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berti_r
2025-08-25 16:23:26 +02:00
parent b503f72a84
commit 5361ce7fef
16 changed files with 822 additions and 56 deletions
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.vs/CouplingProject/v15/.suo
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CouplingProject.project.~u
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@@ -1,4 +1,4 @@
berti_r
PC16663
7268
638917003790174661
638917285878627234
CouplingProject/CouplingProject.tsproj
+376 -6
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@@ -2330,7 +2330,7 @@ External Setpoint Generation:
</Motion>
<Plc>
<Project GUID="{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}" Name="Untitled1" PrjFilePath="Untitled1\Untitled1.plcproj" TmcFilePath="Untitled1\Untitled1.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Untitled1\Untitled1.tmc" TmcHash="{FB1CE7E6-D9A8-6477-9FB9-26361FB43E5A}">
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Untitled1\Untitled1.tmc" TmcHash="{E5E24B41-0653-809F-F8C5-7DF9AD2DD43B}">
<Name>Untitled1 Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="1">
@@ -2351,6 +2351,14 @@ External Setpoint Generation:
<Name>MAIN.bEndSwitchL</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bEndSwitchT</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bEndSwitchB</Name>
<Type>BOOL</Type>
</Var>
</Vars>
<Vars VarGrpType="2" AreaNo="1">
<Name>PlcTask Outputs</Name>
@@ -6971,6 +6979,159 @@ Bit 8 - 15 : reserved]]></Comment>
</AxisSetting>
</AxisSettings>
<InitCmds>
<InitCmd Index="4339" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0100</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>02</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0016</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>0116</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="6" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="7" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="9" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>03</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>001a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>011a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>071a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="6" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="7" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="9" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="10" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="11" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="12" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="13" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="14" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7218" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0200</Data>
</InitCmd>
<InitCmd Index="7218" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>90d00300</Data>
</InitCmd>
<InitCmd Index="7218" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7219" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0200</Data>
</InitCmd>
<InitCmd Index="7219" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>90d00300</Data>
</InitCmd>
<InitCmd Index="7219" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="28688" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>09</Data>
</InitCmd>
<InitCmd Index="28688" SubIndex="11" MotorDataLevel="0" DisableMode="0">
<Data>ff7f</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="13" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>03000000</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>14</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>0c</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>f401</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="21" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="23" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="32769" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>0100</Data>
</InitCmd>
<InitCmd Index="32769" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>0200</Data>
</InitCmd>
<InitCmd Index="32776" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32776" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32776" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>01000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="18" MotorDataLevel="1" DisableMode="0">
<Data>0500</Data>
</InitCmd>
@@ -6983,9 +7144,72 @@ Bit 8 - 15 : reserved]]></Comment>
<InitCmd Index="32784" SubIndex="21" MotorDataLevel="1" DisableMode="0">
<Data>91000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="23" MotorDataLevel="0" DisableMode="0">
<Data>0a000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="25" MotorDataLevel="0" DisableMode="0">
<Data>80bb0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="26" MotorDataLevel="0" DisableMode="0">
<Data>901a0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="27" MotorDataLevel="0" DisableMode="0">
<Data>60ea0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="41" MotorDataLevel="0" DisableMode="0">
<Data>50</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="42" MotorDataLevel="0" DisableMode="0">
<Data>69</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="43" MotorDataLevel="0" DisableMode="0">
<Data>2003</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="44" MotorDataLevel="0" DisableMode="0">
<Data>e803</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="49" MotorDataLevel="0" DisableMode="0">
<Data>00000400</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="50" MotorDataLevel="0" DisableMode="0">
