ad08935a0a
Change the MAIN variable sVersion to 2.8.0 and add the corresponding release notes. Build solution.
316 lines
15 KiB
XML
316 lines
15 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1">
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<POU Name="MAIN" Id="{33eb6f49-7781-4211-a70b-87ada6d80cb7}" SpecialFunc="None">
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<Declaration><![CDATA[PROGRAM MAIN
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VAR
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sVersion: STRING := '2.8.0'; //Version for tc_generic_structure
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aIAxes: ARRAY [1..GVL_APP.nAXIS_NUM] OF I_Axis; //Array of axis interfaces, size determined by the total number of axes in the system
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afbAxes: ARRAY [1..GVL_APP.nAXIS_NUM] OF FB_Axis; //Array of axis function blocks, one for each axis
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afbPneumaticAxes: ARRAY [1..GVL_APP.nPNEUMATIC_AXIS_NUM] OF FB_PneumaticAxis; //Array of pneumatic axis function blocks, size determined by the number of pneumatic axes
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hmiAxisSelection: INT := 1; //Specifies the currently selected axis for HMI operations, allowing the user to control a specific axis
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hmiPneumaticAxisSelection: INT := 1; //Specifies the currently selected pneumatic axis for HMI operation, allowing the user to control the specific axis
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//Startup, Shutdown and UPS
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fbCX5130UPS: FB_S_UPS_CX51x0;
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fbC6017UPS: FB_S_UPS_BAPI;
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eUpsMode: E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
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eStartUp: (eColdStart, eReadAxisFeedbackType, eCheckReadDone, eExecuteRestore, eCheckRestore, eFinishRestore);
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bPositionRestoreDone: BOOL := FALSE;
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bRestoreExecute: BOOL := FALSE;
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bExecuteReadEncRefSys: BOOL := FALSE;
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nRetry: INT; //A counter for startup actions
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iAxes: UINT; //index for for loops in Position recovery actions
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afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
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afbSetPosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition;
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afbReadPositionBias: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
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afbWritePositionBias: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_WriteParameter;
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fbGetDeviceIdentification: FB_GetDeviceIdentificationEx;
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nTestNum: UINT :=0 ; //Variable used in ESS's FAT_SAT_tools scripts to keep track of the test number
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END_VAR
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VAR PERSISTENT
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bRestoreOnStartup: BOOL; //Determines whether the axis positions should be restored automatically during system startup
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[POSITION_RECOVERY();
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PROG();
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AXES();
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]]></ST>
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</Implementation>
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<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
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<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
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<Implementation>
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<ST><![CDATA[//First cycle, assign FB_axis to interface array
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IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
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FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
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afbAxes[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis];
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aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis];
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END_FOR
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//Initialize pneumatic axes and link them to their corresponding instances
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FOR GVL.iPneumaticAxis := 1 TO GVL_APP.nPNEUMATIC_AXIS_NUM DO
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afbPneumaticAxes[GVL.iPneumaticAxis].stPneumaticAxis REF= astPneumaticAxes[GVL.iPneumaticAxis];
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END_FOR
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//Custom axis types defined and linked to aiAxes here
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//FB_CustomAxis extends FB_axis
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//fbCustomAxis.stAxis REF= astAxes[x];
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//aIAxes[x] := fbCustomAxis;
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END_IF
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//Execute FB_Axis logic
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FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
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aIAxes[GVL.iAxis].Run();
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END_FOR
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//Execute Pneumatic Axis logic
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FOR GVL.iPneumaticAxis := 1 TO GVL_APP.nPNEUMATIC_AXIS_NUM DO
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afbPneumaticAxes[GVL.iPneumaticAxis]();
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END_FOR
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[CASE GVL_APP.eCPUType OF
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E_CPUType.CX5130:
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//Handle UPS configuration for CX5130 CPU type
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fbCX5130UPS(eUpsMode := eUpsMode);
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E_CPUType.C6017_0020:
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//Handle UPS configuration for C6017-0020 CPU type
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fbC6017UPS(eUPSMode := eUPSMode);
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END_CASE
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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//Read the encoder position bias for initialized axes
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IF astAxes[iAxes].stStatus.bAxisInitialized THEN
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afbReadPositionBias[iAxes](Axis := GVL.astAxes[iAxes].Axis,
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Enable := TRUE,
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ReadMode:= READMODE_CYCLIC,
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ParameterNumber := E_AxisParameters.AxisEncoderOffset);
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END_IF
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END_FOR
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IF eGlobalSUpsState = eSUPS_PowerFailure THEN
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//First cycle of powerfailure
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//Execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter
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bRestoreOnStartup := TRUE;
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STORE_PERSISTENT();
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RETURN;
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ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
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//Next cycles of powerfailure
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//Skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown...
