Gear in and gear out implemented

solution/_Config/NC/NC.xti

@@ -1487,6 +1487,7 @@ External Setpoint Generation:
 			<Drive Name="Drive" DrvType="5">
 				<DrvPara>
 					<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
+					<TimeComp TaskDelayCycles="1"/>
 				</DrvPara>
 				<Vars VarGrpType="1">
 					<Name>Inputs</Name>
@@ -1575,5 +1576,6 @@ External Setpoint Generation:
 				</Var>
 			</Vars>
 		</Axis>
+		<Axis File="Axis 2.xti" Id="2"/>
 	</NC>
 </TcSmItem>

solution/_Config/PLC/tc_project_app.xti

@@ -965,7 +965,7 @@ External Setpoint Generation:
 		</DataType>
 	</DataTypes>
 	<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="{9BD07946-2658-1428-4179-39A88A900F70}">
+		<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{D08C0AE8-F819-88BD-5289-8C92F29439B9}">
 			<Name>tc_project_app Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Vars VarGrpType="1">
@@ -997,6 +997,33 @@ External Setpoint Generation:
 					<Name>GVL.astAxes[1].Axis.NcToPlc</Name>
 					<Type GUID="{10036166-C9D3-404B-BDD3-323034AAA7F4}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
 				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stStatus.nEncoderRawCounter</Name>
+					<Comment><![CDATA[Raw encoder counter value]]></Comment>
+					<Type>UDINT</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stStatus.nStepperDriveCounter</Name>
+					<Comment><![CDATA[Raw internal counter from stepper drive]]></Comment>
+					<Type>UDINT</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stInputs.bLimitFwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stInputs.bLimitBwd</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].stInputs.bHomeSensor</Name>
+					<Comment><![CDATA[Reference siganl for homing]]></Comment>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].Axis.NcToPlc</Name>
+					<Type GUID="{10036166-C9D3-404B-BDD3-323034AAA7F4}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
+				</Var>
 			</Vars>
 			<Vars VarGrpType="2" AreaNo="1">
 				<Name>PlcTask Outputs</Name>
@@ -1004,6 +1031,10 @@ External Setpoint Generation:
 					<Name>GVL.astAxes[1].Axis.PlcToNc</Name>
 					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
 				</Var>
+				<Var>
+					<Name>GVL.astAxes[2].Axis.PlcToNc</Name>
+					<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+				</Var>
 			</Vars>
 			<Contexts>
 				<Context>
@@ -1027,6 +1058,10 @@ External Setpoint Generation:
 				<Link VarA="PlcTask Inputs^GVL.astAxes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
 				<Link VarA="PlcTask Outputs^GVL.astAxes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
 			</OwnerB>
+			<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
+				<Link VarA="PlcTask Inputs^GVL.astAxes[2].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
+				<Link VarA="PlcTask Outputs^GVL.astAxes[2].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
+			</OwnerB>
 		</OwnerA>
 	</Mappings>
 </TcSmItem>

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
 ]]></Declaration>