<Data>e803</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="51" MotorDataLevel="1" DisableMode="0">
<Data>0a00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="57" MotorDataLevel="0" DisableMode="0">
<Data>01</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="58" MotorDataLevel="0" DisableMode="0">
<Data>01</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="65" MotorDataLevel="0" DisableMode="0">
<Data>4001</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="73" MotorDataLevel="0" DisableMode="0">
<Data>70f50000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="80" MotorDataLevel="0" DisableMode="0">
<Data>ffffffff</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="81" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="82" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="84" MotorDataLevel="0" DisableMode="0">
<Data>01000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="87" MotorDataLevel="0" DisableMode="0">
<Data>64</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="101" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="102" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="17" MotorDataLevel="1" DisableMode="0">
<Data>80570000</Data>
</InitCmd>
@@ -7010,9 +7234,27 @@ Bit 8 - 15 : reserved]]></Comment>
<InitCmd Index="32785" SubIndex="27" MotorDataLevel="1" DisableMode="0">
<Data>e6080000</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="41" MotorDataLevel="0" DisableMode="0">
<Data>50</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="42" MotorDataLevel="0" DisableMode="0">
<Data>69</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="43" MotorDataLevel="0" DisableMode="0">
<Data>e803</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="44" MotorDataLevel="0" DisableMode="0">
<Data>dc05</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="45" MotorDataLevel="1" DisableMode="0">
<Data>f203</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="17" MotorDataLevel="1" DisableMode="0">
<Data>0800</Data>
</InitCmd>
@@ -7022,14 +7264,138 @@ Bit 8 - 15 : reserved]]></Comment>
<InitCmd Index="32786" SubIndex="19" MotorDataLevel="1" DisableMode="0">
<Data>f401</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>401f0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>a00f0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>2300</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>e02e0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="21" MotorDataLevel="0" DisableMode="0">
<Data>5702</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="7" MotorDataLevel="0" DisableMode="0">
<Data>6400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000000000000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="9" MotorDataLevel="0" DisableMode="0">
<Data>6400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="10" MotorDataLevel="0" DisableMode="0">
<Data>0a00</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="14" MotorDataLevel="0" DisableMode="0">
<Data>0000000001000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>6400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>0000000001000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>0000000001000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="21" MotorDataLevel="0" DisableMode="0">
<Data>c1166c0100000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="22" MotorDataLevel="0" DisableMode="0">
<Data>1400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="23" MotorDataLevel="0" DisableMode="0">
<Data>7017</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>01</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="25" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="26" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="27" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0700</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="61448" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>04</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>01020000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>e6020000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>ee020000</Data>
</InitCmd>
<InitCmd Index="61569" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>36232000</Data>
</InitCmd>
</InitCmds>
<StatusBar>
<Element option="0" SortOder="0" SubIdx="1">
<Index>24592</Index>
<Width>100</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="18">
<Index>36880</Index>
<Width>105</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="17">
<Index>36888</Index>
<Width>100</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="17">
<Index>36880</Index>
<Width>100</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="3">
<Index>24592</Index>
<Width>200</Width>
</Element>
</StatusBar>
</EL72xxDriveTool>
</Xml>
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014" PortABoxInfo="#x0100000d">
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
<SyncMan>801106002000010004000000000000000600801120010000</SyncMan>
<SyncMan>801108002000010004000000000000000600801120010000</SyncMan>
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
@@ -7105,8 +7471,8 @@ Bit 14 - 15 : reserved]]></Comment>
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010" SyncMan="3">
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
@@ -7118,7 +7484,7 @@ Bit 14 - 15 : reserved]]></Comment>
<Entry Name="Touch probe status__">
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
@@ -7133,7 +7499,7 @@ Bit 14 - 15 : reserved]]></Comment>
