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This commit is contained in:
aaronlong
2020-02-17 13:29:12 +00:00
parent f0037bcaba 44ec03e93c
commit 1855a0ad58
5 changed files with 50 additions and 166 deletions
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.gitignore
+2
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@@ -17,3 +17,5 @@ logs.0*
solution/TrialLicense.tclrs
tools/linux/ADS/
tools/linux/getADSState/getADSState.bin
_Config/NC/Axes
_Config/IO
solution/_Config/NC/NC.xti
-1
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@@ -16,6 +16,5 @@
<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
<Name>NC-Task 1 SVB</Name>
</SvbTask>
<Axis File="tcUNIT_virtual_axis.xti" Id="1"/>
</NC>
</TcSmItem>
solution/solution.tsproj
-137
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@@ -906,135 +906,6 @@ External Setpoint Generation:
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
<Name>tc_project_app Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="1">
<Name>PlcTask Inputs</Name>
<Var>
<Name>GVL.axes[1].inputs.bLimitFwd</Name>
<Comment><![CDATA[////Axis Inputs///////]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[1].inputs.bLimitBwd</Name>
<Comment><![CDATA[Backward limit switch]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[1].inputs.bHomeSensor</Name>
<Comment><![CDATA[Reference siganl for homing]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[1].inputs.bEncLAtch</Name>
<Comment><![CDATA[Reference index signal from inc. enconder]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[1].Axis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
<Comment><![CDATA[Present State Of The Axis Movement (continuous axis):
0 = INACTIVE: axis has no job
1 = RUNNING: axis is executing a motion job
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
3 = PHASE_VELOCONST: axis is moving at constant velocity
4 = PHASE_ACCPOS: axis is accelerating
5 = PHASE_ACCNEG: axis is decelerating
Slaves only:
11 = PREPHASE: slave axis is in a motion pre-phase
12 = SYNCHRONIZING: slave axis is synchronizing
13 = SYNCHRONOUS: slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1: external setpoint generation active
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
]]></Comment>
</SubVar>
<SubVar>
<Name>HomingState</Name>
<Comment><![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]></Comment>
</SubVar>
<SubVar>
<Name>CoupleState</Name>
<Comment><![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]></Comment>
</SubVar>
</Var>
<Var>
<Name>GVL.axes[2].inputs.bLimitFwd</Name>
<Comment><![CDATA[////Axis Inputs///////]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[2].inputs.bLimitBwd</Name>
<Comment><![CDATA[Backward limit switch]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[2].inputs.bHomeSensor</Name>
<Comment><![CDATA[Reference siganl for homing]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[2].inputs.bEncLAtch</Name>
<Comment><![CDATA[Reference index signal from inc. enconder]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[2].Axis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
<Comment><![CDATA[Present State Of The Axis Movement (continuous axis):
0 = INACTIVE: axis has no job
1 = RUNNING: axis is executing a motion job
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
3 = PHASE_VELOCONST: axis is moving at constant velocity
4 = PHASE_ACCPOS: axis is accelerating
5 = PHASE_ACCNEG: axis is decelerating
Slaves only:
11 = PREPHASE: slave axis is in a motion pre-phase
12 = SYNCHRONIZING: slave axis is synchronizing
13 = SYNCHRONOUS: slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1: external setpoint generation active
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
]]></Comment>
</SubVar>
<SubVar>
<Name>HomingState</Name>
<Comment><![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]></Comment>
</SubVar>
<SubVar>
<Name>CoupleState</Name>
<Comment><![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]></Comment>
</SubVar>
</Var>
</Vars>
<Vars VarGrpType="2">
<Name>PlcTask Outputs</Name>
<Var>
@@ -1042,14 +913,6 @@ External Setpoint Generation:
<Comment><![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]></Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.axes[1].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>GVL.axes[2].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
</Vars>
<TaskPouOids>
<TaskPouOid Prio="20" OTCID="#x08502041"/>
solution/tc_project_app/GVLs/GVL_APP.TcGVL
+1 -1
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@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
axisNum : UINT:=2;
axisNum : UINT:=0;
//axisCoupleMax : UINT:=4;
