berti_r/Measurements-of-Stage-Performance-Documentation
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

started my own tcmc lib

Browse Source
This commit is contained in:
berti_r
2025-08-25 11:10:36 +02:00
parent 120bb5a8ec
commit 441b57a159
1 changed files with 105 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files

131
Scripts/Test_torque.py
View File

@@ -7,15 +7,26 @@ import time
import struct
import struct
from ctypes import (
memmove,
addressof,
c_ubyte,
Array,
Structure,
sizeof,
create_string_buffer,
)
MAX_SPEED = 7.1 #mm/s
MAX_POS =68 #mm
MIN_POS = 40 #mm
ACTIVE_AXIS = (0,1)
MASTER_AXIS = 0
DEFAULT_SPEED = 7#mm/s
#Limit function
def exeedingMaxVel(currVel):
print(f"selected velocity ({currVel}) exceeds maximum velocity ({MAX_SPEED})\n "
f"Warning move will be executed with the maximum speed of {MAX_SPEED}")
return MAX_SPEED
def exeedingPosLimits(desiredPos):
print(f"selected pos of {desiredPos} exceeds position Limits ({MIN_POS}-{MAX_POS})\n "
"Aborting execution")
return exit(-1)
from datetime import datetime
from functools import partial
from typing import Optional, Union, Tuple, Any, Type, Callable, Dict, List, cast, OrderedDict
@@ -46,38 +57,103 @@ plc = pyads.Connection(AMS_NET_ID, PORT,PLC_IP)
def gearin(connection):
print(connection.write_by_name("GVL.GerarInCmd", True, pyads.PLCTYPE_BOOL))
print(connection.write_by_name("GVL.GerarOutCmd", False, pyads.PLCTYPE_BOOL))
time.sleep(1)
if connection.read_by_name("GVL.GeraredStat", pyads.PLCTYPE_BOOL) == False:
print("coupling failed, ABORTING")
exit(-1)
if connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT) != 0:
print("coupling failed with Error")
print(f"Axis Error Nr: {connection.read_by_name('GVL.ErrOut')}")
exit(-1)
def gearout(connection):
def gearout(connection: pyads.Connection):
print(connection.write_by_name("GVL.GerarInCmd", False, pyads.PLCTYPE_BOOL))
print(connection.write_by_name("GVL.GerarOutCmd", True, pyads.PLCTYPE_BOOL))
if connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT) != 0:
print("decouple failed with Error")
print(f"Axis Error Nr: {connection.read_by_name('GVL.ErrOut')}")
exit(-1)
def reset(connection):
connection.write_by_name("GVL.Reset",True, pyads.PLCTYPE_BOOL)
if connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT) != 0:
print("Reset Failed")
print(f"Axis Error Nr: {connection.read_by_name('GVL.ErrOut')}")
exit(-1)
def enableAxis(connection):
def enableAxis(connection: pyads.Connection):
connection.write_by_name("GVL.EnableAxis", True, pyads.PLCTYPE_BOOL)
if connection.read_by_name("GVL.ErrOut",pyads.PLCTYPE_UDINT) != 0:
print("enableAxis failed")
print(f"Axis Error Nr: {connection.read_by_name('GVL.ErrOut')}")
exit(-1)
return 0
def disableAxis(connection):
def disableAxis(connection: pyads.Connection):
connection.write_by_name("GVL.EnableAxis", False, pyads.PLCTYPE_BOOL)
if connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT) != 0:
print("Disable Failed, Reseting Axis")
reset(connection)
print("Disable Axis")
connection.write_by_name("GVL.EnableAxis", False, pyads.PLCTYPE_BOOL)
print("Aborting with error:", connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT))
exit(-1)
def stopAxis(connection):
def stopAxis(connection: pyads.Connection):
while connection.read_by_name("GVL.Axis1Stoping", pyads.PLCTYPE_BOOL) == False:
