include TMC and TPY, remove axes from test
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SCooper
+1
-1563
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@@ -1052,16 +1052,4 @@ External Setpoint Generation:
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</TaskPouOids>
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</Instance>
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</Project>
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<Mappings>
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<OwnerA Name="tc_project_app Instance">
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
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<Link VarA="PlcTask Inputs^GVL.astAxes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^GVL.astAxes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
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</OwnerB>
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
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<Link VarA="PlcTask Inputs^GVL.astAxes[2].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^GVL.astAxes[2].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
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</OwnerB>
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</OwnerA>
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</Mappings>
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</TcSmItem>
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@@ -1,6 +1,6 @@
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<?xml version="1.0"?>
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<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.32">
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<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" TargetNetId="5.65.74.200.1.1" Target64Bit="true" ShowHideConfigurations="#x106">
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<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
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<System>
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<Settings MaxCpus="2">
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<IoIdleTask Priority="6"/>
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@@ -3,13 +3,11 @@
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<GVL Name="GVL_APP" Id="{8fe9690c-7907-432e-bedb-6fc99b5ce255}">
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<Declaration><![CDATA[{attribute 'qualified_only'}
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VAR_GLOBAL
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END_VAR
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VAR_GLOBAL CONSTANT
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nAXIS_NUM: UINT := 2; (*~ (OPC: 1 : available for OPC-clients)(OPC_PROP[0005]: 1 : OPC_PROP_RIGHTS, here read only)*)
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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
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]]></Declaration>
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END_VAR]]></Declaration>
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</GVL>
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</TcPlcObject>
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@@ -1,5 +1,5 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.11">
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<POU Name="Axis_Template" Id="{1a43acb4-bd2e-4637-97fb-9976d47292b6}" SpecialFunc="None">
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<Declaration><![CDATA[PROGRAM Axis_Template
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VAR
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@@ -8,8 +8,7 @@ VAR
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//Hardware interlocks
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//bInterlockFwdOK AT %I*: BOOL;
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END_VAR
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]]></Declaration>
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END_VAR]]></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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@@ -21,8 +20,7 @@ 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;*)
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]]></ST>
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Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)]]></ST>
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</Implementation>
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<LineIds Name="Axis_Template">
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<LineId Id="20" Count="0" />
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@@ -34,7 +32,6 @@ Eg. GVL.astAxes[x].stControl.bInterlockFwd := NOT bInterlockFwdOK;*)
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<LineId Id="21" Count="0" />
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<LineId Id="24" Count="0" />
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<LineId Id="33" Count="0" />
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<LineId Id="23" Count="0" />
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</LineIds>
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</POU>
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</TcPlcObject>
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@@ -38,35 +38,32 @@ AXES_EndOfCycle();]]></ST>
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<ST><![CDATA[//Get task index for Axes parameters initialization.
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GVL.fbGetCurTaskIndex();
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//First cycle, assign FB_axis to interface array
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IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
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FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
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afbAxes[GVL.iAxis].stAxis REF= astAxes[GVL.iAxis];
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aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis];
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END_FOR
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//Custom axis types defined and linked to aiAxes here
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END_IF
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//Execute FB_Axis logic
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FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
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aIAxes[GVL.iAxis].Run();
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END_FOR
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//Create an stAxisStruct for every axis in the project.
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(*FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
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afbAxes[GVL.iAxis](stAxisStruct := GVL.astAxes[GVL.iAxis]);
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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
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]]></ST>
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END_FOR]]></ST>
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</Implementation>
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</Action>
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<Action Name="AXES_EndOfCycle" Id="{1d0c47cf-5c32-4a53-bfaa-da9593fd6c0d}">
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<Implementation>
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<ST><![CDATA[FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
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<ST><![CDATA[//Clear control signals at end of each cycle
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FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
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aIAxes[GVL.iAxis].EndOfCycle();
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END_FOR
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]]></ST>
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END_FOR]]></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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@@ -101,23 +98,11 @@ END_IF]]></ST>
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//Create as many programs in that folder as axes and applications you have or need
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//Axes initial parameters and program
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Axis_Template();
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//Axis_Template();
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//Pneumatics_Template();
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//Application program calls
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//Application_Template();
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IF astAxes[1].stStatus.fActPosition > 50 THEN
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astAxes[1].stInputs.bLimitFwd := FALSE;
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ELSE
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astAxes[1].stInputs.bLimitFwd := TRUE;
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END_IF
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IF astAxes[1].stStatus.fActPosition < -5 THEN
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astAxes[1].stInputs.bLimitBwd := FALSE;
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ELSE
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astAxes[1].stInputs.bLimitBwd := TRUE;
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END_IF]]></ST>
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//Application_Template();]]></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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@@ -252,25 +237,23 @@ END_FOR]]></ST>
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</LineIds>
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<LineIds Name="MAIN.AXES">
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<LineId Id="11" Count="1" />
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<LineId Id="38" Count="0" />
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<LineId Id="22" Count="0" />
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<LineId Id="25" Count="0" />
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<LineId Id="30" Count="2" />
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<LineId Id="29" Count="0" />
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<LineId Id="39" Count="0" />
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<LineId Id="23" Count="0" />
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<LineId Id="34" Count="0" />
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<LineId Id="37" Count="0" />
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<LineId Id="33" Count="0" />
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<LineId Id="35" Count="1" />
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<LineId Id="24" Count="0" />
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<LineId Id="14" Count="1" />
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<LineId Id="1" Count="0" />
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<LineId Id="4" Count="0" />
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<LineId Id="10" Count="0" />
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<LineId Id="40" Count="0" />
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<LineId Id="18" Count="3" />
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<LineId Id="17" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.AXES_EndOfCycle">
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<LineId Id="5" Count="0" />
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<LineId Id="2" Count="2" />
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.CHECK_UPS">
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<LineId Id="2" Count="11" />
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@@ -289,13 +272,6 @@ END_FOR]]></ST>
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<LineId Id="10" Count="0" />
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<LineId Id="9" Count="0" />
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<LineId Id="3" Count="0" />
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<LineId Id="14" Count="0" />
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<LineId Id="13" Count="0" />
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<LineId Id="15" Count="0" />
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<LineId Id="17" Count="1" />
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<LineId Id="16" Count="0" />
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<LineId Id="20" Count="4" />
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<LineId Id="19" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.RESTORE_POSITIONS">
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<LineId Id="567" Count="105" />
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@@ -130,9 +130,6 @@
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<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis_V2.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="tc_mca_std_lib\POUs\Motion\FB_SlitPair.TcPOU">
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<SubType>Code</SubType>
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</Compile>
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@@ -1,15 +0,0 @@
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<?xml version="1.0" encoding="utf-8"?>
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<Refactors>
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<Renames>
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<RenamedType>
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<Type guid="ade71f2f-2325-4792-8103-f7cd9c07d44a">FB_AXIS_V2</Type>
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<From>FB_Axis_V2</From>
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<To>FB_Axis</To>
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</RenamedType>
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<RenamedSymbol>
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<Type guid="33eb6f49-7781-4211-a70b-87ada6d80cb7">MAIN</Type>
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<From>afbAxesV2</From>
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<To>afbAxes</To>
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</RenamedSymbol>
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</Renames>
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</Refactors>
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