berti_r/Motion_test
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add hardware and functions for development with test crate

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This commit is contained in:
SCooper committed 2021-07-23 12:03:59 +01:00
1 parent a7e214719e
commit 4827ed4235
11 files changed
+4641 -72
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solution/_Config/NC/NC.xti
+2063 -1
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solution/_Config/PLC/tc_project_app.xti
+1038
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solution/solution.tsproj
+1484 -1
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solution/tc_project_app/GVLs/GVL_APP.TcGVL
+2 -1
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@@ -2,13 +2,14 @@
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
<GVL Name="GVL_APP" Id="{8fe9690c-7907-432e-bedb-6fc99b5ce255}">
<Declaration><![CDATA[
{attribute 'qualified_only'}
VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
nAXIS_NUM : UINT:=0;
nAXIS_NUM : UINT:=4;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>
solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU
-18
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@@ -1,18 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
<POU Name="Application_Template" Id="{4bdeebc0-15d8-4790-97d0-e9c4239d121c}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM Application_Template
VAR
//Define all necessary variables for your application
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[//Program any specific code or safety code for an specific application when it involves multiple axes
//Eg. Collision avoidance, interlocks, sequencing, etc.]]></ST>
</Implementation>
<LineIds Name="Application_Template">
<LineId Id="5" Count="0" />
<LineId Id="10" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU
+19
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@@ -0,0 +1,19 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
<POU Name="limitsPower" Id="{7dcb7d67-8fc5-4c4f-a1c9-d3a3a11a9340}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM limitsPower
VAR
bEnableAxis1Limits AT %Q*: BOOL:=TRUE;
bEnableAxis2Limits AT %Q*: BOOL:=TRUE;
bEnableAxis1Enc AT %Q*: BOOL:=TRUE;
bEnableAxis2Enc AT %Q*: BOOL:=TRUE;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
<LineIds Name="limitsPower">
<LineId Id="5" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
-34
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@@ -1,34 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
<POU Name="Axis_Template" Id="{1a43acb4-bd2e-4637-97fb-9976d47292b6}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM Axis_Template
VAR
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[//Initial parameters of an Axis
(*IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
//Initial default values:
GVL.astAxes[1].stConfig.eHomeSeq := 0;
GVL.astAxes[1].stConfig.fHomePosition := 0.0;
GVL.astAxes[1].stConfig.fHomeFinishDistance := 0.0;
END_IF*)
//Define ACTIONS() or write exclusive code for an specific axis.
//Eg. Stop when temperature reaches certain values, reduce speed if a signal is activated, etc.
]]></ST>
</Implementation>
<LineIds Name="Axis_Template">
<LineId Id="20" Count="0" />
<LineId Id="5" Count="0" />
<LineId Id="13" Count="0" />
<LineId Id="17" Count="2" />
<LineId Id="14" Count="0" />
<LineId Id="22" Count="0" />
<LineId Id="21" Count="0" />
<LineId Id="24" Count="0" />
<LineId Id="23" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU
+25
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@@ -0,0 +1,25 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.5">
<POU Name="testProg" Id="{6b742e2c-3720-4a26-aa80-15486c69d838}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM testProg
VAR
myFirstSlits : FB_SlitPair;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.astAxes[1].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Bwd;
GVL.astAxes[1].stConfig.fHomePosition:=30;
GVL.astAxes[2].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Fwd;
GVL.astAxes[2].stConfig.fHomePosition:=-30;
myFirstSlits(iBladeNegative:=2,iBladePositive:=1, iGapSize:=3, iGapCentre:=4);]]></ST>
</Implementation>
<LineIds Name="testProg">
<LineId Id="10" Count="0" />
<LineId Id="12" Count="0" />
<LineId Id="11" Count="0" />
<LineId Id="13" Count="1" />
<LineId Id="5" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
solution/tc_project_app/POUs/MAIN.TcPOU
+4 -14
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@@ -78,14 +78,9 @@ END_IF]]></ST>
</Action>
<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
<Implementation>
<ST><![CDATA[//Call the programs that are defined in the "Application Specific" folder.
//Create as many programs in that folder as axes and applications you have or need
//Axes initial parameters and program
Axis_Template();
//Application program calls
Application_Template();]]></ST>
<ST><![CDATA[testProg();
limitsPower();
]]></ST>
</Implementation>
</Action>
<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
@@ -233,12 +228,7 @@ END_FOR]]></ST>
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.PROG">
<LineId Id="4" Count="1" />
<LineId Id="7" Count="0" />
<LineId Id="6" Count="0" />
<LineId Id="8" Count="0" />
<LineId Id="10" Count="0" />
<LineId Id="9" Count="0" />
<LineId Id="11" Count="1" />
<LineId Id="3" Count="0" />
</LineIds>
<LineIds Name="MAIN.RESTORE_POSITIONS">
solution/tc_project_app/tc_mca_std_lib
+1 -1
Submodule solution/tc_project_app/tc_mca_std_lib updated: bc5e78c637...735c9fed01.
solution/tc_project_app/tc_project_app.plcproj
+5 -2
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@@ -27,10 +27,10 @@
<Compile Include="PlcTask.TcTTO">
<SubType>Code</SubType>
</Compile>
<Compile Include="POUs\Application_Specific\Applications\Application_Template.TcPOU">
<Compile Include="POUs\Application_Specific\Applications\limitsPower.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="POUs\Application_Specific\Axes\Axis_Template.TcPOU">
<Compile Include="POUs\Application_Specific\Axes\testProg.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="POUs\MAIN.TcPOU">
@@ -93,6 +93,9 @@
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_SlitPair.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
<SubType>Code</SubType>
</Compile>