Merged in MBP-296-remove-bjog-commands (pull request #103)

MBP-296 remove bjog commands

solution/tc_project_app/GVLs/GVL_APP.TcGVL

@@ -3,13 +3,13 @@
   <GVL Name="GVL_APP" Id="{8fe9690c-7907-432e-bedb-6fc99b5ce255}">
     <Declaration><![CDATA[{attribute 'qualified_only'}
 VAR_GLOBAL
-    //0 for CX5130 and 1 for c6017-0020
+    //Defines the CPU type: 0 for CX5130 and 1 for c6017-0020
     eCPUType: E_CPUType; //:= 1;
 END_VAR
 
 VAR_GLOBAL CONSTANT
-    nAXIS_NUM: UINT := 0;
-    nPNEUMATIC_AXIS_NUM: UINT := 0;
+    nAXIS_NUM: UINT := 0; //Specifies the total of axes in the system
+    nPNEUMATIC_AXIS_NUM: UINT := 0; //Specifies the totsl number pf pneumatic axes in the system
 END_VAR
 ]]></Declaration>
   </GVL>

solution/tc_project_app/POUs/MAIN.TcPOU

@@ -45,7 +45,7 @@ IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
         afbAxes[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis];
         aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis];
     END_FOR
-
+    //Initialize pneumatic axes and link them to their corresponding instances
     FOR GVL.iPneumaticAxis := 1 TO GVL_APP.nPNEUMATIC_AXIS_NUM DO
         afbPneumaticAxes[GVL.iPneumaticAxis].stPneumaticAxis REF= astPneumaticAxes[GVL.iPneumaticAxis];
     END_FOR
@@ -71,14 +71,16 @@ END_FOR
       <Implementation>
         <ST><![CDATA[CASE GVL_APP.eCPUType OF
     E_CPUType.CX5130:
+      //Handle UPS configuration for CX5130 CPU type
         fbCX5130UPS(eUpsMode := eUpsMode);
 
     E_CPUType.C6017_0020:
+     //Handle UPS configuration for C6017-0020 CPU type
         fbC6017UPS(eUPSMode := eUPSMode);
 END_CASE
 
 FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
-    //Read encoder position BIAS
+    //Read the encoder position bias for initialized axes
     IF astAxes[iAxes].stStatus.bAxisInitialized THEN
         afbReadPositionBias[iAxes](Axis := GVL.astAxes[iAxes].Axis,
                         Enable := TRUE,
@@ -88,14 +90,14 @@ FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
 END_FOR
 
 IF eGlobalSUpsState = eSUPS_PowerFailure THEN
-    //first cycle of powerfailure
-    //execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter
+    //First cycle of powerfailure
+    //Execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter
     bRestoreOnStartup := TRUE;
     STORE_PERSISTENT();
     RETURN;
 ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
-    //next cycles of powerfailure
-    //skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown...
+    //Next cycles of powerfailure
+    //Skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown...
     RETURN;
 END_IF
 ]]></ST>