From 976ef8dedc7019a01a8b0ea87bb37296ab986ead Mon Sep 17 00:00:00 2001 From: Cooper Date: Thu, 7 Jul 2022 14:36:10 +0100 Subject: [PATCH 01/20] OOP implementation of FB_Axis created with basic functionality --- solution.sln | 4 +- solution/_Config/NC/NC.xti | 1561 ++++++++++++++++- solution/_Config/PLC/tc_project_app.xti | 1013 ++++++++++- solution/solution.tsproj | 5 +- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 5 +- solution/tc_project_app/POUs/MAIN.TcPOU | 29 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 60 +- 8 files changed, 2639 insertions(+), 40 deletions(-) diff --git a/solution.sln b/solution.sln index 2694336..60113c2 100644 --- a/solution.sln +++ b/solution.sln @@ -1,7 +1,7 @@  Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 2013 -VisualStudioVersion = 12.0.21005.1 +# TcXaeShell Solution File, Format Version 11.00 +VisualStudioVersion = 15.0.28307.1300 MinimumVisualStudioVersion = 10.0.40219.1 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" EndProject diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 32cccdf..47b0332 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,5 +1,1411 @@ - + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModeStopMonitoring + BIT + 1 + 12 + + + OpModeOutputSmoothingFilter + BIT + 1 + 13 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3_FLAGS + 32 + + TouchProbe1InputState + BIT + 1 + 0 + + + TouchProbe2InputState + BIT + 1 + 1 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE3_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + NCTOPLC_AXIS_REF_STATE3 + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + + + NC-Task 1 SAF @@ -16,5 +1422,158 @@ NC-Task 1 SVB + + Axis 1 + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + + + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 9067711..188fd9a 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,9 +1,1010 @@ - + + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModeStopMonitoring + BIT + 1 + 12 + + + OpModeOutputSmoothingFilter + BIT + 1 + 13 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3_FLAGS + 32 + + TouchProbe1InputState + BIT + 1 + 0 + + + TouchProbe2InputState + BIT + 1 + 1 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE3_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + NCTOPLC_AXIS_REF_STATE3 + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + GVL.astAxes[1].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[1].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[1].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[1].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[1].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + + PlcTask Outputs + + GVL.astAxes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + + 0 @@ -20,4 +1021,12 @@ + + + + + + + + diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 4bf7c31..cc88502 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,9 +1,8 @@ - + - - + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index f8c5309..981641b 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -1,5 +1,5 @@  - + diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 16ea784..899cfd5 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -1,10 +1,12 @@  - + + + + + + + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ef11a1b..d038658 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ef11a1b4c06047b86d3852e31ed5242c9f5ca51e +Subproject commit d038658aa1ccb02078ee4d3f6074d82b71a21f4d diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 0c11005..cd390f3 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -40,6 +40,33 @@ Code + + Code + + + Code + + + Code + + + Code + + + Code + + + Code + + + Code + + + Code + + + Code + Code @@ -61,6 +88,9 @@ Code + + Code + Code @@ -88,34 +118,10 @@ Code - - Code - - - Code - Code - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - + Code @@ -124,6 +130,9 @@ Code + + Code + Code @@ -154,6 +163,7 @@ + From 7020a23a83492d135a283ee9fe774a486d0c0c73 Mon Sep 17 00:00:00 2001 From: SCooper Date: Fri, 8 Jul 2022 11:33:32 +0100 Subject: [PATCH 02/20] new status methods added for done, busy, error, cmdAborted. MoveVelocity added --- solution/_Config/PLC/tc_project_app.xti | 2 +- solution/solution.tsproj | 8 +- .../Visualization Manager.TcVMO | 8 +- .../tc_project_app/tc_project_app.plcproj | 155 +++++++++++++++++- 4 files changed, 165 insertions(+), 8 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 188fd9a..d2e45af 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -965,7 +965,7 @@ External Setpoint Generation: - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/solution.tsproj b/solution/solution.tsproj index cc88502..937b828 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,8 +1,8 @@ - + - + @@ -17,5 +17,9 @@ + + + + diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO index 8dc78a2..14b4580 100644 --- a/solution/tc_project_app/Visualization Manager.TcVMO +++ b/solution/tc_project_app/Visualization Manager.TcVMO @@ -1,5 +1,5 @@  - + @@ -45,10 +45,10 @@ FB_Init c98701bd-1e9f-450a-a2a8-a2474d536f2e - FB_Reinit - 5b6e372a-a69d-40e8-aef7-f470b7c53d95 FB_Exit 0be1b9ab-e8eb-4b33-b803-109abb46bde4 + FB_Reinit + 5b6e372a-a69d-40e8-aef7-f470b7c53d95 "NotImportant" {aa8b7e42-e967-427f-8f2e-f00f9d706470} @@ -58,7 +58,7 @@ 7 4096 "1002 0004" - "1.0.0.4" + "1.0.0.6" {cb73a13e-6ccc-4bc6-8859-f5aa98bb116b} diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index cd390f3..7c4e37a 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -270,8 +270,161 @@ + + CAA Callback Extern, * (CAA Technical Workgroup) + + + CAA Memory Block Manager Extern, * (CAA Technical Workgroup) + + + CAA Ressource Manager Extern, * (CAA Technical Workgroup) + + + CAA Types Extern, * (CAA Technical Workgroup) + + + CmpApp, * (System) + + + CmpBitmapPool, * (System) + + + CmpDynamicText, * (System) + + + CmpEventMgr, * (System) + + + CmpLog, * (System) + + + CmpSchedule, * (System) + + + CmpTargetVisu, * (System) + + + CmpVisuHandler, * (System) + + + Collections, * (System) + + + Component Manager, * (System) + + + FloatingPointUtils, * (System) + + + Tc2_Standard, * (Beckhoff Automation GmbH) + + + Tc2_Standard, * (Beckhoff Automation GmbH) + + + StringUtils, * (System) + + + SysCpuHandling, * (System) + + + SysDir, * (System) + + + SysFile, * (System) + + + SysMem, * (System) + + + SysProcess, * (System) + + + SysShm, * (System) + + + SysTarget, * (System) + + + VisuElemBase, * (System) + + + VisuElemEventTable, * (System) + + + VisuElemMeter, * (System) + + + VisuElems, * (System) + + + VisuElemsSpecialControls, * (System) + + + VisuElemsWinControls, * (System) + + + VisuElemTextEditor, * (System) + + + VisuInputs, * (System) + + + VisuInputs, * (System) + + + VisuNativeControl, * (System) + + + SysTime, * (System) + + + SysTimeCore, * (System) + + + SysTimeRtc, * (System) + + + Tc2_Drive, * (Beckhoff Automation GmbH) + + + Tc2_EtherCAT, * (Beckhoff Automation GmbH) + + + Tc2_IoFunctions, * (Beckhoff Automation GmbH) + + + Tc2_Math, * (Beckhoff Automation GmbH) + - Tc2_MC2, 3.3.41.0 (Beckhoff Automation GmbH) + Tc2_MC2, * (Beckhoff Automation GmbH) + + + Tc2_MC2_Drive, * (Beckhoff Automation GmbH) + + + Tc2_Standard, * (Beckhoff Automation GmbH) + + + Tc2_SUPS, * (Beckhoff Automation GmbH) + + + Tc2_System, * (Beckhoff Automation GmbH) + + + Tc2_Utilities, * (Beckhoff Automation GmbH) + + + Tc3_MC2_AdvancedHoming, * (Beckhoff Automation GmbH) + + + Tc3_Module, * (Beckhoff Automation GmbH) + + + Util, * (System) + + + VisuDialogs, * (System) From 0808f6c41b14acdeea2ef10dbcffc0d63e4e4c31 Mon Sep 17 00:00:00 2001 From: SCooper Date: Fri, 8 Jul 2022 15:00:47 +0100 Subject: [PATCH 03/20] Gear in and gear out implemented --- solution/_Config/NC/Axes/Axis 2.xti | 1562 ++++++++++++++++++++ solution/_Config/NC/NC.xti | 2 + solution/_Config/PLC/tc_project_app.xti | 37 +- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- solution/tc_project_app/tc_mca_std_lib | 2 +- 5 files changed, 1602 insertions(+), 3 deletions(-) create mode 100644 solution/_Config/NC/Axes/Axis 2.xti diff --git a/solution/_Config/NC/Axes/Axis 2.xti b/solution/_Config/NC/Axes/Axis 2.xti new file mode 100644 index 0000000..9fb7bf0 --- /dev/null +++ b/solution/_Config/NC/Axes/Axis 2.xti @@ -0,0 +1,1562 @@ + + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModeStopMonitoring + BIT + 1 + 12 + + + OpModeOutputSmoothingFilter + BIT + 1 + 13 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3_FLAGS + 32 + + TouchProbe1InputState + BIT + 1 + 0 + + + TouchProbe2InputState + BIT + 1 + 1 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE3_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + NCTOPLC_AXIS_REF_STATE3 + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + + + + + __FILENAME__ + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + + + + diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 47b0332..4198911 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1487,6 +1487,7 @@ External Setpoint Generation: + Inputs @@ -1575,5 +1576,6 @@ External Setpoint Generation: + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index d2e45af..407b10e 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -965,7 +965,7 @@ External Setpoint Generation: - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} @@ -997,6 +997,33 @@ External Setpoint Generation: GVL.astAxes[1].Axis.NcToPlc NCTOPLC_AXIS_REF + + GVL.astAxes[2].