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RETURN;
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END_IF
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[fbGetDeviceIdentification(bExecute := TRUE);
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IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '') THEN
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CHECK_UPS();
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RESTORE_POSITIONS();
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END_IF
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
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<Implementation>
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<ST><![CDATA[//Get task index for Axes parameters initialization.
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GVL.fbGetCurTaskIndex();
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//Call the programs that are defined in the "Application Specific" folder.
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//Create as many programs in that folder as axes and applications you have or need
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//Cabinet monitoring and pressure limits for pneumatics
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//Cabinet_Configuration();
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//Axes initial parameters and program
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Axis_Template();
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Safety_Shutter();
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//Pneumatics_Template();
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//Application program calls
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Cabinet_Monitoring();
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Pneumatic_Box();
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//Shutter_Operator_Panel();
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//Application_Template();
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[//This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
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//It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
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//Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
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//By default an axis will not restore the position unless it is set to opt-in, i.e. GVL.aAxes[iAxes].stConfig.eRestorePosition is non-zero.
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//This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
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//A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
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//There is a enum to allow for different types of restore modes, currently only one is implemented.
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//0 'DontRestore'
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//1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
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//Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
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//Encoder Reference system types: https://infosys.beckhoff.com/english.php?content=../content/1033/tf50x0_tc3_nc_ptp/3439907723.html&id=
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//INCREMENTAL=0;
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//ABSOLUTE=1;
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//ABSOLUTE (modulo)=2;
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//ABSOLUTE MULTITURN RANGE (with single overflow)=3;
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//INCREMENTAL (singleturn absolute)=4;
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//ABSOLUTE SINGLETURN RANGE (with single overflow)=5;
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IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
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bRestoreOnStartup := FALSE;
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bRestoreExecute := TRUE;
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END_IF
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//Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
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//and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
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IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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//Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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afbReadEncRefSys[iAxes](
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Axis := GVL.astAxes[iAxes].Axis,
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ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
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ReadMode := E_READMODE.READMODE_ONCE);
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END_FOR
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//Cycle through set position and MC_WritePArameter function blocks for each axis
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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afbSetPosition[iAxes](
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Axis := GVL.astAxes[iAxes].Axis,
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Position := astAxesPersistent[iAxes].fPositionAtShutdown);
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afbWritePositionBias[iAxes](
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Axis:= GVL.astAxes[iAxes].Axis,
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ParameterNumber:= E_AxisParameters.AxisEncoderOffset,
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Value:= astAxesPersistent[iAxes].fEncoderBiasAtShutdown);
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END_FOR
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CASE eStartUp OF
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eColdStart:
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//First cycle of the PLC, do nothing just give one cycle for variables to initialise
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IF NOT bPositionRestoreDone THEN
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eStartUp := eReadAxisFeedbackType;
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nRetry := 0;
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END_IF
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eReadAxisFeedbackType:
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//Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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afbReadEncRefSys[iAxes].Enable := TRUE;
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eStartUp := eCheckReadDone;
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END_FOR
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eCheckReadDone:
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//Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
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//If afbReadEncRefSys not started then go back a step.
