berti_r/Motion_test
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Chenge variable and references of axesPersistent to aAxesPersistent

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This commit is contained in:
Federico Rojas
2020-03-17 16:18:38 +01:00
parent cfc3b146f8
commit 014cc8d807
2 changed files with 7 additions and 14 deletions
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14
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -116,7 +116,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
aFbRestorePosition[GVL.iAxis](
Axis := gvl.aAxes[GVL.iAxis].Axis,
Execute := ,
Position := axesPersistent[GVL.iAxis].iPositionAtShutdown);
Position := aAxesPersistent[GVL.iAxis].iPositionAtShutdown);
END_FOR
CASE eStartUp OF
@@ -158,7 +158,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eExecuteRestore:
// Execute position restore by setting aFbRestorePosition.execute = TRUE
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(axesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(aAxesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF GVL.aAxes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
aFbRestorePosition[GVL.iAxis].Execute := TRUE;
END_IF
@@ -171,7 +171,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
// bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(axesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(aAxesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF GVL.aAxes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
IF NOT aFbRestorePosition[GVL.iAxis].Done THEN
RETURN;
@@ -195,13 +195,13 @@ END_IF]]></ST>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
axesPersistent[GVL.iAxis].iPositionAtShutdown := gvl.aAxes[GVL.iAxis].Axis.NcToPlc.ActPos;
aAxesPersistent[GVL.iAxis].iPositionAtShutdown := gvl.aAxes[GVL.iAxis].Axis.NcToPlc.ActPos;
IF gvl.aAxes[GVL.iAxis].Axis.NcToPlc.ActVelo <> 0 THEN
axesPersistent[GVL.iAxis].bMovingAtShutdown := TRUE;
aAxesPersistent[GVL.iAxis].bMovingAtShutdown := TRUE;
ELSE
axesPersistent[GVL.iAxis].bMovingAtShutdown := FALSE;
aAxesPersistent[GVL.iAxis].bMovingAtShutdown := FALSE;
END_IF
axesPersistent[GVL.iAxis].bMovingAtShutdown := axesPersistent[GVL.iAxis].bMovingAtShutdown OR gvl.aAxes[GVL.iAxis].Axis.Status.Moving;
aAxesPersistent[GVL.iAxis].bMovingAtShutdown := aAxesPersistent[GVL.iAxis].bMovingAtShutdown OR gvl.aAxes[GVL.iAxis].Axis.Status.Moving;
END_FOR]]></ST>
</Implementation>
</Action>

7
solution/tc_project_app/tc_project_app.plcproj
View File

@@ -87,19 +87,12 @@
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeAbsoluteSwitch.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadNcVelocities.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\VISUs\Error_Log_Visu.TcVIS">
<SubType>Code</SubType>
<DependentUpon>Visualization Manager.TcVMO</DependentUpon>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\VISUs\languageSupport.TcTLO">
<SubType>Code</SubType>
</Compile>