AIK-FAT/TC_iTomcat-ES2-Detector-Tower-FAT
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Format IF statements with jump line each condition

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This commit is contained in:
Federico Rojas
2022-11-01 13:34:55 +01:00
parent 8b085864be
commit df85fad7a2
1 changed files with 25 additions and 15 deletions
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40
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -104,7 +104,7 @@ GVL.fbGetCurTaskIndex();
//Create as many programs in that folder as axes and applications you have or need
//Axes initial parameters and program
Axis_Template();
//Axis_Template();
//Pneumatics_Template();
//Application program calls
@@ -148,7 +148,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
ReadMode := E_READMODE.READMODE_ONCE);
END_FOR
//Cycle through set position function blocks for each axis
//Cycle through set position and MC_WritePArameter function blocks for each axis
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
afbSetPosition[iAxes](
Axis := GVL.astAxes[iAxes].Axis,
@@ -199,16 +199,21 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eStartUp := eExecuteRestore;
eExecuteRestore:
//Execute position restore by setting afbRestorePosition.execute = TRUE
//Restore position value for incremental encoders
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
//Execute position and encoder BIAS restore by setting Execute = TRUE
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
IF NOT astAxesPersistent[iAxes].bMovingAtShutdown AND (afbReadEncRefSys[iAxes].Value = 0 OR afbReadEncRefSys[iAxes].Value = 2 OR afbReadEncRefSys[iAxes].Value = 4) THEN
afbSetPosition[iAxes].Execute := TRUE;
//Restore encoder position BIAS for absolute encoders
ELSIF afbReadEncRefSys[iAxes].Value = 1 OR afbReadEncRefSys[iAxes].Value = 3 OR afbReadEncRefSys[iAxes].Value = 5 THEN
afbWritePositionBias[iAxes].Execute := TRUE;
END_IF
//Restore position value for incremental encoders
IF NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
(afbReadEncRefSys[iAxes].Value = 0 OR
afbReadEncRefSys[iAxes].Value = 2 OR
afbReadEncRefSys[iAxes].Value = 4) THEN
afbSetPosition[iAxes].Execute := TRUE;
//Restore encoder position BIAS for absolute encoders
ELSIF afbReadEncRefSys[iAxes].Value = 1 OR
afbReadEncRefSys[iAxes].Value = 3 OR
afbReadEncRefSys[iAxes].Value = 5 THEN
afbWritePositionBias[iAxes].Execute := TRUE;
END_IF
ELSE
RETURN;
END_IF
@@ -217,18 +222,23 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eCheckRestore:
//Check the set position fbs are finished
//Check the set position and write enocder BIAS fbs are finished
//Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
//bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
IF NOT astAxesPersistent[iAxes].bMovingAtShutdown AND (afbReadEncRefSys[iAxes].Value = 0 OR afbReadEncRefSys[iAxes].Value = 2 OR afbReadEncRefSys[iAxes].Value = 4) THEN
IF NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
(afbReadEncRefSys[iAxes].Value = 0 OR
afbReadEncRefSys[iAxes].Value = 2 OR
afbReadEncRefSys[iAxes].Value = 4) THEN
IF NOT afbSetPosition[iAxes].Done THEN
afbSetPosition[iAxes].Execute := FALSE;
eStartUp := eExecuteRestore;
RETURN;
END_IF
ELSIF afbReadEncRefSys[iAxes].Value = 1 OR afbReadEncRefSys[iAxes].Value = 3 OR afbReadEncRefSys[iAxes].Value = 5 THEN
ELSIF afbReadEncRefSys[iAxes].Value = 1 OR
afbReadEncRefSys[iAxes].Value = 3 OR
afbReadEncRefSys[iAxes].Value = 5 THEN
IF NOT afbWritePositionBias[iAxes].Done THEN
afbWritePositionBias[iAxes].Execute := FALSE;
eStartUp := eExecuteRestore;
@@ -242,7 +252,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eStartUp := eFinishRestore;
eFinishRestore:
//Remove execute = TRUE for afbRestorePosition
//Remove execute = TRUE for afbRestorePosition and fbWritePositionBias
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
afbSetPosition[iAxes].Execute := FALSE;
afbWritePositionBias[iAxes].Execute := FALSE;