - BOOL - - - GVL.axes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - PlcTask Outputs @@ -1031,14 +28,6 @@ External Setpoint Generation: BOOL - - GVL.axes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.axes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - @@ -1047,16 +36,4 @@ External Setpoint Generation: - - - - - - - - - - - - diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index d198872..c284299 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -7,7 +7,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - axisNum : UINT:=2; + axisNum : UINT:=0; END_VAR]]> \ No newline at end of file diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO index 08fac26..66d5b8d 100644 --- a/solution/tc_project_app/GlobalTextList.TcGTLO +++ b/solution/tc_project_app/GlobalTextList.TcGTLO @@ -200,6 +200,11 @@ "fPosition" + + "149" + "fRatio" + + "708" "Free Entries:" @@ -215,6 +220,11 @@ "gearIn" + + "717" + "gearInMultiMaster" + + "300" "gearOut" @@ -270,6 +280,11 @@ "moveVelocity" + + "575" + "nIndex" + + "709" "Overflows:" diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO index 3be8aea..b5badec 100644 --- a/solution/tc_project_app/PlcTask.TcTTO +++ b/solution/tc_project_app/PlcTask.TcTTO @@ -7,9 +7,6 @@ MAIN - - tcUNIT_STD_LIB_RUN - {26d89752-95b4-4b52-80c0-c79242bc34d7} {137c4fd1-c794-4dee-a041-b4fea1d22866} {2478772d-357b-433f-886f-15340bef9bdf} diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 781121c..5d08b5e 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 781121cdad951eb6d5e187423849d0aee10b481b +Subproject commit 5d08b5e64ffd04b23852ee0063f2076367638b37 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index fcff0a3..dd9639c 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -78,50 +78,16 @@ Code - - Code - - - Code - - - Code - Code - - Code - - - Code - - - Code - - - Code - - - Code - Code - - Code - Visualization Manager.TcVMO - - - Code - Code Visualization Manager.TcVMO - - Code - Code From bd9629cbbdd1e1ec5872dc28ff69847a427491fd Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Tue, 7 Apr 2020 13:59:19 +0100 Subject: [PATCH 07/19] Fixing issues caused by auto merge --- solution/solution.tsproj | 1000 +++++++++++++++++ solution/tc_project_app/GlobalTextList.TcGTLO | 15 + solution/tc_project_app/tc_mca_std_lib | 2 +- 3 files changed, 1016 insertions(+), 1 deletion(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 6650b38..b3f80d8 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,5 +1,878 @@ + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + @@ -21,6 +894,121 @@ tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + GVL.astAxes[1].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[1].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[1].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + + GVL.astAxes[2].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[2].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[2].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[2].Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + PlcTask Outputs @@ -28,6 +1016,14 @@ BOOL + + GVL.astAxes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[2].Axis.PlcToNc + PLCTONC_AXIS_REF + @@ -35,5 +1031,9 @@ + + + + diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO index 66d5b8d..e8f06fc 100644 --- a/solution/tc_project_app/GlobalTextList.TcGTLO +++ b/solution/tc_project_app/GlobalTextList.TcGTLO @@ -185,6 +185,11 @@ "Errors:" + + "768" + "eWriteParameter" + + "955" "fAcceleration" @@ -205,6 +210,11 @@ "fRatio" + + "781" + "fReadAxisParameter" + + "708" "Free Entries:" @@ -215,6 +225,11 @@ "fVelocity" + + "688" + "fWriteAxisParameter" + + "299" "gearIn" diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 5d08b5e..49d2b89 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 5d08b5e64ffd04b23852ee0063f2076367638b37 +Subproject commit 49d2b891de647109942c9a0d045f759f73c035bc From f03ac15f959f0111ba1697d0e3e45968d3d8883c Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Tue, 7 Apr 2020 16:39:13 +0100 Subject: [PATCH 08/19] fixed Whitespace Damage --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 49d2b89..95c0432 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 49d2b891de647109942c9a0d045f759f73c035bc +Subproject commit 95c043244e08ff62fac9c286469c076a0545dedb From 6572d5942059c5fceba3e4d49445ada4255a57f6 Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Wed, 8 Apr 2020 12:28:17 +0100 Subject: [PATCH 09/19] Ran check white space --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 95c0432..7e0b5fe 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 95c043244e08ff62fac9c286469c076a0545dedb +Subproject commit 7e0b5fe30852ac30a166162ac9c7cd762535b5b7 From 80bb47123a1445e02a090b70657608f2fbbf237d Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Wed, 8 Apr 2020 15:57:54 +0100 Subject: [PATCH 10/19] Removed unknown file tash show --- solution/solution.tsproj | 1000 --------- solution/tc_project_app/tc_mca_std_lib | 2 +- tash show | 2566 ------------------------ 3 files changed, 1 insertion(+), 3567 deletions(-) delete mode 100644 tash show diff --git a/solution/solution.tsproj b/solution/solution.tsproj index b3f80d8..6650b38 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,878 +1,5 @@ - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - @@ -894,121 +21,6 @@ External Setpoint Generation: tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.astAxes[1].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[1].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[1].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - - GVL.astAxes[2].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[2].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[2].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - PlcTask Outputs @@ -1016,14 +28,6 @@ External Setpoint Generation: BOOL - - GVL.astAxes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - @@ -1031,9 +35,5 @@ External Setpoint Generation: - - - - diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 7e0b5fe..a5b7c9a 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 7e0b5fe30852ac30a166162ac9c7cd762535b5b7 +Subproject commit a5b7c9a9f5b8e1d441c31a796d97d0322da9070a diff --git a/tash show b/tash show deleted file mode 100644 index 85a62df..0000000 --- a/tash show +++ /dev/null @@ -1,2566 +0,0 @@ -commit bf64da273b5d33918c3e238409a3e550ec219687 (HEAD -> mbp-100-read-write-axis-parameters, origin/mbp-100-read-write-axis-parameters) -Author: [Luke Nisbet] <[Luke.nisbet@STFC.ac.uk]> -Date: Thu Feb 6 13:38:32 2020 +0000 - - Ticket compleated to original specification - - The code can read and write all possible PLC Open and Beckhoff - axis parameters it uses the MC_ReadParameter and MC_WriteParameter - function block within FB_Axis. Errors are passed out to the error - handling and it is possible to control it all through MainVisu. - -diff --git a/solution.sln b/solution.sln -index 9459e68..4dccbdf 100644 ---- a/solution.sln -+++ b/solution.sln -@@ -1,7 +1,7 @@ -  - Microsoft Visual Studio Solution File, Format Version 12.00 --# Visual Studio 2013 --VisualStudioVersion = 12.0.21005.1 -+# TcXaeShell Solution File, Format Version 11.00 -+VisualStudioVersion = 15.0.28010.2050 - MinimumVisualStudioVersion = 10.0.40219.1 - Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" - EndProject -@@ -33,22 +33,6 @@ Global - {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) -@@ -65,8 +49,26 @@ Global - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -+ GlobalSection(ExtensibilityGlobals) = postSolution -+ SolutionGuid = {3F42AC3D-5210-4834-8C00-062CE02B7502} -+ EndGlobalSection - EndGlobal -diff --git a/solution/solution.tsproj b/solution/solution.tsproj -index f74cba4..e0f327a 100644 ---- a/solution/solution.tsproj -+++ b/solution/solution.tsproj -@@ -2,746 +2,813 @@ -  -  -  -- NCTOPLC_AXIS_REF_STATE -+ UINTARR2 - 32 -+ UINT -+  -+ 0 -+ 2 -+  -+  -+ [%u, %u] -+ [0] -+ [1] -+  -+  -+ 0x%08x [%u, %u] -+ . -+ [0] -+ [1] -+  -+  -+ 0x%08x (%u) -+ . -+ . -+  -+  -+  -+ NCENCODERSTRUCT_IN2B -+ 320 -  -- Operational -- BIT -- 1 -+ nDataIn1 -+ UINTARR2 -+ 32 - 0 -  -  -- Homed -- BIT -- 1 -- 1 --  --  -- NotMoving -- BIT -- 1 -- 2 -+ nDataIn2 -+ UINTARR2 -+ 32 -+ 32 -  -  -- InPositionArea -- BIT -- 1 -- 3 -+ nState1 -+ USINT -+ 8 -+ 64 -  -  -- InTargetPosition -- BIT -- 1 -- 4 -+ nState2 -+ USINT -+ 8 -+ 72 -  -  -- Protected -- BIT -- 1 -- 5 -+ nState3 -+ USINT -+ 8 -+ 80 -  -  -- ErrorPropagationDelayed -- BIT -- 1 -- 