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Remove MAIN.SHUTDOWN from ordinary PLC cycle

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This created a problem in that MAIN.STARTUP wasn't working correctly
because it takes a couple of cycles to complete and MAIN.SHUTDOWN
was overriding the values stored after a power loss. Thus the restore won't work
for a user cold reset. It can be catered for by adding it back into the ordinary PLC
cycle but only executing if bPositionRestoreDone is set.
This commit is contained in:
Paul Barron
2019-12-11 15:02:11 +01:00
parent df44dd3b82
commit 10ef1a594d
1 changed files with 4 additions and 6 deletions
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10
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -69,13 +69,12 @@ END_IF
STARTUP();
PROG();
AXES();
ERROR();
SHUTDOWN();]]></ST>
ERROR();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
gvl.axes[2].config.eRestorePosition:=RestorePosition.RestoreWithHome;
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.DontRestore;
gvl.axes[2].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
@@ -223,7 +222,7 @@ IF bPositionRestoreDone = FALSE THEN
PrepareToRestore:
// Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=RestorePosition.RestoreWithHome THEN
gvl.axes[i].control.eCommand:=MotionFunctions.Home;
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
@@ -279,7 +278,6 @@ END_IF]]></ST>
<LineId Id="135" Count="0" />
<LineId Id="134" Count="0" />
<LineId Id="81" Count="1" />
<LineId Id="241" Count="0" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="19" Count="1" />