From 1fd4d9bad6c3dbd8151b2bc31f4502de3d14c614 Mon Sep 17 00:00:00 2001 From: Paul Barron Date: Wed, 4 Dec 2019 14:09:59 +0100 Subject: [PATCH] Fix white-space danage --- solution/tc_project_app/POUs/MAIN.TcPOU | 222 ++++++++++++------------ solution/tc_project_app/tc_mca_std_lib | 2 +- 2 files changed, 112 insertions(+), 112 deletions(-) diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 261f7c0..43b2f96 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -26,47 +26,47 @@ VAR //bOutput28 AT %Q*: BOOL:= TRUE; (******Error Handling********) - fbErrorSystem: FB_ErrorSystem; - aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error; - - //fbEL1018 : EL1018; - //fbEL2808 : EL2808; - //fbEL5101 : EL5101; - //fbEL9505 : EL9505; - //fbEL1252 : EL1252; - //fbEL9410 : EL9410; - //fbEL7037 : EL7037; - //fbEK1110 : EK1110; - + fbErrorSystem: FB_ErrorSystem; + aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error; + + //fbEL1018 : EL1018; + //fbEL2808 : EL2808; + //fbEL5101 : EL5101; + //fbEL9505 : EL9505; + //fbEL1252 : EL1252; + //fbEL9410 : EL9410; + //fbEL7037 : EL7037; + //fbEK1110 : EK1110; + (******Startup, Shutdown and UPS********) - iStartup : UINT := 0; - bColdstartDone : BOOL := FALSE; - bExecuteReadEncRefSys : BOOL := TRUE; - tmrRetry : TON; - iRetry : INT; - fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter; - fbUPS : FB_S_UPS_CX51x0; - eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown; - fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition; + iStartup : UINT := 0; + bColdstartDone : BOOL := FALSE; + bExecuteReadEncRefSys : BOOL := TRUE; + tmrRetry : TON; + iRetry : INT; + fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter; + fbUPS : FB_S_UPS_CX51x0; + eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown; + fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition; END_VAR VAR PERSISTENT - iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL; - bMovingAtShutdown : ARRAY [1..gvl_app.axisNum] OF BOOL; + iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL; + bMovingAtShutdown : ARRAY [1..gvl_app.axisNum] OF BOOL; END_VAR ]]> eSUPS_PowerFailure THEN - (* next cycles of powerfailure *) - (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *) - RETURN; + (* next cycles of powerfailure *) + (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *) + RETURN; END_IF STARTUP(); @@ -135,99 +135,99 @@ fbEL1808( - , - ReadMode:= E_READMODE.READMODE_ONCE); + , + ReadMode:= E_READMODE.READMODE_ONCE); END_FOR FOR i:=1 TO gvl_app.axisNum DO - fbRestorePosition[i]( - Axis:= gvl.axes[i].Axis, - Execute:= , - Position:= iPositionAtShutdown[i]); + fbRestorePosition[i]( + Axis:= gvl.axes[i].Axis, + Execute:= , + Position:= iPositionAtShutdown[i]); END_FOR IF bColdstartDone = FALSE THEN - CASE iStartup OF - 0: // First cycle - IF NOT bColdstartDone THEN - iStartup:=iStartup+1; - iretry:=0; - END_IF - 1: // Read Enc Ref Sys - incremental or absolute - bExecuteReadEncRefSys:=TRUE; - iStartup:=iStartup+1; - tmrRetry(in:=FALSE); - 2: // Check if Enc Ref Sys has been read for all axis -> if not read again - tmrRetry(in:=TRUE, pt:=T#100MS); - FOR i:=1 TO gvl_app.axisNum DO - IF fbReadEncRefSys[i].Valid = FALSE THEN - IF tmrretry.Q THEN - bExecuteReadEncRefSys:=FALSE; - iStartup:=iStartup-1; - iRetry:=iRetry+1; - END_IF - RETURN; - ELSE - iStartup:=iStartup+1; - EXIT; - END_IF - END_FOR - 3: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore - FOR i:=1 TO gvl_app.axisNum DO - IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) THEN - IF gvl.axes[i].config.iRestorePosition=2 THEN - gvl.axes[i].config.nHomeSeq:=15; - gvl.axes[i].control.eCommand:=10; - //Doesn't work yet because you can only home to zero position - //gvl.axes[i].config.