END_VAR]]></Declaration>
</GVL>
solution/tc_project_app/POUs/MAIN.TcPOU
+47 -27
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@@ -6,6 +6,7 @@ VAR
sVersion: STRING:='1.0.0';
i : UINT; //index variable for AXES()
aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
hmiAxisSelection : INT:=1; //Not possible to use local hmi variables for array indexes
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
@@ -48,6 +49,7 @@ VAR
iRetry : INT;
fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
fbGetDeviceIdentification : FB_GetDeviceIdentification;
END_VAR
@@ -55,7 +57,22 @@ VAR PERSISTENT
bRestoreOnStartup : BOOL;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)
<ST><![CDATA[POSITION_RECOVERY();
PROG();
AXES();
ERROR();]]></ST>
</Implementation>
<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR]]></ST>
</Implementation>
</Action>
<Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)
IF eGlobalSUpsState = eSUPS_PowerFailure THEN
(* first cycle of powerfailure *)
@@ -63,22 +80,11 @@ IF eGlobalSUpsState = eSUPS_PowerFailure THEN
bRestoreOnStartup:=TRUE;
STORE_PERSISTENT();
RETURN;
ELSIF eGlobalSUpsState > eSUPS_PowerFailure THEN
ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
(* next cycles of powerfailure *)
(* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
RETURN;
END_IF
RESTORE_POSITIONS();
PROG();
AXES();
ERROR();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR]]></ST>
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
@@ -121,6 +127,15 @@ fbEL1808(
]]></ST>
</Implementation>
</Action>
<Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[fbGetDeviceIdentification(bExecute:=TRUE);
IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '0') THEN
CHECK_UPS();
RESTORE_POSITIONS();
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
<Implementation>
<ST><![CDATA[//
@@ -129,7 +144,7 @@ fbEL1808(
//]]></ST>
</Implementation>
</Action>
<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[///#########################################################
// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
@@ -144,7 +159,7 @@ fbEL1808(
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
IF bRestoreOnStartup THEN
IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
bRestoreOnStartup:=FALSE;
bRestoreExecute:=TRUE;
END_IF
@@ -176,14 +191,14 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
ColdStart:
// First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bPositionRestoreDone THEN
eStartUp:=eStartUp+1;
eStartUp:= ReadAxisFeedbackType;
iRetry:=0;
END_IF
ReadAxisFeedbackType:
// Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
eStartUp:=CheckReadDone;
CheckReadDone:
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
@@ -199,14 +214,14 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
// Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
bExecuteReadEncRefSys:=FALSE;
eStartUp:=eStartUp-1;
eStartUp:=ReadAxisFeedbackType;
iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
RETURN;
END_IF
END_IF
END_FOR
// If the code gets here all axes either have .valid=TRUE for all axes
eStartUp:=eStartUp+1;
eStartUp:= ExecuteRestore;
ExecuteRestore:
// Execute position restore by setting fbRestorePosition.execute = TRUE
@@ -217,7 +232,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF
END_IF
END_FOR
eStartUp:=eStartUp+1;
eStartUp:= CheckRestore;
CheckRestore:
// Check the set position fbs are finished
@@ -232,7 +247,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF
END_IF
END_FOR
eStartUp:=eStartUp+1;
eStartUp:= FinishRestore;
FinishRestore:
// Remove execute = TRUE for fbRestorePosition
@@ -245,7 +260,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}">
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
axesPersistent[i].iPositionAtShutdown:=gvl.axes[i].Axis.NcToPlc.ActPos;
@@ -259,10 +274,7 @@ END_FOR]]></ST>
</Implementation>
</Action>
<LineIds Name="MAIN">
<LineId Id="376" Count="11" />
<LineId Id="2" Count="0" />
<LineId Id="189" Count="0" />
<LineId Id="135" Count="0" />
<LineId Id="505" Count="0" />
<LineId Id="134" Count="0" />
<LineId Id="81" Count="1" />
</LineIds>
@@ -271,6 +283,10 @@ END_FOR]]></ST>
<LineId Id="4" Count="0" />
<LineId Id="10" Count="0" />
</LineIds>
<LineIds Name="MAIN.CHECK_UPS">
<LineId Id="2" Count="11" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.ERROR">
<LineId Id="31" Count="0" />
<LineId Id="10" Count="1" />
@@ -287,6 +303,10 @@ END_FOR]]></ST>
<LineId Id="14" Count="0" />
<LineId Id="33" Count="0" />
</LineIds>
<LineIds Name="MAIN.POSITION_RECOVERY">
<LineId Id="2" Count="3" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.PROG">
<LineId Id="2" Count="0" />
<LineId Id="1" Count="0" />