berti_r/Motion_test
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

working bode plot, reduced cycle time
All checks were successful
checkformat / build (push) Successful in 3s
Details

Browse Source
This commit is contained in:
berti_r
2025-07-08 15:33:10 +02:00
parent 7ff090c47e
commit 2f6758c684
12 changed files with 130 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
.vs/VSWorkspaceState.json Normal file
View File

@@ -0,0 +1,8 @@
{
"ExpandedNodes": [
"",
"\\solution",
"\\solution\\tc_project_app"
],
"PreviewInSolutionExplorer": false
}

BIN
.vs/slnx.sqlite Normal file
View File

Binary file not shown.

124
solution/Lin_motion.tsproj
View File

@@ -29,7 +29,7 @@
</ArrayInfo>
</DataType>
<DataType>
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
<BitSize>13</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
<ArrayInfo>
@@ -127,6 +127,74 @@
<Elements>10</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name GUID="{18071995-0000-0000-0000-000000000035}" TcBaseType="true" HideType="true">UINTARR2</Name>
<BitSize>32</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>2</Elements>
</ArrayInfo>
<Format Name="ArrayView" Preview="[%u, %u]">
<Printf>[%u, %u]</Printf>
<Parameter>[0]</Parameter>
<Parameter>[1]</Parameter>
</Format>
<Format Name="MixedView" Preview="%x [%u, %u]">
<Printf>0x%08x [%u, %u]</Printf>
<Parameter>.</Parameter>
<Parameter>[0]</Parameter>
<Parameter>[1]</Parameter>
</Format>
<Format Name="32bitView" Preview="%x (%u)">
<Printf>0x%08x (%u)</Printf>
<Parameter>.</Parameter>
<Parameter>.</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO" TcBaseType="true">ECAT_HEAD</Name>
<BitSize>80</BitSize>
<SubItem>
<Name>cmd</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>idx</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>8</BitOffs>
</SubItem>
<SubItem>
<Name>addr</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
</SubItem>
<SubItem>
<Name>len</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>48</BitOffs>
</SubItem>
<SubItem>
<Name>irq</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
</DataType>
<DataType>
<Name GUID="{18071995-0000-0000-0000-001300000100}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..255] OF BYTE</Name>
<BitSize>2048</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>256</Elements>
</ArrayInfo>
</DataType>
</DataTypes>
<ImageDatas>
<ImageData Id="1000">424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff</ImageData>
@@ -137,7 +205,7 @@
<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="5.67.222.118.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
<System>
<Settings MaxCpus="2">
<Cpu CpuId="1"/>
<Cpu CpuId="1" BaseTime="2500"/>
<IoIdleTask Priority="6"/>
</Settings>
<Tasks>
@@ -145,6 +213,10 @@
<Name>PlcTask</Name>
</Task>
</Tasks>
<Modules>
<AddClassFactory>Beckhoff Automation GmbH|TcBodePlot|1.1.5.0</AddClassFactory>
<AddClassFactory>Beckhoff Automation GmbH|TcNcObjects|3.1.0.4707</AddClassFactory>
</Modules>
</System>
<Motion>
<NC File="NC.xti"/>
@@ -1846,12 +1918,58 @@
<EtherCAT CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x23333050" InfoDataState="false" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9011 End Terminal" Desc="EL9011" PortABoxInfo="#x01000003"/>
</Box>
</Box>
<EtherCAT DcSyncMode="3"/>
<EtherCAT DcSyncMode="3">
<EtherCATCmd Id="1" CmdType="1" CmdData="0c0100002009000100000000030000000f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000">
<Name>Dyn Container</Name>
<ImageId>102</ImageId>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
<Name>HEAD</Name>
<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
<BitOffs>968</BitOffs>
</Var>
<Var>
<Name>DATA</Name>
<Type GUID="{18071995-0000-0000-0000-001300000100}">ARRAY [0..255] OF BYTE</Type>
<BitOffs>1048</BitOffs>
</Var>
<Var>
<Name>CNT</Name>
<Comment><![CDATA[Working counter
After receiving]]></Comment>
<Type>UINT</Type>
<BitOffs>3096</BitOffs>
</Var>
</Vars>
<Vars VarGrpType="2">
<Name>Outputs</Name>
<Var>
<Name>HEAD</Name>
<Type GUID="{D46F6451-58CF-4853-A5DB-DA36D1D59A28}" Namespace="IO">ECAT_HEAD</Type>
<BitOffs>968</BitOffs>
</Var>
<Var>
<Name>DATA</Name>
<Type GUID="{18071995-0000-0000-0000-001300000100}">ARRAY [0..255] OF BYTE</Type>
<BitOffs>1048</BitOffs>
</Var>
<Var>
<Name>CNT</Name>
<Comment><![CDATA[Working counter
Before sending]]></Comment>
<Type>UINT</Type>
<BitOffs>3096</BitOffs>
</Var>
</Vars>
</EtherCATCmd>
</EtherCAT>
</Device>
</Io>
</Project>
<Mappings>
<MappingInfo Identifier="{00000000-0020-0304-1000-040320000403}" Id="#x02030010"/>
<MappingInfo Identifier="{00000000-0030-0304-1000-040331000403}" Id="#x02030020"/>
<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030030" Watchdog="14000000040000000400000004000000"/>
</Mappings>
</TcSmProject>

2
solution/_Config/NC/NC.xti
View File

@@ -1425,7 +1425,7 @@ External Setpoint Generation:
</DataType>
</DataTypes>
<NC>
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
<SafTask Priority="4" CycleTime="2500" AmsPort="501" IoAtBegin="true">
<Name>NC-Task 1 SAF</Name>
<Vars VarGrpType="1" InsertType="1">
<Name>Inputs</Name>

BIN
solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x64)/TcApplicationRuntimeModulesW32.dll Normal file
View File

Binary file not shown.

BIN
solution/_ModuleInstall/TcApplicationRuntimeModules/TwinCAT UM (x86)/TcApplicationRuntimeModulesW32.dll Normal file
View File

Binary file not shown.

BIN
solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT OS (x64)/TcBodePlot.tmx Normal file
View File

Binary file not shown.

BIN
solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x64)/TcBodePlot.tmx Normal file
View File

Binary file not shown.

BIN
solution/_Repository/Beckhoff Automation GmbH/TcBodePlot/1.1.5.0/TwinCAT RT (x86)/TcBodePlot.tmx Normal file
View File

Binary file not shown.

BIN
solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT OS (x64)/TcNcObjects.tmx Normal file
View File

Binary file not shown.

BIN
solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x64)/TcNcObjects.tmx Normal file
View File

Binary file not shown.

BIN
solution/_Repository/Beckhoff Automation GmbH/TcNcObjects/3.1.0.4707/TwinCAT RT (x86)/TcNcObjects.tmx Normal file
View File

Binary file not shown.