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

Moved the cycle through of the read parameter fbs inside if statement

Browse Source 
Motivation: after the position restore code has executed successfully
there is no point running any of the code again and wasting PLC cycles.
Thus the first step in the MAIN.STARTUP is a check whether the code has
been completed or not. If it is has completed successfully ignore everything else.
This commit is contained in:
Paul Barron
2019-12-11 13:54:19 +01:00
parent 534a318269
commit 480f4098bb
1 changed files with 111 additions and 118 deletions
Download Patch File Download Diff File Expand all files Collapse all files

229
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -40,7 +40,7 @@ VAR
(******Startup, Shutdown and UPS********)
eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, PrepareToRestore, ExecuteRestore, CheckRestore, FinishRestore);
bColdstartDone : BOOL := FALSE; // First cycle of the PLC after being reset/power cycled
bPositionRestoreDone : BOOL := FALSE;
bExecuteReadEncRefSys : BOOL := TRUE;
iRetry : INT;
fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
@@ -153,116 +153,114 @@ END_FOR]]></ST>
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
FOR i:=1 TO gvl_app.axisNum DO
fbReadEncRefSys[i](
Axis:= gvl.axes[i].Axis,
Enable:= bExecuteReadEncRefSys,
ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
Value=>,
ReadMode:= E_READMODE.READMODE_ONCE);
END_FOR
// Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
IF bPositionRestoreDone = FALSE THEN
// Cycle through set position function blocks for each axis
// Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
Execute:= ,
Position:= iPositionAtShutdown[i]);
END_FOR
// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
FOR i:=1 TO gvl_app.axisNum DO
fbReadEncRefSys[i](
Axis:= gvl.axes[i].Axis,
Enable:= bExecuteReadEncRefSys,
ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
Value=>,
ReadMode:= E_READMODE.READMODE_ONCE);
END_FOR
// Cycle through set position function blocks for each axis
// Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
Execute:= ,
Position:= iPositionAtShutdown[i]);
END_FOR
// Upon startup bColdStartDone will be set to FALSE, after the following initialisation it is set to TRUE
// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once
IF bColdstartDone = FALSE THEN
CASE eStartUp OF
ColdStart:
// First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bColdstartDone THEN
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
ReadAxisFeedbackType:
// Exectute the function blocks to read the encoder reference system (inc or abs)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
CheckReadDone:
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time
// If fbReadEncRefSys not started then go back a step
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF fbReadEncRefSys[i].Busy = TRUE THEN
// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
RETURN;
ELSE
// Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
// If it gets here it means .valid=FALSE, .error=FALSE and .busy=FALSE which indicateds the FB probably hasn't started
// and thus needs to see a rising edge. Set execute to low and go back a step in the CASE.
bExecuteReadEncRefSys:=FALSE;
eStartUp:=eStartUp-1;
iRetry:=iRetry+1;
RETURN;
END_IF
END_IF
END_FOR
// If the code gets here all axes either have .valid=TRUE or .ERROR=TRUE
// We disregard errors so that the whole program isn't held up, if there is an error on a axis the value is not restored
eStartUp:=eStartUp+1;
PrepareToRestore:
// Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
gvl.axes[i].control.eCommand:=MotionFunctions.Home;
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
END_IF
END_FOR
eStartUp:=eStartUp+1;
ExecuteRestore:
// Execute position restore using either mode 1: fbRestorePosition or mode 2: normal direct homing (depending on mode)
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
END_CASE
END_IF
END_FOR
eStartUp:=eStartUp+1;
CheckRestore:
// Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
// bColdStartDone will never get set to TRUE
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome:
IF NOT fbRestorePosition[i].Done THEN
RETURN;
END_IF
RestorePosition.RestoreWithHome:
IF NOT gvl.axes[i].status.bHomed THEN
RETURN;
END_IF
END_CASE
END_IF
END_FOR
eStartUp:=eStartUp+1;
FinishRestore: // Remove execute = TRUE for fbRestorePosition
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
bColdstartDone:=TRUE;
END_CASE
ColdStart:
// First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bPositionRestoreDone THEN
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
ReadAxisFeedbackType:
// Exectute the FUNCTION blocks TO read the encoder REFERENCE system (inc OR ABS)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
CheckReadDone:
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time
// If fbReadEncRefSys not started then go back a step
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF fbReadEncRefSys[i].Busy = TRUE THEN
// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
RETURN;
ELSE
// Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
// If the code gets here it means .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 and go back a step in the CASE.
bExecuteReadEncRefSys:=FALSE;
eStartUp:=eStartUp-1;
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;
PrepareToRestore:
// Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
gvl.axes[i].control.eCommand:=MotionFunctions.Home;
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
END_IF
END_FOR
eStartUp:=eStartUp+1;
ExecuteRestore:
// Execute position restore using either mode 1: fbRestorePosition or mode 2: normal direct homing (depending on mode)
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
END_CASE
END_IF
END_FOR
eStartUp:=eStartUp+1;
CheckRestore:
// Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
// bPositionRestoreDone will never get set to TRUE
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome:
IF NOT fbRestorePosition[i].Done THEN
RETURN;
END_IF
RestorePosition.RestoreWithHome:
IF NOT gvl.axes[i].status.bHomed THEN
RETURN;
END_IF
END_CASE
END_IF
END_FOR
eStartUp:=eStartUp+1;
FinishRestore: // Remove execute = TRUE for fbRestorePosition
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
bPositionRestoreDone:=TRUE;
END_CASE
END_IF]]></ST>
</Implementation>
</Action>
@@ -320,6 +318,9 @@ END_IF]]></ST>
<LineId Id="105" Count="0" />
<LineId Id="109" Count="0" />
<LineId Id="95" Count="0" />
<LineId Id="206" Count="0" />
<LineId Id="208" Count="1" />
<LineId Id="207" Count="0" />
<LineId Id="100" Count="0" />
<LineId Id="91" Count="1" />
<LineId Id="2" Count="7" />
@@ -327,12 +328,7 @@ END_IF]]></ST>
<LineId Id="10" Count="0" />
<LineId Id="97" Count="0" />
<LineId Id="11" Count="5" />
<LineId Id="106" Count="0" />
<LineId Id="17" Count="0" />
<LineId Id="107" Count="0" />
<LineId Id="18" Count="1" />
<LineId Id="172" Count="0" />
<LineId Id="20" Count="0" />
<LineId Id="18" Count="2" />
<LineId Id="177" Count="0" />
<LineId Id="21" Count="3" />
<LineId Id="171" Count="0" />
@@ -357,7 +353,6 @@ END_IF]]></ST>
<LineId Id="141" Count="0" />
<LineId Id="166" Count="0" />
<LineId Id="203" Count="0" />
<LineId Id="202" Count="0" />
<LineId Id="201" Count="0" />
<LineId Id="169" Count="0" />
<LineId Id="44" Count="0" />
@@ -377,9 +372,7 @@ END_IF]]></ST>
<LineId Id="204" Count="1" />
<LineId Id="67" Count="14" />
<LineId Id="175" Count="0" />
<LineId Id="82" Count="4" />
<LineId Id="176" Count="0" />
<LineId Id="87" Count="0" />
<LineId Id="82" Count="5" />
<LineId Id="1" Count="0" />
</LineIds>
</POU>