<Entry Name="Touch probe status__">
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
</Pdo>
@@ -7831,6 +8197,10 @@ Bit 8 - 15 : reserved]]></Comment>
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchL" VarB="FB Touch probe status^Touch probe status^TP2 Input"/>
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchR" VarB="FB Touch probe status^Touch probe status^TP1 Input"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 14 (EL7211-9014)">
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchB" VarB="FB Touch probe status^Touch probe status^TP1 Input"/>
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchT" VarB="FB Touch probe status^Touch probe status^TP2 Input"/>
</OwnerB>
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
<Link VarA="PlcTask Inputs^MAIN.Nc_AxisN[0].NcToPlc" VarB="Outputs^ToPlc"/>
<Link VarA="PlcTask Outputs^MAIN.Nc_AxisN[0].PlcToNc" VarB="Inputs^FromPlc"/>
CouplingProject/CouplingProject.tsproj.bak
+376 -10
View File
@@ -1816,10 +1816,6 @@ External Setpoint Generation:
<Encoder Name="Enc" EncType="29">
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="1000000" MaxCount="#xffffffff">
<Inc RefSoftSyncMask="#xffffffff"/>
<ParameterChanged>36</ParameterChanged>
<ParameterChanged>21</ParameterChanged>
<ParameterChanged>35</ParameterChanged>
<ParameterChanged>264</ParameterChanged>
</EncPara>
<Vars VarGrpType="1">
<Name>Inputs</Name>
@@ -2338,7 +2334,7 @@ External Setpoint Generation:
</Motion>
<Plc>
<Project GUID="{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}" Name="Untitled1" PrjFilePath="Untitled1\Untitled1.plcproj" TmcFilePath="Untitled1\Untitled1.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Untitled1\Untitled1.tmc" TmcHash="{FB1CE7E6-D9A8-6477-9FB9-26361FB43E5A}">
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="Untitled1\Untitled1.tmc" TmcHash="{E5E24B41-0653-809F-F8C5-7DF9AD2DD43B}">
<Name>Untitled1 Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="1">
@@ -2359,6 +2355,14 @@ External Setpoint Generation:
<Name>MAIN.bEndSwitchL</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bEndSwitchT</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bEndSwitchB</Name>
<Type>BOOL</Type>
</Var>
</Vars>
<Vars VarGrpType="2" AreaNo="1">
<Name>PlcTask Outputs</Name>
@@ -6979,6 +6983,159 @@ Bit 8 - 15 : reserved]]></Comment>
</AxisSetting>
</AxisSettings>
<InitCmds>
<InitCmd Index="4339" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0100</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>02</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0016</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>0116</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="6" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="7" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7186" SubIndex="9" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>03</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>001a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>011a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>071a</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="6" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="7" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="9" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="10" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="11" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="12" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="13" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7187" SubIndex="14" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7218" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0200</Data>
</InitCmd>
<InitCmd Index="7218" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>90d00300</Data>
</InitCmd>
<InitCmd Index="7218" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="7219" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0200</Data>
</InitCmd>
<InitCmd Index="7219" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>90d00300</Data>
</InitCmd>
<InitCmd Index="7219" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="28688" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>09</Data>
</InitCmd>
<InitCmd Index="28688" SubIndex="11" MotorDataLevel="0" DisableMode="0">
<Data>ff7f</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="13" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>03000000</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>14</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>0c</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>f401</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="21" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32768" SubIndex="23" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="32769" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>0100</Data>
</InitCmd>
<InitCmd Index="32769" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>0200</Data>
</InitCmd>
<InitCmd Index="32776" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32776" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32776" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>01000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="18" MotorDataLevel="1" DisableMode="0">
<Data>0500</Data>
</InitCmd>
@@ -6991,9 +7148,72 @@ Bit 8 - 15 : reserved]]></Comment>
<InitCmd Index="32784" SubIndex="21" MotorDataLevel="1" DisableMode="0">
<Data>91000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="23" MotorDataLevel="0" DisableMode="0">