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[2].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[2].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[2].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[2].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[2].Axis.NcToPlc + NCTOPLC_AXIS_REF + PlcTask Outputs @@ -1004,6 +1031,10 @@ External Setpoint Generation: GVL.astAxes[1].Axis.PlcToNc PLCTONC_AXIS_REF + + GVL.astAxes[2].Axis.PlcToNc + PLCTONC_AXIS_REF + @@ -1027,6 +1058,10 @@ External Setpoint Generation: + + + + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index 981641b..fd47c34 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -7,7 +7,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - nAXIS_NUM: UINT := 1; (*~ (OPC: 1 : available for OPC-clients)(OPC_PROP[0005]: 1 : OPC_PROP_RIGHTS, here read only)*) + nAXIS_NUM: UINT := 2; (*~ (OPC: 1 : available for OPC-clients)(OPC_PROP[0005]: 1 : OPC_PROP_RIGHTS, here read only)*) nPNEUMATIC_AXIS_NUM: UINT := 0; END_VAR ]]> diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index d038658..a51213c 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit d038658aa1ccb02078ee4d3f6074d82b71a21f4d +Subproject commit a51213ca1368444f4ce1bca951d5d2f2adc8ac5f From f0dff8ea56e0584960a700816e157abace2c59b9 Mon Sep 17 00:00:00 2001 From: SCooper Date: Wed, 13 Jul 2022 11:30:28 +0100 Subject: [PATCH 04/20] multi gearing logic improved. Status logic changed to array of pointers for easier scaling. Homing added --- solution/_Config/NC/NC.xti | 1 + solution/_Config/PLC/tc_project_app.xti | 2 +- solution/tc_project_app/POUs/MAIN.TcPOU | 19 +++++++++++++++++++ solution/tc_project_app/tc_mca_std_lib | 2 +- 4 files changed, 22 insertions(+), 2 deletions(-) diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 4198911..2017d23 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1425,6 +1425,7 @@ External Setpoint Generation: Axis 1 + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 407b10e..d4a8d92 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -965,7 +965,7 @@ External Setpoint Generation: - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 899cfd5..03737b6 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -98,6 +98,18 @@ Axis_Template(); //Application program calls //Application_Template(); + +IF astAxes[1].stStatus.fActPosition > 50 THEN + astAxes[1].stInputs.bLimitFwd := FALSE; +ELSE + astAxes[1].stInputs.bLimitFwd := TRUE; +END_IF + +IF astAxes[1].stStatus.fActPosition < -5 THEN + astAxes[1].stInputs.bLimitBwd := FALSE; +ELSE + astAxes[1].stInputs.bLimitBwd := TRUE; +END_IF ]]> @@ -265,6 +277,13 @@ END_FOR]]> + + + + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index a51213c..e4547af 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit a51213ca1368444f4ce1bca951d5d2f2adc8ac5f +Subproject commit e4547afd3176ab1eba1d126d4921e4bc83072d17 From 0033d956274356b1667bac09b79f5a4bf73b0449 Mon Sep 17 00:00:00 2001 From: SCooper Date: Wed, 13 Jul 2022 15:19:46 +0100 Subject: [PATCH 05/20] Error IDs propragating through --- solution/_Config/PLC/tc_project_app.xti | 2 +- solution/tc_project_app/tc_mca_std_lib | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index d4a8d92..269f8e4 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -965,7 +965,7 @@ External Setpoint Generation: - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index e4547af..f97601c 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit e4547afd3176ab1eba1d126d4921e4bc83072d17 +Subproject commit f97601c9cdfbe313a6bac9bebe4118c43cf352e2 From 2bdf9e786bab73bdf641a6daf7c519de581eebc8 Mon Sep 17 00:00:00 2001 From: SCooper Date: Wed, 27 Jul 2022 12:28:33 +0100 Subject: [PATCH 06/20] Read parameter added to OOP implementation. Visu parameter reads fixed to reference GVL not afbaxes. Text list support added for parameters to allow combo box selection on Visu rather than typing in number --- solution/_Config/PLC/tc_project_app.xti | 2 +- solution/tc_project_app/POUs/MAIN.TcPOU | 22 +++++++++++++++---- .../tc_project_app/tc_project_app.plcproj | 3 +++ 3 files changed, 22 insertions(+), 5 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 269f8e4..1d9983f 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -965,7 +965,7 @@ External Setpoint Generation: - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 03737b6..a4d6184 