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Build solution with new code and new commits form tc_mca_std_lib

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Federico Rojas
2022-09-27 16:51:22 +02:00
parent 1b57b2e04c
commit 054a460e8d
4 changed files with 42 additions and 38 deletions
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2
solution/_Config/PLC/tc_project_app.xti
View File

@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.32" ClassName="CNestedPlcProjDef">
<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="..\..\tc_project_app\tc_project_app.plcproj" TmcFilePath="..\..\tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{ADC2B2A9-6B59-ADAD-13BB-395B58F0375E}">
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{F6AA54B5-F77C-9A02-8F5F-CF39F7ABAB6B}">
<Name>tc_project_app Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Contexts>

4
solution/solution.tsproj
View File

@@ -18,5 +18,9 @@
<Plc>
<Project File="tc_project_app.xti"/>
</Plc>
<Io/>
</Project>
<Mappings>
<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030010" Watchdog="14000000040000000400000004000000"/>
</Mappings>
</TcSmProject>

72
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -20,8 +20,8 @@ VAR
afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition;
afbReadPositionBias: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
afbWritePositionBias: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_WriteParameter;
fbGetDeviceIdentification: FB_GetDeviceIdentificationEx;
afbWritePositionBias: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_WriteParameter;
fbGetDeviceIdentification: FB_GetDeviceIdentificationEx;
END_VAR
VAR PERSISTENT
@@ -53,13 +53,13 @@ END_FOR]]></ST>
<ST><![CDATA[fbUPS(eUpsMode := eUpsMode);
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
//Read encoder position BIAS
IF astAxes[iAxes].stStatus.bAxisInitialized THEN
afbReadPositionBias[iAxes](Axis := GVL.astAxes[iAxes].Axis,
Enable := TRUE,
//Read encoder position BIAS
IF astAxes[iAxes].stStatus.bAxisInitialized THEN
afbReadPositionBias[iAxes](Axis := GVL.astAxes[iAxes].Axis,
Enable := TRUE,
ReadMode:= READMODE_CYCLIC,
ParameterNumber := E_AxisParameters.AxisEncoderOffset);
END_IF
END_IF
END_FOR
IF eGlobalSUpsState = eSUPS_PowerFailure THEN
@@ -101,9 +101,9 @@ END_IF]]></ST>
//0 'DontRestore'
//1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
//Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
//Encoder Reference system types: INCREMENTAL=0; INCREMENTAL (singleturn absolute)=4;
// ABSOLUTE=1; ABSOLUTE MULTITURN RANGE (with single overflow)=3; ABSOLUTE SINGLETURN RANGE (with single overflow)=5;
// ABSOLUTE (modulo)=2;
//Encoder Reference system types: INCREMENTAL=0; INCREMENTAL (singleturn absolute)=4;
// ABSOLUTE=1; ABSOLUTE MULTITURN RANGE (with single overflow)=3; ABSOLUTE SINGLETURN RANGE (with single overflow)=5;
// ABSOLUTE (modulo)=2;
IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
bRestoreOnStartup := FALSE;
@@ -128,11 +128,11 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
afbRestorePosition[iAxes](
Axis := GVL.astAxes[iAxes].Axis,
Position := astAxesPersistent[iAxes].fPositionAtShutdown);
afbWritePositionBias[iAxes](
Axis:= GVL.astAxes[iAxes].Axis,
ParameterNumber:= E_AxisParameters.AxisEncoderOffset,
Value:= astAxesPersistent[iAxes].fBiasAtShutdown);
afbWritePositionBias[iAxes](
Axis:= GVL.astAxes[iAxes].Axis,
ParameterNumber:= E_AxisParameters.AxisEncoderOffset,
Value:= astAxesPersistent[iAxes].fBiasAtShutdown);
END_FOR
CASE eStartUp OF
@@ -173,30 +173,30 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eExecuteRestore:
//Execute position restore by setting afbRestorePosition.execute = TRUE
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
//Restore position value for incremental encoders
IF afbReadEncRefSys[iAxes].Valid = TRUE AND NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
(afbReadEncRefSys[iAxes].Value = 0 OR afbReadEncRefSys[iAxes].Value = 4 OR afbReadEncRefSys[iAxes].Value = 2) THEN
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
//Restore position value for incremental encoders
IF afbReadEncRefSys[iAxes].Valid = TRUE AND NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
(afbReadEncRefSys[iAxes].Value = 0 OR afbReadEncRefSys[iAxes].Value = 4 OR afbReadEncRefSys[iAxes].Value = 2) THEN
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
afbRestorePosition[iAxes].Execute := TRUE;
END_IF
//Restore encoder position BIAS for absolute encoders
ELSIF afbReadEncRefSys[iAxes].Valid = TRUE THEN
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
//Restore encoder position BIAS for absolute encoders
ELSIF afbReadEncRefSys[iAxes].Valid = TRUE THEN
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
afbWritePositionBias[iAxes].Execute := TRUE;
END_IF
END_IF
END_FOR
END_IF
END_IF
END_FOR
eStartUp := eCheckRestore;
eCheckRestore:
//Check the set position fbs are finished
//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 iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF afbReadEncRefSys[iAxes].Valid = TRUE AND NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
(afbReadEncRefSys[iAxes].Value = 0 OR afbReadEncRefSys[iAxes].Value = 4 OR afbReadEncRefSys[iAxes].Value = 2) THEN
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF afbReadEncRefSys[iAxes].Valid = TRUE AND NOT astAxesPersistent[iAxes].bMovingAtShutdown AND
(afbReadEncRefSys[iAxes].Value = 0 OR afbReadEncRefSys[iAxes].Value = 4 OR afbReadEncRefSys[iAxes].Value = 2) THEN
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
IF NOT afbRestorePosition[iAxes].Done OR NOT afbWritePositionBias[iAxes].Done THEN
RETURN;
@@ -210,7 +210,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
//Remove execute = TRUE for afbRestorePosition
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
afbRestorePosition[iAxes].Execute := FALSE;
afbWritePositionBias[iAxes].Execute := FALSE;
afbWritePositionBias[iAxes].Execute := FALSE;
END_FOR
bPositionRestoreDone := TRUE;
bRestoreExecute := FALSE;
@@ -222,12 +222,12 @@ END_IF]]></ST>
<Implementation>
<ST><![CDATA[FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
//Store Position beofre shutdown
astAxesPersistent[iAxes].fPositionAtShutdown := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
//Store encoder position BIAS at shutdown
astAxesPersistent[iAxes].fBiasAtShutdown := afbReadPositionBias[iAxes].Value;
//Store value of moving at shutdown
astAxesPersistent[iAxes].fPositionAtShutdown := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
//Store encoder position BIAS at shutdown
astAxesPersistent[iAxes].fBiasAtShutdown := afbReadPositionBias[iAxes].Value;
//Store value of moving at shutdown
IF NOT GVL.astAxes[iAxes].Axis.Status.StandStill THEN
astAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
ELSE

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: acf1777ed6...18596570b0