<Data>0a000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="25" MotorDataLevel="0" DisableMode="0">
<Data>80bb0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="26" MotorDataLevel="0" DisableMode="0">
<Data>901a0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="27" MotorDataLevel="0" DisableMode="0">
<Data>60ea0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="41" MotorDataLevel="0" DisableMode="0">
<Data>50</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="42" MotorDataLevel="0" DisableMode="0">
<Data>69</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="43" MotorDataLevel="0" DisableMode="0">
<Data>2003</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="44" MotorDataLevel="0" DisableMode="0">
<Data>e803</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="49" MotorDataLevel="0" DisableMode="0">
<Data>00000400</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="50" MotorDataLevel="0" DisableMode="0">
<Data>e803</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="51" MotorDataLevel="1" DisableMode="0">
<Data>0a00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="57" MotorDataLevel="0" DisableMode="0">
<Data>01</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="58" MotorDataLevel="0" DisableMode="0">
<Data>01</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="65" MotorDataLevel="0" DisableMode="0">
<Data>4001</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="73" MotorDataLevel="0" DisableMode="0">
<Data>70f50000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="80" MotorDataLevel="0" DisableMode="0">
<Data>ffffffff</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="81" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="82" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="84" MotorDataLevel="0" DisableMode="0">
<Data>01000000</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="87" MotorDataLevel="0" DisableMode="0">
<Data>64</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="101" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32784" SubIndex="102" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="17" MotorDataLevel="1" DisableMode="0">
<Data>80570000</Data>
</InitCmd>
@@ -7018,9 +7238,27 @@ Bit 8 - 15 : reserved]]></Comment>
<InitCmd Index="32785" SubIndex="27" MotorDataLevel="1" DisableMode="0">
<Data>e6080000</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="41" MotorDataLevel="0" DisableMode="0">
<Data>50</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="42" MotorDataLevel="0" DisableMode="0">
<Data>69</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="43" MotorDataLevel="0" DisableMode="0">
<Data>e803</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="44" MotorDataLevel="0" DisableMode="0">
<Data>dc05</Data>
</InitCmd>
<InitCmd Index="32785" SubIndex="45" MotorDataLevel="1" DisableMode="0">
<Data>f203</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="17" MotorDataLevel="1" DisableMode="0">
<Data>0800</Data>
</InitCmd>
@@ -7030,14 +7268,138 @@ Bit 8 - 15 : reserved]]></Comment>
<InitCmd Index="32786" SubIndex="19" MotorDataLevel="1" DisableMode="0">
<Data>f401</Data>
</InitCmd>
<InitCmd Index="32786" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="17" MotorDataLevel="0" DisableMode="0">
<Data>401f0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>a00f0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>2300</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>e02e0000</Data>
</InitCmd>
<InitCmd Index="32799" SubIndex="21" MotorDataLevel="0" DisableMode="0">
<Data>5702</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="7" MotorDataLevel="0" DisableMode="0">
<Data>6400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="8" MotorDataLevel="0" DisableMode="0">
<Data>0000000000000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="9" MotorDataLevel="0" DisableMode="0">
<Data>6400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="10" MotorDataLevel="0" DisableMode="0">
<Data>0a00</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="14" MotorDataLevel="0" DisableMode="0">
<Data>0000000001000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="18" MotorDataLevel="0" DisableMode="0">
<Data>6400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>0000000001000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>0000000001000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="21" MotorDataLevel="0" DisableMode="0">
<Data>c1166c0100000000</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="22" MotorDataLevel="0" DisableMode="0">
<Data>1400</Data>
</InitCmd>
<InitCmd Index="32816" SubIndex="23" MotorDataLevel="0" DisableMode="0">
<Data>7017</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="19" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="20" MotorDataLevel="0" DisableMode="0">
<Data>01</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="25" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="26" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="32817" SubIndex="27" MotorDataLevel="0" DisableMode="0">
<Data>00</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>0700</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="45057" SubIndex="5" MotorDataLevel="0" DisableMode="0">
<Data>0000</Data>
</InitCmd>
<InitCmd Index="61448" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="0" MotorDataLevel="0" DisableMode="0">
<Data>04</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>01020000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="2" MotorDataLevel="0" DisableMode="0">