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -22,6 +22,8 @@ VAR afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter; afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition; fbGetDeviceIdentification: FB_GetDeviceIdentification; + + counter : BYTE; END_VAR VAR PERSISTENT @@ -30,7 +32,8 @@ END_VAR]]> +PROG(); +AXES_EndOfCycle();]]> @@ -58,6 +61,14 @@ END_FOR*) FOR GVL.iPneumaticAxis := 1 TO GVL_APP.nPNEUMATIC_AXIS_NUM DO afbPneumaticAxes[GVL.iPneumaticAxis](stPneumaticAxisStruct := GVL.astPneumaticAxes[GVL.iPneumaticAxis]); END_FOR +]]> + + + + + @@ -109,8 +120,7 @@ IF astAxes[1].stStatus.fActPosition < -5 THEN astAxes[1].stInputs.bLimitBwd := FALSE; ELSE astAxes[1].stInputs.bLimitBwd := TRUE; -END_IF -]]> +END_IF]]> @@ -241,6 +251,7 @@ END_FOR]]> + @@ -260,6 +271,10 @@ END_FOR]]> + + + + @@ -284,7 +299,6 @@ END_FOR]]> - diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 7c4e37a..8c8c8df 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -149,6 +149,9 @@ Code Visualization Manager.TcVMO + + Code + Code Visualization Manager.TcVMO From 37b8f7490c4d6064aebba9cfdd64937e9f9e10ec Mon Sep 17 00:00:00 2001 From: SCooper Date: Wed, 27 Jul 2022 14:39:02 +0100 Subject: [PATCH 07/20] Write parameter implemented --- solution/_Config/PLC/tc_project_app.xti | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 1d9983f..5c7ba94 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -965,7 +965,7 @@ External Setpoint Generation: - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} From 2222e7539e00eb8dbb99c72d4838ee2816eb0277 Mon Sep 17 00:00:00 2001 From: SCooper Date: Wed, 27 Jul 2022 15:25:53 +0100 Subject: [PATCH 08/20] refactoring to clean up whitespace --- solution/tc_project_app/POUs/MAIN.TcPOU | 7 ++----- solution/tc_project_app/tc_project_app.tmcRefac | 15 +++++++++++++++ 2 files changed, 17 insertions(+), 5 deletions(-) create mode 100644 solution/tc_project_app/tc_project_app.tmcRefac diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index a4d6184..fdeebfe 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -6,7 +6,6 @@ VAR sVersion: STRING := '1.0.0'; aIAxes : ARRAY [1..GVL_APP.nAXIS_NUM] OF I_Axis; afbAxes: ARRAY [1..GVL_APP.nAXIS_NUM] OF FB_Axis; - afbAxesV2: ARRAY [1..GVL_APP.nAXIS_NUM] OF FB_Axis_V2; afbPneumaticAxes: ARRAY [1..GVL_APP.nPNEUMATIC_AXIS_NUM] OF FB_PneumaticAxis; hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes hmiPneumaticAxisSelection: INT := 1; @@ -22,8 +21,6 @@ VAR afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter; afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition; fbGetDeviceIdentification: FB_GetDeviceIdentification; - - counter : BYTE; END_VAR VAR PERSISTENT @@ -43,8 +40,8 @@ GVL.fbGetCurTaskIndex(); IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO - afbAxesV2[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis]; - aIAxes[GVL.iAxis] := afbAxesV2[GVL.iAxis]; + afbAxes[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis]; + aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis]; END_FOR END_IF diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac new file mode 100644 index 0000000..df9ad91 --- /dev/null +++ b/solution/tc_project_app/tc_project_app.tmcRefac @@ -0,0 +1,15 @@ + + + + + FB_AXIS_V2 + FB_Axis_V2 + FB_Axis + + + MAIN + afbAxesV2 + afbAxes + + + \ No newline at end of file From 387a662d19bf074369e868b7c7f0026f5b5b9df3 Mon Sep 17 00:00:00 2001 From: SCooper Date: Wed, 27 Jul 2022 15:34:28 +0100 Subject: [PATCH 09/20] include TMC and TPY, remove axes from test --- solution/_Config/NC/NC.xti | 1564 +---------------- solution/_Config/PLC/tc_project_app.xti | 12 - solution/solution.tsproj | 2 +- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 6 +- .../Axes/Axis_Template.TcPOU | 9 +- solution/tc_project_app/POUs/MAIN.TcPOU | 54 +- .../tc_project_app/tc_project_app.plcproj | 3 - .../tc_project_app/tc_project_app.tmcRefac | 15 - 8 files changed, 22 insertions(+), 1643 deletions(-) delete mode 100644 solution/tc_project_app/tc_project_app.tmcRefac diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 2017d23..cd4a2c2 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,1413 +1,7 @@ - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModeStopMonitoring - BIT - 1 - 12 - - - OpModeOutputSmoothingFilter - BIT - 1 - 13 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - - TouchProbe1InputState - BIT - 1 - 0 - - - TouchProbe2InputState - BIT - 1 - 1 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - NCTOPLC_AXIS_REF_STATE3 - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - - - + NC-Task 1 SAF Inputs @@ -1422,161 +16,5 @@ External Setpoint Generation: NC-Task 1 SVB - - Axis 1 - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - - - - diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 5c7ba94..33dba56 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1052,16 +1052,4 @@ External Setpoint Generation: - - - - - - - - - - - - diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 937b828..0009c9a 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,6 +1,6 @@ - + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index fd47c34..b8e952e 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -3,13 +3,11 @@ +END_VAR]]> \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU index b7dc9f6..026a49a 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU @@ -1,5 +1,5 @@  - + +END_VAR]]> +Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)]]> @@ -34,7 +32,6 @@ Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*) - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index fdeebfe..a151118 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -38,35 +38,32 @@ AXES_EndOfCycle();]]> +END_FOR]]> - +END_FOR]]> @@ -101,23 +98,11 @@ END_IF]]> //Create as many programs in that folder as axes and applications you have or need //Axes initial parameters and program -Axis_Template(); +//Axis_Template(); //Pneumatics_Template(); //Application program calls -//Application_Template(); - -IF astAxes[1].stStatus.fActPosition > 50 THEN - astAxes[1].stInputs.bLimitFwd := FALSE; -ELSE - astAxes[1].stInputs.bLimitFwd := TRUE; -END_IF - -IF astAxes[1].stStatus.fActPosition < -5 THEN - astAxes[1].stInputs.bLimitBwd := FALSE; -ELSE - astAxes[1].stInputs.bLimitBwd := TRUE; -END_IF]]> +//Application_Template();]]> @@ -252,25 +237,23 @@ END_FOR]]> + + - + - - - - + - + - @@ -289,13 +272,6 @@ END_FOR]]> - - - - - - - diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 8c8c8df..278b1b1 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -130,9 +130,6 @@ Code - - Code - Code diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac deleted file mode 100644 index df9ad91..0000000 --- a/solution/tc_project_app/tc_project_app.tmcRefac +++ /dev/null @@ -1,15 +0,0 @@ - - - - - FB_AXIS_V2 - FB_Axis_V2 - FB_Axis - - - MAIN - afbAxesV2 - afbAxes - - - \ No newline at end of file From 15bc90833a37af43a0c84d1b9d0211ad00a83723 Mon Sep 17 00:00:00 2001 From: SCooper Date: Wed, 27 Jul 2022 15:37:44 +0100 Subject: [PATCH 10/20] Update tc_mca_std_lib --- 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 f97601c..b3886b7 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit f97601c9cdfbe313a6bac9bebe4118c43cf352e2 +Subproject commit b3886b762b0cf8f77a93f90d2e39d3b3fc46a4fe From 60700b1d46129f4b01b55fef9b43dfc1005887ad Mon Sep 17 00:00:00 2001 From: SCooper Date: Fri, 29 Jul 2022 14:26:18 +0100 Subject: [PATCH 11/20] Swap AXES and PROG execution order, allow logic to execute and send commands on the same cycle --- solution/solution.tsproj | 4 ---- solution/tc_project_app/POUs/MAIN.TcPOU | 6 ++---- solution/tc_project_app/tc_mca_std_lib | 2 +- 3 files changed, 3 insertions(+), 9 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 0009c9a..8540b5c 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -17,9 +17,5 @@ - - - - diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index a151118..388a292 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -28,9 +28,8 @@ VAR PERSISTENT END_VAR]]> +AXES();]]> @@ -231,9 +230,8 @@ END_FOR]]> + - - diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index b3886b7..9df77c9 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit b3886b762b0cf8f77a93f90d2e39d3b3fc46a4fe +Subproject commit 9df77c95a603fd24efa32522784df02c340607ec From c4bdac87e8d3ed78f3bf6ef5c18452e680b52bc3 Mon Sep 17 00:00:00 2001 From: Cooper Date: Mon, 15 Aug 2022 15:20:29 +0100 Subject: [PATCH 12/20] Code refactor to meeting coding standards --- solution.sln | 16 ---- solution/tc_project_app/LineIDs.dbg | Bin 0 -> 3272 bytes solution/tc_project_app/POUs/MAIN.TcPOU | 76 ++-------------- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.tmcRefac | 85 ++++++++++++++++++ 5 files changed, 93 insertions(+), 86 deletions(-) create mode 100644 solution/tc_project_app/LineIDs.dbg create mode 100644 solution/tc_project_app/tc_project_app.tmcRefac diff --git a/solution.sln b/solution.sln index 60113c2..725c379 100644 --- a/solution.sln +++ b/solution.sln @@ -33,22 +33,6 @@ Global {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE diff --git a/solution/tc_project_app/LineIDs.dbg b/solution/tc_project_app/LineIDs.dbg new file mode 100644 index 0000000000000000000000000000000000000000..be60dce36d6d6ab41dc2fe82046b3f48d0d20a9c GIT binary patch literal 3272 zcmbVO2~d?)6#f%T1Q9_oapS?0<$)_=nwrLAd9uhd>NL4EWQ}1ilc`KWE@hfYiY!6% zBy&O#0|UiWv=l2VaY0j`#B)I-aiC1gD242NzWX_E9GjZX%zfuS_rLd?