berti_r/Motion_test
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Change GVL_APP.nAxisNum to GVL_APP.nAXIS_NUM because it is a constant

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This commit is contained in:
Federico Rojas
2020-04-03 15:14:25 +02:00
parent 43d13b9320
commit 48dafb43a4
3 changed files with 13 additions and 13 deletions
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2
solution/tc_project_app/GVLs/GVL_APP.TcGVL
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@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
nAxisNum : UINT:=0;
nAXIS_NUM : UINT:=0;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>

22
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -4,7 +4,7 @@
<Declaration><![CDATA[PROGRAM MAIN
VAR
sVersion: STRING := '1.0.0';
afbAxes: ARRAY [1..GVL_APP.nAxisNum] OF FB_Axis;
afbAxes: ARRAY [1..GVL_APP.nAXIS_NUM] 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)
@@ -25,8 +25,8 @@ VAR
bExecuteReadEncRefSys: BOOL := FALSE;
nRetry: INT;
iAxes : UINT; //index for for loops in Position recovery actions
afbReadEncRefSys: ARRAY [1..GVL_APP.nAxisNum] OF MC_ReadParameter;
afbRestorePosition: ARRAY [1..GVL_APP.nAxisNum] OF MC_SetPosition;
afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition;
fbGetDeviceIdentification: FB_GetDeviceIdentification;
END_VAR
@@ -41,7 +41,7 @@ AXES();]]></ST>
<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.nAxisNum DO
<ST><![CDATA[FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
afbAxes[GVL.iAxis](stAxisStruct := GVL.astAxes[GVL.iAxis]);
END_FOR]]></ST>
</Implementation>
@@ -100,7 +100,7 @@ END_IF
IF bRestoreExecute AND NOT bPositionRestoreDone THEN
//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 iAxes := 1 TO GVL_APP.nAxisNum DO
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
afbReadEncRefSys[iAxes](
Axis := GVL.astAxes[iAxes].Axis,
Enable := bExecuteReadEncRefSys,
@@ -109,7 +109,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_FOR
//Cycle through set position function blocks for each axis
FOR iAxes := 1 TO GVL_APP.nAxisNum DO
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
afbRestorePosition[iAxes](
Axis := GVL.astAxes[iAxes].Axis,
Position := astAxesPersistent[iAxes].fPositionAtShutdown);
@@ -132,7 +132,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
//Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
//If afbReadEncRefSys not started then go back a step.
//If any axes result in an error the code will get stuck here, this happens if GVL_APP.nAxisNum is not set correctly
FOR iAxes := 1 TO GVL_APP.nAxisNum DO
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF afbReadEncRefSys[iAxes].Valid = FALSE THEN
IF afbReadEncRefSys[iAxes].Busy = TRUE THEN
//Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
@@ -153,7 +153,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eExecuteRestore:
//Execute position restore by setting afbRestorePosition.execute = TRUE
FOR iAxes := 1 TO GVL_APP.nAxisNum DO
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(astAxesPersistent[iAxes].bMovingAtShutdown) THEN
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
afbRestorePosition[iAxes].Execute := TRUE;
@@ -166,7 +166,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
//Check the set position fbs are finished
//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 and will take up cycle time
FOR iAxes := 1 TO GVL_APP.nAxisNum DO
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF afbReadEncRefSys[iAxes].Valid = TRUE AND afbReadEncRefSys[iAxes].Value = 0 AND NOT(astAxesPersistent[iAxes].bMovingAtShutdown) THEN
IF GVL.astAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.eRestoreWithoutHome THEN
IF NOT afbRestorePosition[iAxes].Done THEN
@@ -179,7 +179,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eFinishRestore:
//Remove execute = TRUE for afbRestorePosition
FOR iAxes := 1 TO GVL_APP.nAxisNum DO
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
afbRestorePosition[iAxes].Execute := FALSE;
END_FOR
bPositionRestoreDone := TRUE;
@@ -190,7 +190,7 @@ END_IF]]></ST>
</Action>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR iAxes := 1 TO GVL_APP.nAxisNum DO
<ST><![CDATA[FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
astAxesPersistent[iAxes].fPositionAtShutdown := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
IF GVL.astAxes[iAxes].Axis.NcToPlc.ActVelo <> 0 THEN
astAxesPersistent[iAxes].bMovingAtShutdown := TRUE;

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 51ab59a914...08a5fd1399