<Data>e6020000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="3" MotorDataLevel="0" DisableMode="0">
<Data>00000000</Data>
</InitCmd>
<InitCmd Index="61456" SubIndex="4" MotorDataLevel="0" DisableMode="0">
<Data>ee020000</Data>
</InitCmd>
<InitCmd Index="61569" SubIndex="1" MotorDataLevel="0" DisableMode="0">
<Data>36232000</Data>
</InitCmd>
</InitCmds>
<StatusBar>
<Element option="0" SortOder="0" SubIdx="1">
<Index>24592</Index>
<Width>100</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="18">
<Index>36880</Index>
<Width>105</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="17">
<Index>36888</Index>
<Width>100</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="17">
<Index>36880</Index>
<Width>100</Width>
</Element>
<Element option="0" SortOder="0" SubIdx="3">
<Index>24592</Index>
<Width>200</Width>
</Element>
</StatusBar>
</EL72xxDriveTool>
</Xml>
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CfgModeSafeOp="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1c2b3052" RevisionNo="#x00202336" InfoDataAddr="true" InfoDataSoeDS401="true" InfoDataDcTimes="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" SdoUploadWithMaxLength="true" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input" Desc="EL7211-9014" PortABoxInfo="#x0100000d">
<SyncMan>001080002600010001000000500080008000001026010000</SyncMan>
<SyncMan>801080002200010002000000500080008000801022010000</SyncMan>
<SyncMan>001106002400010003000000000000000600001124010000</SyncMan>
<SyncMan>801106002000010004000000000000000600801120010000</SyncMan>
<SyncMan>801108002000010004000000000000000600801120010000</SyncMan>
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
@@ -7113,8 +7475,8 @@ Bit 14 - 15 : reserved]]></Comment>
<Type>DINT</Type>
</Entry>
</Pdo>
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010">
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01">
<Pdo Name="FB Touch probe status" Index="#x1a07" Flags="#x0010" SyncMan="3">
<Entry Name="Touch probe status__TP1 Enable" Index="#x6001" Sub="#x01" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP1 Pos value stored" Index="#x6001" Sub="#x02">
@@ -7126,7 +7488,7 @@ Bit 14 - 15 : reserved]]></Comment>
<Entry Name="Touch probe status__">
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08">
<Entry Name="Touch probe status__TP1 Input" Index="#x6001" Sub="#x08" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP2 Enable" Index="#x6001" Sub="#x09">
@@ -7141,7 +7503,7 @@ Bit 14 - 15 : reserved]]></Comment>
<Entry Name="Touch probe status__">
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
</Entry>
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10">
<Entry Name="Touch probe status__TP2 Input" Index="#x6001" Sub="#x10" Flags="#x00008020">
<Type>BIT</Type>
</Entry>
</Pdo>
@@ -7839,6 +8201,10 @@ Bit 8 - 15 : reserved]]></Comment>
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchL" VarB="FB Touch probe status^Touch probe status^TP2 Input"/>
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchR" VarB="FB Touch probe status^Touch probe status^TP1 Input"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 4 (EK1100)^Term 14 (EL7211-9014)">
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchB" VarB="FB Touch probe status^Touch probe status^TP1 Input"/>
<Link VarA="PlcTask Inputs^MAIN.bEndSwitchT" VarB="FB Touch probe status^Touch probe status^TP2 Input"/>
</OwnerB>
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
<Link VarA="PlcTask Inputs^MAIN.Nc_AxisN[0].NcToPlc" VarB="Outputs^ToPlc"/>
<Link VarA="PlcTask Outputs^MAIN.Nc_AxisN[0].PlcToNc" VarB="Inputs^FromPlc"/>
CouplingProject/Untitled1/GVLs/GVL.TcGVL
+1 -1
View File
@@ -16,7 +16,7 @@ VAR_GLOBAL
EnableAxis :BOOL;
StartCmd : BOOL;
StartCmd : BOOL := TRUE;
Reset : BOOL;
CouplingProject/Untitled1/POUs/MAIN.TcPOU
+49 -19
View File
@@ -41,24 +41,32 @@ VAR
velocity : LREAL := 0.5; // ToDo: set velocity for move absolute
errOut : BOOL;
errorCollector : BOOL;
{attribute 'TcInitSymbol'}
bEndSwitchR AT%I* :BOOL;
bEndSwitchL AT%I* :BOOL;
bEndSwitchT AT%I* :BOOL;
bEndSwitchB AT%I* :BOOL;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[//Interface
<ST><![CDATA[//General Error feedback
IF errNr1 < errNr2 THEN
GVL.ErrOut := errNr2;
END_IF
IF errNr1 > errNr2 THEN
GVL.ErrOut := errNr1;
END_IF
IF Nc_AxisN[1].NcToPlc.CoupleState = 1 THEN
gearedStatus := TRUE;
IF errorCollector = TRUE THEN
GVL.ErrOut := 1;
errorCollector := FALSE;
END_IF
IF Nc_AxisN[1].NcToPlc.CoupleState = 0 THEN
//Feedback of coupling state
IF Nc_AxisN[1].NcToPlc.CoupleState = 3 THEN
gearedStatus := TRUE;
ELSIF Nc_AxisN[1].NcToPlc.CoupleState = 0 THEN
gearedStatus := FALSE;
ELSE
gearedStatus := TRUE;
@@ -66,6 +74,10 @@ ELSE
END_IF
executeMove := GVL.StartCmd;
enableAxis := GVL.EnableAxis;
executeGearIn := GVL.GerarInCmd;
executeGearout := GVL.GerarOutCmd;
@@ -73,7 +85,9 @@ executeStop := GVL.StopCmd;
executeReset := GVL.Reset;
GVL.GeraredStat := gearedStatus;
//Executete Reset from Python
IF executeReset = TRUE THEN
GVL.ErrOut := 0;
GVL.Done := FALSE;
GVL.EnableAxis := FALSE;
GVL.GerarInCmd := FALSE;
@@ -125,7 +139,7 @@ fbStop1(
Active => ,
CommandAborted => ,
Error => ,
ErrorID => );
ErrorID => errNr1);
fbStop4(
Axis := Nc_AxisN[1],
@@ -140,7 +154,9 @@ fbStop4(
Active => ,
CommandAborted => ,
Error => ,
ErrorID => );
ErrorID => errNr2);
FOR i := 0 TO 1 DO
AxisState[i] := Nc_AxisN[i].NcToPlc.CmdState;
fbReset[i](
@@ -148,7 +164,7 @@ FOR i := 0 TO 1 DO
Execute := executeReset, // The command is executed with a positive edge.
