diff --git a/solution/solution.tsproj b/solution/solution.tsproj index f7f0b27..9f5acc4 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,5 +1,884 @@ + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + + + 32 + 128 + + + CoupleState + UDINT + + + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + @@ -25,6 +904,166 @@ tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + MAIN.bLimitFwd + BOOL + + + MAIN.bLimitBwd + BOOL + + + MAIN.bHomeSensor + BOOL + + + MAIN.M1.MasterAxis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + + + HomingState + + + + + + CoupleState + + + + + + + MAIN.M1Link.Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + + + HomingState + + + + + + CoupleState + + + + + + + MAIN.M1Link.InfoData_State + UINT + + + + PlcTask Outputs + + MAIN.bOutput1 + BOOL + + + MAIN.bOutput2 + BOOL + + + MAIN.bOutput3 + BOOL + + + MAIN.bOutput4 + BOOL + + + MAIN.bOutput5 + BOOL + + + MAIN.bOutput6 + BOOL + + + MAIN.M1.MasterAxis.PlcToNc + PLCTONC_AXIS_REF + + + MAIN.M1Link.Axis.PlcToNc + PLCTONC_AXIS_REF + + + MAIN.bOutput7 + BOOL + + + MAIN.bOutput8 + BOOL + + diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index e42099b..8b7a3e3 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -1,14 +1,1033 @@ - - - - - + + + - + +]]> - + + + + + + + + "" + "Fbd" + + + false + false + false + + "" + "" + "" + false + + + "FB_NcAxis" + + "M1Link" + "FB_NcAxis" + "" + "" + "" + + 0 + false + false + + false + false + true + 3L + + + + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 5L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 6L + + + + + 0 + true + false + + + + + + "true" + "BOOL" + "" + "" + "" + + 0 + false + false + + false + false + false + 8L + + 7L + + + + + En + + + BOOL + + + + + EnO + bError + Status + + + BOOL + BOOL + ST_AxisStatus + + + FunctionBlock + false + false + + false + false + 4L + + + + 2L + + + false + false + false + + "" + "" + "" + false + + + "FB_DriveVirtual" + + "m1" + "FB_DriveVirtual" + "" + "" + "" + + 0 + false + false + + false + false + true + 9L + + + + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 11L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 12L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 13L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 14L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 15L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 16L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 17L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 18L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 19L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 20L + + + + + 0 + true + false + + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + 0 + true + false + + + 0 + false + false + + + 0 + false + false + + + 0 + false + false + + + + + + "true" + "BOOL" + "" + "" + "" + + 0 + false + false + + false + false + false + 22L + + 21L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 24L + + 23L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 26L + + 25L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 28L + + 27L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 30L + + 29L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 32L + + 31L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 34L + + 33L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 36L + + 35L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 38L + + 37L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 40L + + 39L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 42L + + 41L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 44L + + 43L + + + + "bLimitFwd" + "BOOL" + "" + "" + "%I*" + + 0 + false + false + + false + false + false + 46L + + 45L + + + + "bLimitBwd" + "BOOL" + "" + "" + "%I*" + + 0 + false + false + + false + false + false + 48L + + 47L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 50L + + 49L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 52L + + 51L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 54L + + 53L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 56L + + 55L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 58L + + 57L + + + + "bHomeSensor" + "BOOL" + "" + "" + "%I*" + + 0 + false + false + + false + false + false + 60L + + 59L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 62L + + 61L + + + + "" + + "" + "" + "" + + 0 + false + false + + false + false + false + 64L + + 63L + + + + "M1Link.axis" + "AXIS_REF" + "" + "" + "" + + 0 + false + false + + false + false + false + 66L + + 65L + + + + + En + bEnable + bReset + bExecute + nCommand + nCmdData + fVelocity + fPosition + fAcceleration + fDeceleration + bJogFwd + bJogBwd + bLimitFwd + bLimitBwd + bEnableSoftLimitFwd + bEnableSoftLimitBwd + fSoftLimitFwd + fSoftLimitBwd + fOverride + bHomeSensor + MasterAxis + nMotionAxisID + Axis + + + BOOL + BOOL + BOOL + BOOL + UINT + UINT + LREAL + LREAL + LREAL + LREAL + BOOL + BOOL + BOOL + BOOL + BOOL + BOOL + LREAL + LREAL + LREAL + BOOL + AXIS_REF + UDINT + AXIS_REF[REF] + + + + + EnO + bEnabled + bBusy + bDone + bError + bHomed + nErrorId + Status + fActVelocity + fActPosition + fActDiff + + + BOOL + BOOL + BOOL + BOOL + BOOL + BOOL + UDINT + ST_AxisStatus + LREAL + LREAL + LREAL + + + FunctionBlock + false + false + + false + false + 10L + + + + 1L + + + 0 + true + + + + System.Boolean + {acfc6f68-8e3a-4af5-bf81-3dd512095a46} + {9de7f100-1b87-424c-a62e-45b0cfc85ed2} + {668066f2-6069-46b3-8962-8db8d13d7db2} + System.Int32 + System.Int64 + {d9a99d73-b633-47db-b876-a752acb25871} + {25e509de-33d4-4447-93f8-c9e4ea381c8b} + {c9b2f165-48a2-4a45-8326-3952d8a3d708} + {bffb3c53-f105-4e85-aba2-e30df579d75f} + {f40d3e09-c02c-4522-a88c-dac23558cfc4} + {71496971-9e0c-4677-a832-b9583b571130} + System.String + + + + + + + + \ No newline at end of file