diff --git a/solution.sln b/solution.sln index 725c379..60113c2 100644 --- a/solution.sln +++ b/solution.sln @@ -33,6 +33,22 @@ Global {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE diff --git a/solution/_Config/NC/Axes/Axis 2.xti b/solution/_Config/NC/Axes/Axis 2.xti deleted file mode 100644 index 9fb7bf0..0000000 --- a/solution/_Config/NC/Axes/Axis 2.xti +++ /dev/null @@ -1,1562 +0,0 @@ - - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModeStopMonitoring - BIT - 1 - 12 - - - OpModeOutputSmoothingFilter - BIT - 1 - 13 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - - TouchProbe1InputState - BIT - 1 - 0 - - - TouchProbe2InputState - BIT - 1 - 1 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE3 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE3_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - NCTOPLC_AXIS_REF_STATE3 - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - - - - __FILENAME__ - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - - - - diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index c18c2d8..a4e7439 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,77 +1,9 @@ - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.astAxes[1].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[1].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[1].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[1].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[1].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[2].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[2].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[2].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[2].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[2].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - - PlcTask Outputs - - GVL.astAxes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - - 0 diff --git a/solution/tc_project_app/LineIDs.dbg b/solution/tc_project_app/LineIDs.dbg index be60dce..d28bd26 100644 Binary files a/solution/tc_project_app/LineIDs.dbg and b/solution/tc_project_app/LineIDs.dbg differ diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 64c62f6..4093482 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -40,14 +40,19 @@ AXES();]]> IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO afbAxes[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis]; - aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis]; + //aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis]; END_FOR //Custom axis types defined and linked to aiAxes here + //fbCustomAxis extends FB_axis + //fbCustomAxis.stAxis REF= astAxes[x]; END_IF //Execute FB_Axis logic FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO - aIAxes[GVL.iAxis].Run(); + afbAxes[GVL.iAxis].Run(); + //aIAxes[GVL.iAxis].Run(); + //Run the Run() of the custom axis + //fbCustomAxis.Run(); END_FOR //Execute Pneumatic Axis logic diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index c176846..e2becdb 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit c17684688ba488189bc26cd49c221eb0b241fc5f +Subproject commit e2becdb1a3fbbfde36738eabdf3dcb44937adc71