@0{=4`@bRH zSIhkLS*8^Zt;aTYIvw+frfHpJKxP{@4355=9Fsriuf0wkPMW&O+@mraWb~8)akVL} zkJ7zFcaZUzvimCCU(NSZc307eWl%PJcT@vYe)tgykb!mnFhmYlUs~DKU=1&{7_VP^ zx1~G$Io*4sY0gTAipHK0Wg`}ZSl#8>QHC2PMSvBUnG69KL8aPHP+eg`5ls!;1a&}SnlS&(v4pVx((l3ooYZw<98UNPebkFhg8xxTi z_#k$~8m`u&-VoMTC(n34NCw1L26FR;Ap+hY$QAQLV2BKpfqg?^h|KM|rf=}6>i9Q< z4OhHMM-&1(FklUGfv~RVBltqSA?$_jHdFIZx`$}w;H5ONxIcb1$vG+6nB|inJbT*t znW#Bqv4-FtF&KNp(L3KoZ$A<7aYN0bTl(e~!FeYc@Xs~O8Q3w$zR}4u1UMkXLH>!K zwPi1}U-FZ@T0Bx)CYCq-RyoCa)DmEWf8b*bo-O9?DeoYL?jlAI(`JirCJ3!fb(Gd1A@|4z>iJ_B;j;g?pO0q#pEsd zX}YIJ+e%<&-HD%Pj=jtLfDb$|FPts-CZ?a;?&Oqbj*Hl%KVKWEf9?eQp+B&OeS^H< zgLujHV3~t}AK(d=fjThn_D$x_FX-n+eNY*&*t*$27rbK~urXJjeb#_ngIi!AmwTIn zQ@l1`j@;kx%QqZP1ZDukf5l0k#EbeP9_|guKpBV?1VhB%rZj6sX#IkNQ^E@;uZuo) zso3>lF?oJbUvT?ijs7V%YZNGZ5Sv&IZSwu-d23_BitX7sS=O|7{twsS3-Tb>$D$9k|StLGIdyZZU7% zdOX2AYM#|`hU2%q50M|&pg*yf{l~uK`671gg#ZuM^X#)9_&sBNc^4cxSUh4^`?RRf zf{bT7)merBBL;k+@7Txom~j7rJKh1kZX0rHzMmSqzQ^ji#`@M2av)1I;KEvdyNDNi z?S1l$pyx49{0_O-stRu8M68+HkYBoU>=EE%O?Z|s_P=hr(cUt#On0p7H$~=kz)$~- zi#Z7QFb?ZH;Oo4aTIZV)m2-}^HY8U3iuF7%Sw468ah|NZP$@jH`mI)$(I3Br2}_y4nMhpo07DBFh$Ab^-XRq-rM`5uDbA8ojY9^%@ zD;=%$YfAGh@*WIP^WX@Ay9(lOQ};PeS9Y4xF?}ZPK3()hT;c4-xWwQcp93Rm1#yqa z?BlwtF>+V4rFWbqY~uSj(_7Q3u2D>~O@H#qnc3q+EXgCv`&C9c2u%brQE zB$VHpm;OWbtOaxWZ)K*6nIwNpd-OAt&$!0mtwO4xz~%dIrLHAptv=PBMo^ zXVmGc^7@^-i#{cPtSft!cN=;LxOhhf$TNg@pr6gue3aIUMm*j*lNt|07DVrCuKo2 - - - - - - @@ -93,7 +84,10 @@ END_IF]]> - END_FOR]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 9df77c9..3a2e248 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 9df77c95a603fd24efa32522784df02c340607ec +Subproject commit 3a2e248736bd864a9353a265a966120f6a09f1dc diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac new file mode 100644 index 0000000..b12bc24 --- /dev/null +++ b/solution/tc_project_app/tc_project_app.tmcRefac @@ -0,0 +1,85 @@ + + + + + FB_Axis + mcStatusPower + stMcStatusPower + + + FB_Axis + mcStatusStop + stMcStatusStop + + + FB_Axis + mcStatusHalt + stMcStatusHalt + + + FB_Axis + mcStatusReset + stMcStatusReset + + + FB_Axis + mcStatusMoveAbsolute + stMcStatusMoveAbsolute + + + FB_Axis + mcStatusMoveRelative + stMcStatusMoveRelative + + + FB_Axis + mcStatusMoveVelocity + stMcStatusMoveVelocity + + + FB_Axis + mcStatusMoveModulo + stMcStatusMoveModulo + + + FB_Axis + mcStatusHome + stMcStatusHome + + + FB_Axis + mcStatusReadParameter + stMcStatusReadParameter + + + FB_Axis + mcStatusWriteParameter + stMcStatusWriteParameter + + + FB_Axis + mcStatusGearIn + stMcStatusGearIn + + + FB_Axis + mcStatusGearOut + stMcStatusGearOut + + + FB_Axis + mcStatusGearInMultiMaster + stMcStatusGearInMultiMaster + + + FB_Axis + mcSTATUS_ARRAY_SIZE + nMCSTATUS_ARRAY_SIZE + + + FB_Axis + mcStatus + astMcStatus + + + \ No newline at end of file From 0d6a9e255adc29b78d17dae4ebfa6d50f1bb52a4 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 25 Aug 2022 13:18:31 +0200 Subject: [PATCH 13/20] Delete file tc_project_app.tmcRefac --- .../tc_project_app/tc_project_app.tmcRefac | 85 ------------------- 1 file changed, 85 deletions(-) delete mode 100644 solution/tc_project_app/tc_project_app.tmcRefac diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac deleted file mode 100644 index b12bc24..0000000 --- a/solution/tc_project_app/tc_project_app.tmcRefac +++ /dev/null @@ -1,85 +0,0 @@ - - - - - FB_Axis - mcStatusPower - stMcStatusPower - - - FB_Axis - mcStatusStop - stMcStatusStop - - - FB_Axis - mcStatusHalt - stMcStatusHalt - - - FB_Axis - mcStatusReset - stMcStatusReset - - - FB_Axis - mcStatusMoveAbsolute - stMcStatusMoveAbsolute - - - FB_Axis - mcStatusMoveRelative - stMcStatusMoveRelative - - - FB_Axis - mcStatusMoveVelocity - stMcStatusMoveVelocity - - - FB_Axis - mcStatusMoveModulo - stMcStatusMoveModulo - - - FB_Axis - mcStatusHome - stMcStatusHome - - - FB_Axis - mcStatusReadParameter - stMcStatusReadParameter - - - FB_Axis - mcStatusWriteParameter - stMcStatusWriteParameter - - - FB_Axis - mcStatusGearIn - stMcStatusGearIn - - - FB_Axis - mcStatusGearOut - stMcStatusGearOut - - - FB_Axis - mcStatusGearInMultiMaster - stMcStatusGearInMultiMaster - - - FB_Axis - mcSTATUS_ARRAY_SIZE - nMCSTATUS_ARRAY_SIZE - - - FB_Axis - mcStatus - astMcStatus - - - \ No newline at end of file From 33c2c0633899bc36e6550ffb06757ba67d52a997 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Fri, 30 Sep 2022 16:07:16 +0200 Subject: [PATCH 14/20] Test: Delete redundancy in linking FB and interfaces in AXES() --- solution.sln | 16 + solution/_Config/NC/Axes/Axis 2.xti | 1562 ----------------------- solution/_Config/PLC/tc_project_app.xti | 70 +- solution/tc_project_app/LineIDs.dbg | Bin 3272 -> 3508 bytes solution/tc_project_app/POUs/MAIN.TcPOU | 9 +- solution/tc_project_app/tc_mca_std_lib | 2 +- 6 files changed, 25 insertions(+), 1634 deletions(-) delete mode 100644 solution/_Config/NC/Axes/Axis 2.xti diff --git a/solution.sln b/solution.sln index 725c379..60113c2 100644 --- a/solution.sln +++ b/solution.sln @@ -33,6 +33,22 @@ Global {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE diff --git a/solution/_Config/NC/Axes/Axis 2.xti b/solution/_Config/NC/Axes/Axis 2.xti deleted file mode 100644 index 9fb7bf0..0000000 --- a/solution/_Config/NC/Axes/Axis 2.xti +++ /dev/null @@ -1,1562 +0,0 @@ - - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 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nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModeStopMonitoring - BIT - 1 - 12 - - - OpModeOutputSmoothingFilter - BIT - 1 - 13 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - - TouchProbe1InputState - BIT - 1 - 0 - - - TouchProbe2InputState - BIT - 1 - 1 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - NCTOPLC_AXIS_REF_STATE3 - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - - - - __FILENAME__ - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - - - - diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index c18c2d8..a4e7439 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,77 +1,9 @@ - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.astAxes[1].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[1].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[1].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[1].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[1].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[2].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[2].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[2].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[2].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[2].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - - PlcTask Outputs - - GVL.astAxes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - - 0 diff --git a/solution/tc_project_app/LineIDs.dbg b/solution/tc_project_app/LineIDs.dbg index be60dce36d6d6ab41dc2fe82046b3f48d0d20a9c..d28bd2618f6a986a3b5a4ba57359270618d023f6 100644 GIT binary patch delta 299 zcmX>hxkY-z24+Tq$s3uIB_$Xb7#M+A9f(0d8bUEJP3C10XXKeI$Ywk_f<;152q?}3 z#F9V^QqQzGlVv$0BOg$Kw<1UqBnXlO0Z|CWAO)qFCWo>G%d!A@Y(P8#h*_aB)1fre z=B;e)OpLsfZ8?n%Wq^Vp;{>6!9F&F`s{rJKfH)9C-NFgfEIj!mw>7IKNN}0wpbw?>K=fo!o_d)JG80@c9TRcfe*RvwVxi)Euz^rj02Edr&j0`b delta 88 zcmdlYeL`}>24+T{$s3uIC!4ScFmg`zWHX*z!6LDF1 IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO afbAxes[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis]; - aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis]; + //aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis]; END_FOR //Custom axis types defined and linked to aiAxes here + //fbCustomAxis extends FB_axis + //fbCustomAxis.stAxis REF= astAxes[x]; END_IF //Execute FB_Axis logic FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO - aIAxes[GVL.iAxis].Run(); + afbAxes[GVL.iAxis].Run(); + //aIAxes[GVL.iAxis].Run(); + //Run the Run() of the custom axis + //fbCustomAxis.Run(); END_FOR //Execute Pneumatic Axis logic diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index c176846..e2becdb 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit c17684688ba488189bc26cd49c221eb0b241fc5f +Subproject commit e2becdb1a3fbbfde36738eabdf3dcb44937adc71 From 99a3efce666aaa881fa22b44844fe010b8c967fb Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Tue, 4 Oct 2022 17:11:37 +0200 Subject: [PATCH 15/20] Add FB_CustomAxis example and update pointer --- solution/tc_project_app/LineIDs.dbg | Bin 3508 -> 3456 bytes solution/tc_project_app/POUs/MAIN.TcPOU | 14 +++++--------- solution/tc_project_app/tc_mca_std_lib | 2 +- 3 files changed, 6 insertions(+), 10 deletions(-) diff --git a/solution/tc_project_app/LineIDs.dbg b/solution/tc_project_app/LineIDs.dbg index d28bd2618f6a986a3b5a4ba57359270618d023f6..70f5aaa75dd77ae63fd0196522a4278d6f4751b1 100644 GIT binary patch delta 53 ucmdlY-5|YT1`nga - Date: Tue, 4 Oct 2022 17:17:55 +0200 Subject: [PATCH 16/20] Updatepointer to OOP std_lib version --- 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 acf1777..1f21fee 