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

Merged in MBP-132/SaveRestoreOnSimulatedPLCS (pull request #26)

Browse Source 
ALLOW LOCAL SIMULATIONS TO BYBASS UPS CHECK
This commit is contained in:
Simon Cooper
2020-02-12 11:41:14 +00:00
committed by PaulBarron
parent 13dc7a0ba1 51464ddd87
commit 44ec03e93c
5 changed files with 74 additions and 1039 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
.gitignore vendored
View File

@@ -17,3 +17,5 @@ logs.0*
solution/TrialLicense.tclrs
tools/linux/ADS/
tools/linux/getADSState/getADSState.bin
_Config/NC/Axes
_Config/IO

20
solution/_Config/NC/NC.xti Normal file
View File

@@ -0,0 +1,20 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4023.119" ClassName="CNcSafTaskDef" SubType="0">
<NC>
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
<Name>NC-Task 1 SAF</Name>
<Vars VarGrpType="1" InsertType="1">
<Name>Inputs</Name>
</Vars>
<Vars VarGrpType="2" InsertType="1">
<Name>Outputs</Name>
</Vars>
<Image Id="1" AddrType="1" ImageType="1">
<Name>Image</Name>
</Image>
</SafTask>
<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
<Name>NC-Task 1 SVB</Name>
</SvbTask>
</NC>
</TcSmItem>

1015
solution/solution.tsproj
View File

File diff suppressed because it is too large Load Diff

2
solution/tc_project_app/GVLs/GVL_APP.TcGVL
View File

@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
axisNum : UINT:=2;
axisNum : UINT:=0;
//axisCoupleMax : UINT:=4;
END_VAR]]></Declaration>
</GVL>

74
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -6,6 +6,7 @@ VAR
sVersion: STRING:='1.0.0';
i : UINT; //index variable for AXES()
aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
hmiAxisSelection : INT:=1; //Not possible to use local hmi variables for array indexes
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
@@ -48,6 +49,7 @@ VAR
iRetry : INT;
fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
fbGetDeviceIdentification : FB_GetDeviceIdentification;
END_VAR
@@ -55,7 +57,22 @@ VAR PERSISTENT
bRestoreOnStartup : BOOL;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)
<ST><![CDATA[POSITION_RECOVERY();
PROG();
AXES();
ERROR();]]></ST>
</Implementation>
<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR]]></ST>
</Implementation>
</Action>
<Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)
IF eGlobalSUpsState = eSUPS_PowerFailure THEN
(* first cycle of powerfailure *)
@@ -63,22 +80,11 @@ IF eGlobalSUpsState = eSUPS_PowerFailure THEN
bRestoreOnStartup:=TRUE;
STORE_PERSISTENT();
RETURN;
ELSIF eGlobalSUpsState > eSUPS_PowerFailure THEN
ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
(* next cycles of powerfailure *)
(* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
RETURN;
END_IF
RESTORE_POSITIONS();
PROG();
AXES();
ERROR();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR]]></ST>
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
@@ -121,6 +127,15 @@ fbEL1808(
]]></ST>
</Implementation>
</Action>
<Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[fbGetDeviceIdentification(bExecute:=TRUE);
IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '0') THEN
CHECK_UPS();
RESTORE_POSITIONS();
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
<Implementation>
<ST><![CDATA[//
@@ -129,7 +144,7 @@ fbEL1808(
//]]></ST>
</Implementation>
</Action>
<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[///#########################################################
// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
@@ -144,7 +159,7 @@ fbEL1808(
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
IF bRestoreOnStartup THEN
IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
bRestoreOnStartup:=FALSE;
bRestoreExecute:=TRUE;
END_IF
@@ -176,14 +191,14 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
ColdStart:
// First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bPositionRestoreDone THEN
eStartUp:=eStartUp+1;
eStartUp:= ReadAxisFeedbackType;
iRetry:=0;
END_IF
ReadAxisFeedbackType:
// Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
eStartUp:=CheckReadDone;
CheckReadDone:
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
@@ -199,14 +214,14 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
// Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
bExecuteReadEncRefSys:=FALSE;
eStartUp:=eStartUp-1;
eStartUp:=ReadAxisFeedbackType;
iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
RETURN;
END_IF
END_IF
END_FOR
// If the code gets here all axes either have .valid=TRUE for all axes
eStartUp:=eStartUp+1;
eStartUp:= ExecuteRestore;
ExecuteRestore:
// Execute position restore by setting fbRestorePosition.execute = TRUE
@@ -217,7 +232,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF
END_IF
END_FOR
eStartUp:=eStartUp+1;
eStartUp:= CheckRestore;
CheckRestore:
// Check the set position fbs are finished
@@ -232,7 +247,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF
END_IF
END_FOR
eStartUp:=eStartUp+1;
eStartUp:= FinishRestore;
FinishRestore:
// Remove execute = TRUE for fbRestorePosition
@@ -245,7 +260,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}">
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
axesPersistent[i].iPositionAtShutdown:=gvl.axes[i].Axis.NcToPlc.ActPos;
@@ -259,10 +274,7 @@ END_FOR]]></ST>
</Implementation>
</Action>
<LineIds Name="MAIN">
<LineId Id="376" Count="11" />
<LineId Id="2" Count="0" />
<LineId Id="189" Count="0" />
<LineId Id="135" Count="0" />
<LineId Id="505" Count="0" />
<LineId Id="134" Count="0" />
<LineId Id="81" Count="1" />
</LineIds>
@@ -271,6 +283,10 @@ END_FOR]]></ST>
<LineId Id="4" Count="0" />
<LineId Id="10" Count="0" />
</LineIds>
<LineIds Name="MAIN.CHECK_UPS">
<LineId Id="2" Count="11" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.ERROR">
<LineId Id="31" Count="0" />
<LineId Id="10" Count="1" />
@@ -287,6 +303,10 @@ END_FOR]]></ST>
<LineId Id="14" Count="0" />
<LineId Id="33" Count="0" />
</LineIds>
<LineIds Name="MAIN.POSITION_RECOVERY">
<LineId Id="2" Count="3" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.PROG">
<LineId Id="2" Count="0" />
<LineId Id="1" Count="0" />