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//If any axes result in an error the code will get stuck here, this happens if GVL_APP.nAXIS_NUM is not set correctly
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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IF NOT afbReadEncRefSys[iAxes].Valid THEN
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IF afbReadEncRefSys[iAxes].Busy THEN
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//Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
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RETURN;
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ELSE
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//Sometimes the code gets here and the afbReadEncRefSys[iAxes] misses the rising edge. If the code gets here it means
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//valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
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//Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
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afbReadEncRefSys[iAxes].Enable := FALSE;
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eStartUp := eReadAxisFeedbackType;
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nRetry := nRetry + 1; //counter used for troubleshooting to see how many cycles it takes before afbReadEncRefSys function blocks are read correctly
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RETURN;
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END_IF
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END_IF
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END_FOR
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//If the code gets here all axes have .valid=TRUE for all axes
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eStartUp := eExecuteRestore;
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eExecuteRestore:
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//Execute position and encoder BIAS restore by setting Execute = TRUE
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
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//Restore position value for incremental encoders
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IF NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
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(afbReadEncRefSys[iAxes].Value = 0 OR
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afbReadEncRefSys[iAxes].Value = 2 OR
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afbReadEncRefSys[iAxes].Value = 4) THEN
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afbSetPosition[iAxes].Execute := TRUE;
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//Restore encoder position BIAS for absolute encoders
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ELSIF afbReadEncRefSys[iAxes].Value = 1 OR
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afbReadEncRefSys[iAxes].Value = 3 OR
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afbReadEncRefSys[iAxes].Value = 5 THEN
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afbWritePositionBias[iAxes].Execute := TRUE;
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END_IF
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ELSE
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RETURN;
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END_IF
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END_FOR
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eStartUp := eCheckRestore;
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eCheckRestore:
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//Check the set position and write enocder BIAS fbs are finished
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//Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
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//bPositionRestoreDone will never get set to TRUE and will take up cycle time
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
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IF NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
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(afbReadEncRefSys[iAxes].Value = 0 OR
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afbReadEncRefSys[iAxes].Value = 2 OR
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afbReadEncRefSys[iAxes].Value = 4) THEN
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IF NOT afbSetPosition[iAxes].Done THEN
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afbSetPosition[iAxes].Execute := FALSE;
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eStartUp := eExecuteRestore;
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RETURN;
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END_IF
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ELSIF afbReadEncRefSys[iAxes].Value = 1 OR
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afbReadEncRefSys[iAxes].Value = 3 OR
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afbReadEncRefSys[iAxes].Value = 5 THEN
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IF NOT afbWritePositionBias[iAxes].Done THEN
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afbWritePositionBias[iAxes].Execute := FALSE;
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eStartUp := eExecuteRestore;
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RETURN;
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END_IF
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END_IF
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ELSE
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RETURN;
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END_IF
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END_FOR
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eStartUp := eFinishRestore;
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eFinishRestore:
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//Remove execute = TRUE for afbRestorePosition and fbWritePositionBias
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FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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afbSetPosition[iAxes].Execute := FALSE;
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afbWritePositionBias[iAxes].Execute := FALSE;
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bPositionRestoreDone := TRUE;
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bRestoreExecute := FALSE;
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END_FOR
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END_CASE
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END_IF
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
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//Store Position beofre shutdown
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astAxesPersistent[iAxes].fPositionAtShutdown := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
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//Store encoder position BIAS at shutdown
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astAxesPersistent[iAxes].fEncoderBiasAtShutdown := afbReadPositionBias[iAxes].Value;
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//Store value of moving at shutdown
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IF GVL.astAxes[iAxes].Axis.Status.StandStill OR GVL.astAxes[iAxes].Axis.Status.Disabled THEN
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astAxesPersistent[iAxes].bMovingAtShutdown := FALSE;
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ELSE
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astAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
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END_IF
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END_FOR
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]]></ST>
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</Implementation>
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</Action>
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</POU>
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</TcPlcObject> |