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit acf1777ed6bccf1062e412dffec0016972071640 +Subproject commit 1f21feeafd2b9a75694e1bf0430e098ba8588f3d From a13f780a6d8d23dcae2edc09bd982ea63c6e0213 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 6 Oct 2022 10:57:56 +0200 Subject: [PATCH 17/20] Add git ignore for the LineIDs.dbg file --- .gitignore | 1 + solution/tc_project_app/LineIDs.dbg | Bin 3456 -> 0 bytes 2 files changed, 1 insertion(+) delete mode 100644 solution/tc_project_app/LineIDs.dbg diff --git a/.gitignore b/.gitignore index 83f035e..e5ef5ae 100644 --- a/.gitignore +++ b/.gitignore @@ -13,6 +13,7 @@ UpgradeLog.htm _Boot/ _CompileInfo/ _Libraries/ +solution/tc_project_app/LineIDs.dbg LineIDs.dbg logs.0* solution/TrialLicense.tclrs diff --git a/solution/tc_project_app/LineIDs.dbg b/solution/tc_project_app/LineIDs.dbg deleted file mode 100644 index 70f5aaa75dd77ae63fd0196522a4278d6f4751b1..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 3456 zcma)72~d?)6#f%T1Q9_napU1*dmy5SX<{0W<;kMJsMF-ukTr(6Or|mgxs+)pDY693 zlgtT04Ga`h&{C|d#05=#63+#V#DOv`qZG39`R+HvG&=dsT+V;)JNK;Ly@YsOEA!Q7 zn^xMj9pBXLOx$CdrgfJE%rR^n8hbA#u3+vzRSsQFnR?0I_4Ls)a3I{1N!ef}I}}!I7HFt9lx&kwq5cjZ5#h_J%)) z`@d+Kqmp4FaVAvhhy^fLSNXP=<$_HCaz)OpiM2$^9%}6;3qXzla>9A$WWuK4DVxxA zN`{L>9%Gd5t@IvBA0iSpJ1PBXC5=i(C^=rqSH`9{j*E_-^v;qDkMRqdl28}s!Q2sR zgtA4y0rpoX-}pUP7BE;AYV(33z}x`Tiv18Mg5k1oZWt87ygq9O1f8y#^mdTps%PoQ zBIJ%7V1rr!_7yyWFZ3HA7kb-N%}q&nk*L8_N#^4EAJcR|pc=@(|9=ZwW3 zV)lr^*c*@C{ULVe$*4~oYZu?vx4ev*casJGv|-K29ed=BPQC%;0Wc5FpZT-5pl`7CQMz6vKpvw$#Ag2FFZ;kcyu}87bg}@{4IMlOSRY~niD%ODzFBZO zE`RASGd$edS78>M3+v;ZB)3^VY%xdHjk||f%o%+l7qHKmzqa4aEzcSkwNHPcE?WP> zNyGuKU_-v4AMnjO$&sP52VkzqGe{QvvR@sW&D~$p&x`q}(tn9{i(el20z2f)9`Vg! z@5m8w0y(fpRn0-Eo?EU&9~k)cTlOadGLgfh=1HH-7jr{A&S8jrBUYd+z|ST$YeiVY z!b4Ldi>9oPJ$<>v`9U#x@6mT~;=et5SZwwvK+YgGb2+?u@Fy=?n-W*<%*oBRroYFx z2sV$(0n7_{5C`CgIgu;mF*%X)T&nTxyRczzaen5a?i(!? z!zX-jA?D4F>h^VfTe3RY!dyAR#&FOo` zkX!rXwD=9~YwDXC+EOtu_yCX>Z27;E`QmJ6pS)YRE7)iLc6ryU3vcE|t)16cP`Z2U zQRKy*kQbK*-7wwkXq{N5JKpoVV)J^$rhmp|K0L!XtjXuw{MtIlTTzvBkF_->Rs0Tn z-ZRep|9p5~bZTE~XpFD=xo$;#xJx}^hs#1eqh$eOY~ud^OMLn$o%h05>9`j-hr5Xx zM9Kn&$-=$?ionk%H23Q{cLMvKHEy%ap60RXoD=$ld@*m<7*Ty{!G}4kC+$wT?P% zWUu({hN^wc7QovGaJJ+|hHYC*S2C{u#Jy*Vze*^Y)0B`DwChXc$bP#_1nJ5uO*h>o}ckk z&FqEv84JBpN3^|mR|2-~tTPrkyA`kUDjZB3_@&LLre!_q(??9G45-Q2|7>#(Y(~kS z)J`^2vS-vjKeWPR-qGt?!1k1K%!M<7F90)!Ps|XKvjb-U#tZe|y=<~MEH<-VSDiob z{5{MF96?;Zo&NF-;4a}D-$-9<3WnQ+=B*^>5Ug|`B}0_tn}s`sIGiVQ+TUU~(-fFB jp=^G0@Mnvx$*7H7BF9h%>{%D?CqT}UgX{~r%KrQdK;B(< From dc531c102f0f0a4c7b77561e9ec7a38f962f8c20 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 6 Oct 2022 11:16:02 +0200 Subject: [PATCH 18/20] Recompile files without LineIDs --- .../Applications/Application_Template.TcPOU | 4 ---- .../Application_Specific/Axes/Axis_Template.TcPOU | 11 ----------- .../Axes/Pneumatics_Template.TcPOU | 12 ------------ 3 files changed, 27 deletions(-) diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU index 3c265a4..d653e82 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU @@ -10,9 +10,5 @@ END_VAR - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU index 026a49a..43513fc 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU @@ -22,16 +22,5 @@ END_IF*) (*Eg. Stop when temperature reaches certain values, reduce speed if a signal is activated, etc. Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)]]> - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU index 7192ca5..d374ed2 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU @@ -17,17 +17,5 @@ END_VAR ]]> - - - - - - - - - - - - \ No newline at end of file From 0aa2f1745ca034f0aa247cd294bc4b11f27fcd96 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 6 Oct 2022 12:55:33 +0200 Subject: [PATCH 19/20] Update pointer to newest verison of tc_mca_std_lib --- 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 1f21fee..7ed8b3e 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 1f21feeafd2b9a75694e1bf0430e098ba8588f3d +Subproject commit 7ed8b3e727578d8d5866039e6c3d62824798e4dd From c8a3bd36191b2f4399e0ac84b9d79590b2aac6b7 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Fri, 14 Oct 2022 13:51:44 +0200 Subject: [PATCH 20/20] Restore files that have nothing to do with the MBP_OOP ticket --- solution/_Config/PLC/tc_project_app.xti | 2 +- solution/solution.tsproj | 3 ++- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index a4e7439..30060c1 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,7 +1,7 @@ - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 8540b5c..f495754 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -2,7 +2,8 @@ - + +