6 -+ nState4 -+ USINT -+  -+ 8 -+ 88 -  -  -- HasBeenStopped -- BIT -- 1 -- 7 -+ nDataIn3 -+ UINTARR2 -+ 32 -+ 96 -  -  -- HasJob -- BIT -- 1 -- 8 -+ nDataIn4 -+ UINTARR2 -+ 32 -+ 128 -  -  -- PositiveDirection -- BIT -- 1 -- 9 -+ nDataIn5 -+ UINTARR2 -+ 32 -+ 160 -  -  -- NegativeDirection -- BIT -- 1 -- 10 -+ nDataIn6 -+ UINTARR2 -+ 32 -+ 192 -  -  -- HomingBusy -- BIT -- 1 -- 11 -+ nState5 -+ USINT -+ 8 -+ 224 -  -  -- ConstantVelocity -- BIT -- 1 -- 12 -+ nState6 -+ USINT -+ 8 -+ 232 -  -  -- Compensating -- BIT -- 1 -- 13 -+ nState7 -+ USINT -+ 8 -+ 240 -  -  -- ExtSetPointGenEnabled -- BIT -- 1 -- 14 -+ nState8 -+ USINT -+ 8 -+ 248 -  -  -- PhasingActive -- BIT -- 1 -- 15 -+ nDcInputTime -+ DINT -+ 32 -+ 256 -  -  -- ExternalLatchValid -- BIT -- 1 -- 16 -+ nDataIn7 -+ UINTARR2 -+ 32 -+ 288 -  -+  -+  -+ NCENCODERSTRUCT_IN -+  -+ 96 -+  -+  -+  -+  -+  -+ NCENCODERSTRUCT_OUT2 -+ 320 -  -- NewTargetPos -- BIT -- 1 -- 17 -+ nDataOut1 -+ UINTARR2 -+ 32 -+ 0 -  -  -- ContinuousMotion -- BIT -- 1 -- 19 -+ nDataOut2 -+ UINTARR2 -+ 32 -+ 32 -  -  -- ControlLoopClosed -- BIT -- 1 -- 20 -+ nCtrl1 -+ USINT -+ 8 -+ 64 -  -  -- CamTableQueued -- BIT -- 1 -- 21 -+ nCtrl2 -+ USINT -+ 8 -+ 72 -  -  -- CamDataQueued -- BIT -- 1 -- 22 -+ nCtrl3 -+ USINT -+ 8 -+ 80 -  -  -- CamScalingPending -- BIT -- 1 -- 23 -+ nCtrl4 -+ USINT -+ 8 -+ 88 -  -  -- CmdBuffered -- BIT -- 1 -- 24 -+ nDataOut3 -+ UINTARR2 -+ 32 -+ 96 -  -  -- PTPmode -- BIT -- 1 -- 25 -+ nDataOut4 -+ UINTARR2 -+ 32 -+ 128 -  -  -- SoftLimitMinExceeded -- BIT -- 1 -- 26 -+ nDataOut5 -+ UINTARR2 -+ 32 -+ 160 -  -  -- SoftLimitMaxExceeded -- BIT -- 1 -- 27 -+ nDataOut6 -+ UINTARR2 -+ 32 -+ 192 -  -  -- DriveDeviceError -- BIT -- 1 -- 28 -+ nCtrl5 -+ USINT -+ 8 -+ 224 -  -  -- MotionCommandsLocked -- BIT -- 1 -- 29 -+ nCtrl6 -+ USINT -+ 8 -+ 232 -  -  -- IoDataInvalid -- BIT -- 1 -- 30 -+ nCtrl7 -+ USINT -+ 8 -+ 240 -  -  -- Error -- BIT -- 1 -- 31 -+ nCtrl8 -+ USINT -+ 8 -+ 248 -  --  -- %08x --  --  -- 0x%08x --  --  -- 16#%08X --  -+  -+  -+ NCENCODERSTRUCT_OUT -+  -+ 96 -+  -+  -+  -  -  -- NCTOPLC_AXIS_REF_OPMODE -- 32 -+ NCDRIVESTRUCT_IN2 -+ 320 -  -- OpModePosAreaMonitoring -- BIT -- 1 -+ nDataIn1 -+ UINTARR2 -+ 32 - 0 -  -  -- OpModeTargetPosMonitoring -- BIT -- 1 -- 1 -+ nDataIn2 -+ UINTARR2 -+ 32 -+ 32 -  -  -- OpModeLoop -- BIT -- 1 -- 2 -+ nState1 -+ USINT -+ 8 -+ 64 -  -  -- OpModeMotionMonitoring -- BIT -- 1 -- 3 -+ nState2 -+ USINT -+ 8 -+ 72 -  -  -- OpModePEHTimeMonitoring -- BIT -- 1 -- 4 -+ nState3 -+ USINT -+ 8 -+ 80 -  -  -- OpModeBacklashCompensation -- BIT -- 1 -- 5 -+ nState4 -+ USINT -+  -+ 8 -+ 88 -  -  -- OpModeDelayedErrorReaction -- BIT -- 1 -- 6 -+ nDataIn3 -+ UINTARR2 -+ 32 -+ 96 -  -  -- OpModeModulo -- BIT -- 1 -- 7 -+ nDataIn4 -+ UINTARR2 -+ 32 -+ 128 -  -  -- OpModeSimulationAxis -- BIT -- 1 -- 8 -+ nDataIn5 -+ UINTARR2 -+ 32 -+ 160 -  -  -- OpModePosLagMonitoring -- BIT -- 1 -- 16 -+ nDataIn6 -+ UINTARR2 -+ 32 -+ 192 -  -  -- OpModeVeloLagMonitoring -- BIT -- 1 -- 17 -+ nState5 -+ USINT -+ 8 -+ 224 -  -  -- OpModeSoftLimitMinMonitoring -- BIT -- 1 -- 18 -+ nState6 -+ USINT -+ 8 -+ 232 -  -  -- OpModeSoftLimitMaxMonitoring -- BIT -- 1 -- 19 -+ nState7 -+ USINT -+ 8 -+ 240 -  -  -- OpModePosCorrection -- BIT -- 1 -- 20 -+ nState8 -+ USINT -+ 8 -+ 248 -  -  -- OpModeAllowSlaveCommands -- BIT -- 1 -- 21 -+ nDcOutputTime -+ DINT -+ 32 -+ 256 -  -+  -+  -+ NCDRIVESTRUCT_IN -+  -+ 96 -+  -+  -+  -+  -+  -+ NCDRIVESTRUCT_OUT2 -+ 320 -  -- OpModeAllowExtSetAxisCommands -- BIT -- 1 -- 22 -+ nDataOut1 -+ UINTARR2 -+ 32 -+ 0 -  -  -- ApplicationRequest -- BIT -- 1 -- 23 -+ nDataOut2 -+ UINTARR2 -+ 32 -+ 32 -  --  --  -- NCTOPLC_AXIS_REF_STATE2_FLAGS -- 32 -  -- AvoidingCollision -- BIT -- 1 -- 0 -+ nCtrl1 -+ USINT -+ 8 -+ 64 -  --  -- %08x --  --  -- 0x%08x --  --  -- 16#%08X --  --  --  -- NCTOPLC_AXIS_REF_STATE2 -- 32 -  -- Value -- DWORD -+ nCtrl2 -+ USINT -+ 8 -+ 72 -+  -+  -+ nCtrl3 -+ USINT -+ 8 -+ 80 -+  -+  -+ nCtrl4 -+ USINT -+ 8 -+ 88 -+  -+  -+ nDataOut3 -+ UINTARR2 - 32 -- 0 -+ 96 -  -  -- Flags -- NCTOPLC_AXIS_REF_STATE2_FLAGS -+ nDataOut4 -+ UINTARR2 - 32 -- 0 -+ 128 -  --  -- %08x --  --  -- 0x%08x --  --  -- 16#%08X --  -+  -+ nDataOut5 -+ UINTARR2 -+ 32 -+ 160 -+  -+  -+ nDataOut6 -+ UINTARR2 -+ 32 -+ 192 -+  -+  -+ nCtrl5 -+ USINT -+ 8 -+ 224 -+  -+  -+ nCtrl6 -+ USINT -+ 8 -+ 232 -+  -+  -+ nCtrl7 -+ USINT -+ 8 -+ 240 -+  -+  -+ nCtrl8 -+ USINT -+ 8 -+ 248 -+  -+  -+  -+ NCDRIVESTRUCT_OUT -+  -+ 96 -+  -+  -+  -  -  -- NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE -- 8 -+ PLCTONC_AXIS_REF_CTRL -+ 32 -  -- CamActivationPending -+ Enable - BIT - 1 - 0 -  -  -- CamDeactivationPending -+ FeedEnablePlus - BIT - 1 - 1 -  -  -- CamActive -+ FeedEnableMinus - BIT - 1 - 2 -  -  -- CamDataQueued -+ HomingSensor - BIT - 1 -- 6 -+ 5 -  -  -- CamScalingPending -+ AcceptBlockedDrive - BIT - 1 -- 7 -+ 8 -  -+  -+ PlcDebugFlag -+ BIT -+ 1 -+ 30 -+  -+  -+ NcDebugFlag -+ BIT -+ 1 -+ 31 -+  -+  -+ %08x -+  -+  -+ 0x%08x -+  -+  -+ 16#%08X -+  -  -  -- UINTARR8 -- 128 -- UINT --  -- 0 -- 8 --  --  --  -- NCTOPLC_AXIS_REF -- 2048 -+ PLCTONC_AXIS_REF -+ 1024 -  -- StateDWord -- NCTOPLC_AXIS_REF_STATE -+ ControlDWord -+ PLCTONC_AXIS_REF_CTRL - 32 - 0 -  -  -- ErrorCode -+ Override - UDINT - 32 - 32 -  -  -- AxisState -+ AxisModeRequest - UDINT --  - 32 - 64 -  -  -- AxisModeConfirmation -+ AxisModeDWord - UDINT - 32 - 96 -  -  -- HomingState -- UDINT --  -- 32 -+ AxisModeLReal -+ LREAL -+ 64 - 128 -  -  -- CoupleState -- UDINT --  -- 32 -- 160 --  --  -- SvbEntries -- UDINT -- 32 -+ PositionCorrection -+ LREAL -+ 64 - 192 -  -  -- SafEntries -- UDINT -- 32 -- 224 --  --  -- AxisId -- UDINT -- 32 -+ ExtSetPos -+ LREAL -+ 64 - 256 -  -  -- OpModeDWord -- NCTOPLC_AXIS_REF_OPMODE -- 32 -- 288 --  --  -- ActPos -+ ExtSetVelo - LREAL - 64 - 320 -  -  -- ModuloActPos -+ ExtSetAcc - LREAL - 64 - 384 -  -  -- ActiveControlLoopIndex -- UINT -- 16 -- 448 --  --  -- ControlLoopIndex -- UINT -- 16 -- 464 --  --  -- ModuloActTurns -+ ExtSetDirection - DINT - 32 -- 480 -+ 448 -  -  -- ActVelo -+ ExtControllerOutput - LREAL - 64 - 512 -  -  -- PosDiff -+ GearRatio1 - LREAL - 64 - 576 -  -  -- SetPos -+ GearRatio2 - LREAL - 64 - 640 -  -  -- SetVelo -+ GearRatio3 - LREAL - 64 - 704 -  -  -- SetAcc -+ GearRatio4 - LREAL - 64 - 768 -  -  -- TargetPos -- LREAL -- 64 -+ MapState -+ BOOL -+ 8 - 832 -  -  -- ModuloSetPos -- LREAL -- 64 -- 896 -+ PlcCycleControl -+ BYTE -+ 8 -+ 840 -  -  -- ModuloSetTurns -- DINT -- 32 -- 960 -+ PlcCycleCount -+ BYTE -+ 8 -+ 848 -  -+  -+  -+ NcStructType -+ 1 -+  -+  -+  -+  -+ NCAXLESTRUCT_FROMPLC3 -+  -+  -+  -+  -+ NCTOPLC_AXIS_REF_STATE -+ 32 -  -- CmdNo -- UINT -- 16 -- 992 -+ Operational -+ BIT -+ 1 -+ 0 -  -  -- CmdState -- UINT -- 16 -- 1008 -+ Homed -+ BIT -+ 1 -+ 1 -  -  -- SetJerk -- LREAL -- 64 -- 1024 -+ NotMoving -+ BIT -+ 1 -+ 2 -  -  -- SetTorque -- LREAL -- 64 -- 1088 -+ InPositionArea -+ BIT -+ 1 -+ 3 -  -  -- ActTorque -- LREAL -- 64 -- 1152 -+ InTargetPosition -+ BIT -+ 1 -+ 4 -  -  -- StateDWord2 -- NCTOPLC_AXIS_REF_STATE2 -- 32 -- 1216 -+ Protected -+ BIT -+ 1 -+ 5 -  -  -- StateDWord3 -- DWORD -- 32 -- 1248 -+ ErrorPropagationDelayed -+ BIT -+ 1 -+ 6 -  -  -- TouchProbeState -- DWORD -- 32 -- 1280 -+ HasBeenStopped -+ BIT -+ 1 -+ 7 -  -  -- TouchProbeCounter -- DWORD -- 32 -- 1312 -+ HasJob -+ BIT -+ 1 -+ 8 -  -  -- CamCouplingState -- NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE --  -- 0 -- 8 --  -- 64 -- 1344 -+ PositiveDirection -+ BIT -+ 1 -+ 9 -  -  -- CamCouplingTableID -- UINTARR8 -- 128 -- 1408 -+ NegativeDirection -+ BIT -+ 1 -+ 10 -  -  -- ActTorqueDerivative -- LREAL -- 64 -- 1536 -+ HomingBusy -+ BIT -+ 1 -+ 11 -  -  -- SetTorqueDerivative -- LREAL -- 64 -- 1600 -+ ConstantVelocity -+ BIT -+ 1 -+ 12 -  -  -- ActPosWithoutPosCorrection -- LREAL -- 64 -- 1792 -+ Compensating -+ BIT -+ 1 -+ 13 -  -  -- ActAcc -- LREAL -- 64 -- 1856 -+ ExtSetPointGenEnabled -+ BIT -+ 1 -+ 14 -  -  -- DcTimeStamp -- UDINT -- 32 -- 1920 -+ PhasingActive -+ BIT -+ 1 -+ 15 -  --  --  -- NcStructType -- 2 --  --  --  --  -- NCAXLESTRUCT_TOPLC --  --  -- NCAXLESTRUCT_TOPLC2 --  --  -- NCAXLESTRUCT_TOPLC3 --  --  -- NCAXLESTRUCT_TOPLC4 --  --  --  --  --  --  --  --  --  --  --  --  --  -- PLCTONC_AXIS_REF_CTRL -- 32 -  -- Enable -+ ExternalLatchValid - BIT - 1 -- 0 -+ 16 -  -  -- FeedEnablePlus -+ NewTargetPos - BIT - 1 -- 1 -+ 17 -  -  -- FeedEnableMinus -+ ContinuousMotion - BIT - 1 -- 2 -+ 19 -  -  -- HomingSensor -+ ControlLoopClosed - BIT - 1 -- 5 -+ 20 -  -  -- AcceptBlockedDrive -+ CamTableQueued - BIT - 1 -- 8 -+ 21 -  -  -- PlcDebugFlag -+ CamDataQueued - BIT - 1 -- 30 -+ 22 -  -  -- NcDebugFlag -+ CamScalingPending - BIT - 1 -- 31 -+ 23 -  --  -- %08x --  -+  -+ CmdBuffered -+ BIT -+ 1 -+ 24 -+  -+  -+ PTPmode -+ BIT -+ 1 -+ 25 -+  -+  -+ SoftLimitMinExceeded -+ BIT -+ 1 -+ 26 -+  -+  -+ SoftLimitMaxExceeded -+ BIT -+ 1 -+ 27 -+  -+  -+ DriveDeviceError -+ BIT -+ 1 -+ 28 -+  -+  -+ MotionCommandsLocked -+ BIT -+ 1 -+ 29 -+  -+  -+ IoDataInvalid -+ BIT -+ 1 -+ 30 -+  -+  -+ Error -+ BIT -+ 1 -+ 31 -+  -+  -+ %08x -+  -  - 0x%08x -  -@@ -750,130 +817,501 @@ External Setpoint Generation: -  -  -  -- PLCTONC_AXIS_REF -- 1024 -+ NCTOPLC_AXIS_REF_OPMODE -+ 32 -  -- ControlDWord -- PLCTONC_AXIS_REF_CTRL -+ OpModePosAreaMonitoring -+ BIT -+ 1 -+ 0 -+  -+  -+ OpModeTargetPosMonitoring -+ BIT -+ 1 -+ 1 -+  -+  -+ OpModeLoop -+ BIT -+ 1 -+ 2 -+  -+  -+ OpModeMotionMonitoring -+ BIT -+ 1 -+ 3 -+  -+  -+ OpModePEHTimeMonitoring -+ BIT -+ 1 -+ 4 -+  -+  -+ OpModeBacklashCompensation -+ BIT -+ 1 -+ 5 -+  -+  -+ OpModeDelayedErrorReaction -+ BIT -+ 1 -+ 6 -+  -+  -+ OpModeModulo -+ BIT -+ 1 -+ 7 -+  -+  -+ OpModeSimulationAxis -+ BIT -+ 1 -+ 8 -+  -+  -+ OpModePosLagMonitoring -+ BIT -+ 1 -+ 16 -+  -+  -+ OpModeVeloLagMonitoring -+ BIT -+ 1 -+ 17 -+  -+  -+ OpModeSoftLimitMinMonitoring -+ BIT -+ 1 -+ 18 -+  -+  -+ OpModeSoftLimitMaxMonitoring -+ BIT -+ 1 -+ 19 -+  -+  -+ OpModePosCorrection -+ BIT -+ 1 -+ 20 -+  -+  -+ OpModeAllowSlaveCommands -+ BIT -+ 1 -+ 21 -+  -+  -+ OpModeAllowExtSetAxisCommands -+ BIT -+ 1 -+ 22 -+  -+  -+ ApplicationRequest -+ BIT -+ 1 -+ 23 -+  -+  -+  -+ NCTOPLC_AXIS_REF_STATE2_FLAGS -+ 32 -+  -+ AvoidingCollision -+ BIT -+ 1 -+ 0 -+  -+  -+ %08x -+  -+  -+ 0x%08x -+  -+  -+ 16#%08X -+  -+  -+  -+ NCTOPLC_AXIS_REF_STATE2 -+ 32 -+  -+ Value -+ DWORD - 32 - 0 -  -  -- Override -+ Flags -+ NCTOPLC_AXIS_REF_STATE2_FLAGS -+ 32 -+ 0 -+  -+  -+ %08x -+  -+  -+ 0x%08x -+  -+  -+ 16#%08X -+  -+  -+  -+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE -+ 8 -+  -+ CamActivationPending -+ BIT -+ 1 -+ 0 -+  -+  -+ CamDeactivationPending -+ BIT -+ 1 -+ 1 -+  -+  -+ CamActive -+ BIT -+ 1 -+ 2 -+  -+  -+ CamDataQueued -+ BIT -+ 1 -+ 6 -+  -+  -+ CamScalingPending -+ BIT -+ 1 -+ 7 -+  -+  -+  -+ UINTARR8 -+ 128 -+ UINT -+  -+ 0 -+ 8 -+  -+  -+  -+ NCTOPLC_AXIS_REF -+ 2048 -+  -+ StateDWord -+ NCTOPLC_AXIS_REF_STATE -+ 32 -+ 0 -+  -+  -+ ErrorCode - UDINT - 32 - 32 -  -  -- AxisModeRequest -+ AxisState - UDINT -+  - 32 - 64 -  -  -- AxisModeDWord -- UDINT -- 32 -- 96 -+ AxisModeConfirmation -+ UDINT -+ 32 -+ 96 -+  -+  -+ HomingState -+ UDINT -+  -+ 32 -+ 128 -+  -+  -+ CoupleState -+ UDINT -+  -+ 32 -+ 160 -+  -+  -+ SvbEntries -+ UDINT -+ 32 -+ 192 -+  -+  -+ SafEntries -+ UDINT -+ 32 -+ 224 -+  -+  -+ AxisId -+ UDINT -+ 32 -+ 256 -+  -+  -+ OpModeDWord -+ NCTOPLC_AXIS_REF_OPMODE -+ 32 -+ 288 -+  -+  -+ ActPos -+ LREAL -+ 64 -+ 320 -+  -+  -+ ModuloActPos -+ LREAL -+ 64 -+ 384 -+  -+  -+ ActiveControlLoopIndex -+ UINT -+ 16 -+ 448 -+  -+  -+ ControlLoopIndex -+ UINT -+ 16 -+ 464 -+  -+  -+ ModuloActTurns -+ DINT -+ 32 -+ 480 -+  -+  -+ ActVelo -+ LREAL -+ 64 -+ 512 -+  -+  -+ PosDiff -+ LREAL -+ 64 -+ 576 -  -  -- AxisModeLReal -+ SetPos - LREAL - 64 -- 128 -+ 640 -  -  -- PositionCorrection -+ SetVelo - LREAL - 64 -- 192 -+ 704 -  -  -- ExtSetPos -+ SetAcc - LREAL - 64 -- 256 -+ 768 -  -  -- ExtSetVelo -+ TargetPos - LREAL - 64 -- 320 -+ 832 -  -  -- ExtSetAcc -+ ModuloSetPos - LREAL - 64 -- 384 -+ 896 -  -  -- ExtSetDirection -+ ModuloSetTurns - DINT - 32 -- 448 -+ 960 -  -  -- ExtControllerOutput -+ CmdNo -+ UINT -+ 16 -+ 992 -+  -+  -+ CmdState -+ UINT -+ 16 -+ 1008 -+  -+  -+ SetJerk - LREAL - 64 -- 512 -+ 1024 -  -  -- GearRatio1 -+ SetTorque - LREAL - 64 -- 576 -+ 1088 -  -  -- GearRatio2 -+ ActTorque - LREAL - 64 -- 640 -+ 1152 -  -  -- GearRatio3 -+ StateDWord2 -+ NCTOPLC_AXIS_REF_STATE2 -+ 32 -+ 1216 -+  -+  -+ StateDWord3 -+ DWORD -+ 32 -+ 1248 -+  -+  -+ TouchProbeState -+ DWORD -+ 32 -+ 1280 -+  -+  -+ TouchProbeCounter -+ DWORD -+ 32 -+ 1312 -+  -+  -+ CamCouplingState -+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE -+  -+ 0 -+ 8 -+  -+ 64 -+ 1344 -+  -+  -+ CamCouplingTableID -+ UINTARR8 -+ 128 -+ 1408 -+  -+  -+ ActTorqueDerivative - LREAL - 64 -- 704 -+ 1536 -  -  -- GearRatio4 -+ SetTorqueDerivative - LREAL - 64 -- 768 -+ 1600 -  -  -- MapState -- BOOL -- 8 -- 832 -+ ActPosWithoutPosCorrection -+ LREAL -+ 64 -+ 1792 -  -  -- PlcCycleControl -- BYTE -- 8 -- 840 -+ ActAcc -+ LREAL -+ 64 -+ 1856 -  -  -- PlcCycleCount -- BYTE -- 8 -- 848 -+ DcTimeStamp -+ UDINT -+ 32 -+ 1920 -  -  -  - NcStructType -- 1 -+ 2 -  -  -  -  -- NCAXLESTRUCT_FROMPLC3 -+ NCAXLESTRUCT_TOPLC -+  -+  -+ NCAXLESTRUCT_TOPLC2 -+  -+  -+ NCAXLESTRUCT_TOPLC3 -+  -+  -+ NCAXLESTRUCT_TOPLC4 -+  -+  -+  -+  -+  -+  -+  -+  -+  -  -  -  -  --  -+  -  -  -  -@@ -889,8 +1327,456 @@ External Setpoint Generation: -  -  -  -+  -+  -+  -+ NC-Task 1 SAF -+  -+ Inputs -+  -+  -+ Outputs -+  -+  -+ Image -+  -+  -+  -+ NC-Task 1 SVB -+  -+  -+ Axis 1 -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCENCODERSTRUCT_IN2B -+ 1024 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+ nDataIn7 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCENCODERSTRUCT_OUT2 -+ 2048 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCDRIVESTRUCT_IN2 -+ 1344 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCDRIVESTRUCT_OUT2 -+ 2368 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nCtrl2 -+  -+  -+  -+ nCtrl3 -+  -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ FromPlc -+ PLCTONC_AXIS_REF -+  -+  -+  -+ Outputs -+  -+ ToPlc -+ NCTOPLC_AXIS_REF -+  -+ AxisState -+  -+  -+  -+ HomingState -+  -+  -+  -+ CoupleState -+  -+  -+  -+  -+  -+  -+ Axis 2 -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCENCODERSTRUCT_IN2B -+ 2688 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+ nDataIn7 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCENCODERSTRUCT_OUT2 -+ 4736 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCDRIVESTRUCT_IN2 -+ 3008 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCDRIVESTRUCT_OUT2 -+ 5056 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nCtrl2 -+  -+  -+  -+ nCtrl3 -+  -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ FromPlc -+ PLCTONC_AXIS_REF -+ 1664 -+  -+  -+  -+ Outputs -+  -+ ToPlc -+ NCTOPLC_AXIS_REF -+ 2688 -+  -+ AxisState -+  -+  -+  -+ HomingState -+  -+  -+  -+ CoupleState -+  -+  -+  -+  -+  -+  -+  -  --  -+  -  - tc_epicscommodule Instance - {08500001-0000-0000-F000-000000000064} -@@ -1054,5 +1940,19 @@ External Setpoint Generation: -  -  -  -+  -  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -  -diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO -index 1818614..3982a2b 100644 ---- a/solution/tc_project_app/GlobalTextList.TcGTLO -+++ b/solution/tc_project_app/GlobalTextList.TcGTLO -@@ -10,16 +10,36 @@ - "%2.2f" -  -  -+  -+ "165" -+ "%2.3f" -+  -+  -+  -+ "543" -+ "%2.4f" -+  -+  -  - "878" - "%d" -  -  -+  -+ "294" -+ "%f" -+  -+  -  - "706" - "%i" -  -  -+  -+ "821" -+ "%s" -+  -+  -  - "940" - "%x" -@@ -105,6 +125,11 @@ - "bResetDone" -  -  -+  -+ "693" -+ "bSet" -+  -+  -  - "944" - "bWarning" -@@ -195,6 +220,16 @@ - "gearOut" -  -  -+  -+ "566" -+ "homeSensorNeg" -+  -+  -+  -+ "677" -+ "homeSensorPos" -+  -+  -  - "711" - "Inactive:" -@@ -240,6 +275,11 @@ - "Overflows:" -  -  -+  -+ "993" -+ "Read" -+  -+  -  - "942" - "reset" -@@ -260,6 +300,11 @@ - "toggle" -  -  -+  -+ "445" -+ "Write" -+  -+  -  -  - {062c6d5a-aca0-4f82-8481-8e26e8c8681e} -diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU -index f81cabd..81ced47 100644 ---- a/solution/tc_project_app/POUs/MAIN.TcPOU -+++ b/solution/tc_project_app/POUs/MAIN.TcPOU -@@ -55,7 +55,7 @@ VAR PERSISTENT - bRestoreOnStartup : BOOL; - END_VAR]]> -  -- eSUPS_PowerFailure THEN - (* next cycles of powerfailure *) - (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *) - RETURN; --END_IF -+END_IF*) -  - RESTORE_POSITIONS(); - PROG(); -diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib -index 852ea37..ce4d55e 160000 ---- a/solution/tc_project_app/tc_mca_std_lib -+++ b/solution/tc_project_app/tc_mca_std_lib -@@ -1 +1 @@ --Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492 -+Subproject commit ce4d55ec59eeb6d4114ec605b1d57f6fecaa59a3 -diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj -index b5d34ae..00b04b1 100644 ---- a/solution/tc_project_app/tc_project_app.plcproj -+++ b/solution/tc_project_app/tc_project_app.plcproj -@@ -29,6 +29,9 @@ -  - Code -  -+  -+ Code -+  -  - Code -  -@@ -352,8 +355,8 @@ -  -  -  --  --  -+  -+  - "<ProjectRoot>" -  - {192FAD59-8248-4824-A8DE-9177C94C195A} -@@ -404,15 +407,15 @@ -  -  -  --  --  -- System.Boolean -- System.Collections.Hashtable -- System.Int32 -- {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} -- System.String --  -- -+  -+  -+ System.Boolean -+ System.Collections.Hashtable -+ System.Int32 -+ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} -+ System.String -+  -+  -  -  -  -\ No newline at end of file From d7ae3a4c000de59db1884aa31b131e8b48293e0e Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Wed, 8 Apr 2020 17:04:32 +0100 Subject: [PATCH 11/19] Fixed White Space --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index a5b7c9a..259b21b 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit a5b7c9a9f5b8e1d441c31a796d97d0322da9070a +Subproject commit 259b21bd2359b7f38702946d9ef6761df6e89c5d From 12ae95898ef140c7e813be6f9574cdc6585f78bc Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Mon, 20 Apr 2020 15:04:12 +0100 Subject: [PATCH 12/19] Fixed formating to fit standard --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 259b21b..afb6d5e 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 259b21bd2359b7f38702946d9ef6761df6e89c5d +Subproject commit afb6d5e4bec379a26243dbae2687dd603060c87b From 1c5388bf067c6d6e46d3dfe224ebb481a7e3b899 Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Wed, 22 Apr 2020 14:35:59 +0100 Subject: [PATCH 13/19] Removed Redundant RTRIG --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index afb6d5e..0a0c539 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit afb6d5e4bec379a26243dbae2687dd603060c87b +Subproject commit 0a0c539319919b42fab9763d46d387c0db50b96f From 4bf14f99ab5f7e3f103c29118a6c90008bf74c41 Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Mon, 27 Apr 2020 15:42:29 +0100 Subject: [PATCH 14/19] Merged submodule to master --- solution/solution.tsproj | 1024 +++++++++++++++++++- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- 2 files changed, 1008 insertions(+), 18 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 2a8b590..9424b0f 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,6 +1,879 @@ - + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + @@ -21,6 +894,121 @@ tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + GVL.astAxes[1].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[1].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[1].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + + GVL.astAxes[2].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[2].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[2].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[2].Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + HomingState + + + + CoupleState + + + + PlcTask Outputs @@ -29,24 +1017,12 @@ BOOL - MAIN.bOutput5 - BOOL + GVL.astAxes[1].Axis.PlcToNc + PLCTONC_AXIS_REF - MAIN.bOutput13 - BOOL - - - MAIN.bOutput17 - BOOL - - - MAIN.bOutput21 - BOOL - - - MAIN.bOutput24 - BOOL + GVL.astAxes[2].Axis.PlcToNc + PLCTONC_AXIS_REF @@ -55,5 +1031,19 @@ + + + + + + + + + + + + + + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index a423ad2..76e362c 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -7,7 +7,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - nAXIS_NUM : UINT:=0; + nAXIS_NUM : UINT:=2; END_VAR]]> \ No newline at end of file From d081ee3680bcce7aaa86374d01b9410d6576bad7 Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Tue, 28 Apr 2020 10:45:22 +0100 Subject: [PATCH 15/19] Removed Axis from GVLs/GVL_APP --- solution/solution.tsproj | 14 -------------- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- 2 files changed, 1 insertion(+), 15 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 9424b0f..22e792d 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1031,19 +1031,5 @@ External Setpoint Generation: - - - - - - - - - - - - - - diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index 76e362c..a423ad2 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -7,7 +7,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - nAXIS_NUM : UINT:=2; + nAXIS_NUM : UINT:=0; END_VAR]]> \ No newline at end of file From 10d416dc95619afadbf9a20b1eb03bcb6487b4e2 Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Wed, 29 Apr 2020 11:39:38 +0100 Subject: [PATCH 16/19] Renamed elements in the VISU --- solution/solution.tsproj | 64 ++------------------------ solution/tc_project_app/tc_mca_std_lib | 2 +- 2 files changed, 5 insertions(+), 61 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 22e792d..39b2925 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -949,62 +949,6 @@ External Setpoint Generation: 1: axis is a master axis 2: axis is master and slave 3: axis is a slave axis -]]> - - - - GVL.astAxes[2].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[2].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[2].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - @@ -1020,10 +964,6 @@ External Setpoint Generation: GVL.astAxes[1].Axis.PlcToNc PLCTONC_AXIS_REF - - GVL.astAxes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - @@ -1031,5 +971,9 @@ External Setpoint Generation: + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index e839940..a8a4dd0 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit e8399403350a24c396e43c30bc0f5b3874798790 +Subproject commit a8a4dd02416b54e917259e1719046a7ff6538587 From ad5c0324a67d0f762275765fc961380c3aa59acc Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Fri, 1 May 2020 13:12:01 +0100 Subject: [PATCH 17/19] Updated Submodule Pointer --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index a8a4dd0..baa9408 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit a8a4dd02416b54e917259e1719046a7ff6538587 +Subproject commit baa940880c59e302739973a510adf7904c60cb87 From ace0a2174a4fbe936f108ca0039effec4f630d23 Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Tue, 5 May 2020 17:34:48 +0100 Subject: [PATCH 18/19] Fixed code not complying with the coding standard --- solution/solution.tsproj | 940 ------------------------- solution/tc_project_app/tc_mca_std_lib | 2 +- 2 files changed, 1 insertion(+), 941 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 39b2925..6650b38 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,878 +1,5 @@ - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - @@ -894,65 +21,6 @@ External Setpoint Generation: tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.astAxes[1].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[1].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[1].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - PlcTask Outputs @@ -960,10 +28,6 @@ External Setpoint Generation: BOOL - - GVL.astAxes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - @@ -971,9 +35,5 @@ External Setpoint Generation: - - - - diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index baa9408..1999c50 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit baa940880c59e302739973a510adf7904c60cb87 +Subproject commit 1999c5036eeb1bc3ac42b47dd1487f9f14e1eeab From 5d7df10f13f936d6de5cf62e518e20292ba4ee64 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 7 May 2020 15:15:15 +0200 Subject: [PATCH 19/19] Update submodule pointer and add tc_project_app.xti file --- solution/_Config/PLC/tc_project_app.xti | 20 ++++++++++++++++++++ solution/solution.tsproj | 18 +----------------- solution/tc_project_app/tc_mca_std_lib | 2 +- 3 files changed, 22 insertions(+), 18 deletions(-) create mode 100644 solution/_Config/PLC/tc_project_app.xti diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti new file mode 100644 index 0000000..636f1f6 --- /dev/null +++ b/solution/_Config/PLC/tc_project_app.xti @@ -0,0 +1,20 @@ + + + + + tc_project_app Instance + {08500001-0000-0000-F000-000000000064} + + PlcTask Outputs + + MAIN.bOutput1 + + BOOL + + + + + + + + diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 6650b38..db9cc25 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -17,23 +17,7 @@ - - - tc_project_app Instance - {08500001-0000-0000-F000-000000000064} - - PlcTask Outputs - - MAIN.bOutput1 - - BOOL - - - - - - - + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 1999c50..8589564 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 1999c5036eeb1bc3ac42b47dd1487f9f14e1eeab +Subproject commit 85895649602f3d59104d07ceda240aeb6ca47227