From d2ca3c9ec93072ed94eb99438386032570a5fefe Mon Sep 17 00:00:00 2001
From: Israa Ali <Israa.Ali@Sigma.se>
Date: Tue, 3 Dec 2024 10:02:50 +0100
Subject: [PATCH 1/3] Improved and added some comments

---
 solution/tc_project_app/GVLs/GVL_APP.TcGVL | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index dd677f0..88ea1a4 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/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>

From dd25c6f384129c33915064db1df10d6991d207d6 Mon Sep 17 00:00:00 2001
From: Israa Ali <Israa.Ali@Sigma.se>
Date: Wed, 4 Dec 2024 12:17:33 +0100
Subject: [PATCH 2/3] Edit comments in MAIN and update std_lib pointer

modified:   solution/tc_project_app/POUs/MAIN.TcPOU
modified:   solution/tc_project_app/tc_mca_std_lib
---
 solution/tc_project_app/GVLs/GVL_APP.TcGVL |  2 +-
 solution/tc_project_app/POUs/MAIN.TcPOU    | 14 ++++++++------
 solution/tc_project_app/tc_mca_std_lib     |  2 +-
 3 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index 88ea1a4..e788366 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -8,7 +8,7 @@ VAR_GLOBAL
 END_VAR
 
 VAR_GLOBAL CONSTANT
-    nAXIS_NUM: UINT := 0; //Specifies the total of axes in the system 
+    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>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 1686557..15d49f0 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/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>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 602207e..27a93cd 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 602207ef7811419b8a15290d4fd187a163f2a0e7
+Subproject commit 27a93cd6a0bb13b48be2c5161c5d8b19d2ff5126

From 9118b0ba498193c090e3076d65bcd558e5f1ecf8 Mon Sep 17 00:00:00 2001
From: Federico Rojas <federico.rojas@ess.eu>
Date: Wed, 15 Jan 2025 09:28:43 +0100
Subject: [PATCH 3/3] Update tc_mca_std_lib pointer to commit fc220ef

---
 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 27a93cd..fc220ef 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 27a93cd6a0bb13b48be2c5161c5d8b19d2ff5126
+Subproject commit fc220ef0baefd495d263266194fa31fa03a21d0c