Re-run the filters
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@@ -8,6 +8,7 @@ END_VAR
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VAR_GLOBAL CONSTANT
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nAXIS_NUM: UINT := 0; (*~ (OPC: 1 : available for OPC-clients)(OPC_PROP[0005]: 1 : OPC_PROP_RIGHTS, here read only)*)
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nPNEUMATIC_AXIS_NUM: UINT := 0;
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END_VAR]]></Declaration>
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END_VAR
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]]></Declaration>
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</GVL>
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</TcPlcObject>
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+2
-1
@@ -8,7 +8,8 @@ END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[//Program any specific code or safety code for an specific application when it involves multiple axes
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//Eg. Collision avoidance, interlocks, sequencing, etc.]]></ST>
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//Eg. Collision avoidance, interlocks, sequencing, etc.
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]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject>
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@@ -8,7 +8,8 @@ VAR
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//Hardware interlocks
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//bInterlockFwdOK AT %I*: BOOL;
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END_VAR]]></Declaration>
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[//Initial parameters of an Axis
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(*IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
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@@ -21,7 +22,8 @@ END_IF*)
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//Define ACTIONS() or write exclusive code for an specific axis.
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(*Eg. Stop when temperature reaches certain values, reduce speed if a signal is activated, etc.
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Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)]]></ST>
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Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)
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]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject>
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@@ -27,11 +27,13 @@ END_VAR
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VAR PERSISTENT
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bRestoreOnStartup: BOOL;
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END_VAR]]></Declaration>
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[POSITION_RECOVERY();
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PROG();
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AXES();]]></ST>
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AXES();
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]]></ST>
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</Implementation>
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<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
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<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
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@@ -56,7 +58,8 @@ END_FOR
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//Execute Pneumatic Axis logic
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FOR GVL.iPneumaticAxis := 1 TO GVL_APP.nPNEUMATIC_AXIS_NUM DO
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afbPneumaticAxes[GVL.iPneumaticAxis](stPneumaticAxisStruct := GVL.astPneumaticAxes[GVL.iPneumaticAxis]);
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END_FOR]]></ST>
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END_FOR
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
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@@ -83,7 +86,8 @@ ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
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//next cycles of powerfailure
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//skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown...
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RETURN;
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END_IF]]></ST>
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END_IF
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
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@@ -92,7 +96,8 @@ END_IF]]></ST>
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IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '') THEN
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CHECK_UPS();
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RESTORE_POSITIONS();
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END_IF]]></ST>
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END_IF
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
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@@ -108,7 +113,8 @@ GVL.fbGetCurTaskIndex();
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//Pneumatics_Template();
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//Application program calls
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//Application_Template();]]></ST>
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//Application_Template();
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
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@@ -260,7 +266,8 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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bRestoreExecute := FALSE;
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END_FOR
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END_CASE
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END_IF]]></ST>
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END_IF
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
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@@ -278,7 +285,8 @@ END_IF]]></ST>
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ELSE
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astAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
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END_IF
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END_FOR]]></ST>
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END_FOR
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]]></ST>
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</Implementation>
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</Action>
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</POU>
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