######:=iPositionAtShutdown[i]; - END_IF - END_IF - END_FOR - iStartup:=iStartup+1; - 4: // Execute position restore with or without bHome set - FOR i:=1 TO gvl_app.axisNum DO - IF fbReadEncRefSys[i].Value = 0 THEN - CASE GVL.axes[i].config.iRestorePosition OF - 1: fbRestorePosition[i].Execute:=TRUE; - 2: gvl.axes[i].control.bExecute:=TRUE; - END_CASE - END_IF - END_FOR - iStartup:=iStartup+1; - 5: // Check set position or direct homing is finished on axes that were opt-in - FOR i:=1 TO gvl_app.axisNum DO - IF fbReadEncRefSys[i].Value = 0 THEN - CASE gvl.axes[i].config.iRestorePosition OF - 1: - IF NOT fbRestorePosition[i].Done THEN - RETURN; - END_IF - 2: - IF NOT gvl.axes[i].status.bHomed THEN - RETURN; - END_IF - END_CASE - END_IF - END_FOR - iStartup:=iStartup+1; - 6: // Reset set position FBs and Finish - FOR i:=1 TO gvl_app.axisNum DO - fbRestorePosition[i].Execute:=FALSE; - END_FOR - bColdstartDone:=TRUE; - END_CASE + CASE iStartup OF + 0: // First cycle + IF NOT bColdstartDone THEN + iStartup:=iStartup+1; + iretry:=0; + END_IF + 1: // Read Enc Ref Sys - incremental or absolute + bExecuteReadEncRefSys:=TRUE; + iStartup:=iStartup+1; + tmrRetry(in:=FALSE); + 2: // Check if Enc Ref Sys has been read for all axis -> if not read again + tmrRetry(in:=TRUE, pt:=T#100MS); + FOR i:=1 TO gvl_app.axisNum DO + IF fbReadEncRefSys[i].Valid = FALSE THEN + IF tmrretry.Q THEN + bExecuteReadEncRefSys:=FALSE; + iStartup:=iStartup-1; + iRetry:=iRetry+1; + END_IF + RETURN; + ELSE + iStartup:=iStartup+1; + EXIT; + END_IF + END_FOR + 3: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore + FOR i:=1 TO gvl_app.axisNum DO + IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) THEN + IF gvl.axes[i].config.iRestorePosition=2 THEN + gvl.axes[i].config.nHomeSeq:=15; + gvl.axes[i].control.eCommand:=10; + //Doesn't work yet because you can only home to zero position + //gvl.axes[i].config.######:=iPositionAtShutdown[i]; + END_IF + END_IF + END_FOR + iStartup:=iStartup+1; + 4: // Execute position restore with or without bHome set + FOR i:=1 TO gvl_app.axisNum DO + IF fbReadEncRefSys[i].Value = 0 THEN + CASE GVL.axes[i].config.iRestorePosition OF + 1: fbRestorePosition[i].Execute:=TRUE; + 2: gvl.axes[i].control.bExecute:=TRUE; + END_CASE + END_IF + END_FOR + iStartup:=iStartup+1; + 5: // Check set position or direct homing is finished on axes that were opt-in + FOR i:=1 TO gvl_app.axisNum DO + IF fbReadEncRefSys[i].Value = 0 THEN + CASE gvl.axes[i].config.iRestorePosition OF + 1: + IF NOT fbRestorePosition[i].Done THEN + RETURN; + END_IF + 2: + IF NOT gvl.axes[i].status.bHomed THEN + RETURN; + END_IF + END_CASE + END_IF + END_FOR + iStartup:=iStartup+1; + 6: // Reset set position FBs and Finish + FOR i:=1 TO gvl_app.axisNum DO + fbRestorePosition[i].Execute:=FALSE; + END_FOR + bColdstartDone:=TRUE; + END_CASE END_IF]]> diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ab99f8c..0bca79b 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ab99f8caafe634de4ebfb327f8cf1ebe53228514 +Subproject commit 0bca79b3b4357b07024050e65514caa9365afabf