Done => ,
Busy => ,
Error => ,
Error => errorCollector ,
ErrorID => );
END_FOR
@@ -170,7 +186,7 @@ fbGearIn(
Busy =>,
Active =>,
CommandAborted =>,
Error => errOut,
Error => errorCollector,
ErrorID =>);
fbGearOut(
SLAVE := Nc_AxisN[1],
@@ -178,7 +194,7 @@ fbGearOut(
Options :=,
Done =>,
Busy =>,
Error =>,
Error => errorCollector,
ErrorID =>);
@@ -195,9 +211,9 @@ FOR i:= 0 TO 1 DO
Disabled => GVL.Axis1Enabled,
Stopping => GVL.Axis1Stoping,
StandStill => ,
DiscreteMotion =>,
DiscreteMotion =>GVL.Axis1moving,
ContinuousMotion => ,
SynchronizedMotion =>GVL.Axis1moving,
SynchronizedMotion =>,
Homing =>,
(* additional status *)
ConstantVelocity =>,
@@ -207,7 +223,7 @@ FOR i:= 0 TO 1 DO
Status =>);
END_FOR
//Cycles for measurement
IF GVL.StartCmd = TRUE THEN
position := GVL.moveInterface.targetPos;
velocity := GVL.moveInterface.velocity;
@@ -215,7 +231,7 @@ IF GVL.StartCmd = TRUE THEN
END_IF
fbMoveAbsolute(
Axis := Nc_AxisN[GVL.moveInterface.axisNr],
Execute := GVL.StartCmd, // The command is executed with a positive edge.
Execute := executeMove, // The command is executed with a positive edge.
Position := position,
Velocity := velocity,
Acceleration := , // If the value is 0, the standard acceleration from
@@ -231,12 +247,12 @@ fbMoveAbsolute(
Active => ,
CommandAborted => ,
Error => ,
ErrorId => );
ErrorId => errNr1);
//Reset Vars
IF bEndSwitchR = FALSE OR bEndSwitchL = FALSE THEN
IF bEndSwitchR = FALSE OR bEndSwitchL = FALSE OR bEndSwitchT = False OR bEndSwitchB = False THEN
executeStop := TRUE;
GVL.EnableAxis := FALSE;
enableAxis := FALSE;
@@ -259,8 +275,17 @@ executeReset := FALSE;
<LineId Id="214" Count="0" />
<LineId Id="217" Count="1" />
<LineId Id="216" Count="0" />
<LineId Id="253" Count="8" />
<LineId Id="392" Count="1" />
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@@ -269,15 +294,20 @@ executeReset := FALSE;
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<LineId Id="87" Count="0" />
<LineId Id="266" Count="0" />
<LineId Id="88" Count="7" />
<LineId Id="208" Count="0" />
CouplingProject/Untitled1/Untitled1.tmc
+2 -2
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CouplingProject/Untitled1/_CompileInfo/F241BB67-5C7D-158E-6A60-FE36CCFE0407.compileinfo → CouplingProject/Untitled1/_CompileInfo/4A1430BA-536E-E928-A19E-8BDF5E9BEFE1.compileinfo
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