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Remove timer tmrRetry from MAIN.STARTUP

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No longer required in the restore position state machine code.
If the read parameter function block isn't successful it will go back
a set in the case statement and try again.
The read parameter function block, fbReadEncRefSys, reads the type of axis
either inc or abs.
This commit is contained in:
Paul Barron
2019-12-11 13:35:50 +01:00
parent 090fbd03eb
commit 534a318269
1 changed files with 2 additions and 16 deletions
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solution/tc_project_app/POUs/MAIN.TcPOU
+2 -16
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@@ -42,14 +42,12 @@ VAR
eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, PrepareToRestore, ExecuteRestore, CheckRestore, FinishRestore);
bColdstartDone : BOOL := FALSE; // First cycle of the PLC after being reset/power cycled
bExecuteReadEncRefSys : BOOL := TRUE;
tmrRetry : TON;
iRetry : INT;
fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
fbUPS : FB_S_UPS_CX51x0;
eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
counter: INT;
END_VAR
VAR PERSISTENT
iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
@@ -175,9 +173,6 @@ FOR i:=1 TO gvl_app.axisNum DO
Position:= iPositionAtShutdown[i]);
END_FOR
// Timer required so the FBs for all axes can process before checking.
tmrRetry(in:=, pt:=T#200MS);
// 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
@@ -194,12 +189,10 @@ IF bColdstartDone = FALSE THEN
// Exectute the function blocks to read the encoder reference system (inc or abs)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
tmrRetry(in:=TRUE);
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
IF tmrretry.Q THEN
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF fbReadEncRefSys[i].Busy = TRUE THEN
@@ -210,7 +203,6 @@ IF bColdstartDone = FALSE THEN
// 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;
tmrRetry(in:=TRUE);
eStartUp:=eStartUp-1;
iRetry:=iRetry+1;
RETURN;
@@ -220,7 +212,6 @@ IF bColdstartDone = FALSE THEN
// 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;
END_IF
PrepareToRestore:
// Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
@@ -336,8 +327,6 @@ END_IF]]></ST>
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@@ -349,12 +338,11 @@ END_IF]]></ST>
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@@ -363,7 +351,6 @@ END_IF]]></ST>
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@@ -372,7 +359,6 @@ END_IF]]></ST>
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