connection.write_by_name("GVL.StopCmd", True, pyads.PLCTYPE_BOOL)
if connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT) != 0:
print("Stop Failed, disabling Axis")
print(f"Axis Error Nr: {connection.read_by_name('GVL.ErrOut')}")
disableAxis(connection)
print("ABORTING")
exit(-1)
connection.write_by_name("GVL.StopCmd", False, pyads.PLCTYPE_BOOL)
def moveAbsolut(connection, Axis_ref, TargetPos, velocity):
def moveAbsolut(connection: pyads.Connection, Axis_ref, TargetPos, velocity):
# Checking prameters
check_position = (TargetPos if (MIN_POS <= TargetPos <= MAX_POS) else exeedingPosLimits(TargetPos))
check_velocity = (velocity if ( velocity <= MAX_SPEED) else exeedingMaxVel(velocity))
check_active_axis = (AXIS1_REF if Axis_ref in ACTIVE_AXIS else False)
print(check_active_axis)
connection.write_by_name("GVL.moveInterface.targetPos", TargetPos,pyads.PLCTYPE_LREAL)
connection.write_by_name("GVL.moveInterface.axisNr", Axis_ref, pyads.PLCTYPE_UINT)
connection.write_by_name("GVL.moveInterface.velocity", velocity, pyads.PLCTYPE_LREAL)
connection.write_by_name("GVL.moveInterface.velocity", check_velocity, pyads.PLCTYPE_LREAL)
if connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT) != 0:
print("Setting Parameters for absolut Move failed with Error")
print(f"Axis Error Nr: {connection.read_by_name('GVL.ErrOut')}")
exit(-1)
def executeCmd(connection: pyads.Connection):
def executeCmd(connection):
if connection.read_by_name("GVL.StartCmd", pyads.PLCTYPE_BOOL) == True:
connection.write_by_name("GVL.StartCmd", False, pyads.PLCTYPE_BOOL)
while connection.read_by_name("GVL.Done", pyads.PLCTYPE_BOOL) == False:
connection.write_by_name("GVL.StartCmd", True, pyads.PLCTYPE_BOOL)
match connection.read_by_name("GVL.ErrOut", pyads.PLCTYPE_UDINT):
case 18000:
print("Emergency Stop pressed while executing move")
connection.close()
exit(-1)
case 17056:
print("limit switch triggered")
connection.close()
exit(-1)
case 0:
continue
case _:
print("Execute failed with Error\n Stopping Axis")
stopAxis(connection)
print("Disabling Axis")
disableAxis(connection)
print("ABORTING")
exit(-1)
connection.write_by_name("GVL.Done", False, pyads.PLCTYPE_BOOL)
connection.write_by_name("GVL.StartCmd", False, pyads.PLCTYPE_BOOL)
def cyclic_meas(connection, pos, wait,rep):
def cyclic_meas(connection: pyads.Connection, pos, wait,rep):
disableAxis(connection)
reset(connection)
gearin(connection)
@@ -87,7 +163,7 @@ def cyclic_meas(connection, pos, wait,rep):
exit(-1)
for i in range(rep):
for x,t in zip(pos,wait):
moveAbsolut(connection, 0,x,10)
moveAbsolut(connection, MASTER_AXIS,x,DEFAULT_SPEED)
executeCmd(connection)
time.sleep(t)
disableAxis(connection)
@@ -96,19 +172,22 @@ def cyclic_meas(connection, pos, wait,rep):
if __name__ == "__main__":
print("Testing torque")
print("Start measurement")
plc.open()
#enableAxis(plc)
reset(plc)
gearin(plc)
enableAxis(plc)
#reset(plc)
#disableAxis(plc)
#enableAxis(plc)
#gearout(plc)
#stopAxis(plc)
#plc.write_by_name("GVL.StopCmd", False, pyads.PLCTYPE_BOOL)
#moveAbsolut(plc, 1, 100, 0.5)
#executeCmd(plc)
#
cyclic_meas(plc,[40,50],[10,50],200)
moveAbsolut(plc, 0, 50, 0.1)
executeCmd(plc)
#cyclic_meas(plc,[46.085,56.085],[5,5],2)
#time.sleep(3)
disableAxis(plc)
gearout(plc)
plc.close()