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Fix all references from the chages DUT's in the FB's and POU's

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This commit is contained in:
Federico Rojas
2020-03-17 14:34:44 +01:00
parent 68498ae44f
commit 56929e3be1
5 changed files with 14 additions and 115 deletions
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solution/tc_project_app/POUs/MAIN.TcPOU
+3 -73
View File
@@ -159,7 +159,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Execute position restore by setting aFbRestorePosition.execute = TRUE
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(axesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF GVL.axes[GVL.iAxis].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
IF GVL.axes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
aFbRestorePosition[GVL.iAxis].Execute := TRUE;
END_IF
END_IF
@@ -172,7 +172,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(axesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF GVL.axes[GVL.iAxis].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
IF GVL.axes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
IF NOT aFbRestorePosition[GVL.iAxis].Done THEN
RETURN;
END_IF
@@ -227,77 +227,7 @@ END_FOR]]></ST>
<LineId Id="2" Count="0" />
</LineIds>
<LineIds Name="MAIN.RESTORE_POSITIONS">
<LineId Id="99" Count="0" />
<LineId Id="94" Count="0" />
<LineId Id="98" Count="0" />
<LineId Id="213" Count="0" />
<LineId Id="101" Count="0" />
<LineId Id="233" Count="1" />
<LineId Id="102" Count="0" />
<LineId Id="215" Count="0" />
<LineId Id="214" Count="0" />
<LineId Id="109" Count="0" />
<LineId Id="236" Count="2" />
<LineId Id="240" Count="0" />
<LineId Id="239" 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" />
<LineId Id="96" Count="0" />
<LineId Id="10" Count="6" />
<LineId Id="18" Count="2" />
<LineId Id="177" Count="0" />
<LineId Id="21" Count="3" />
<LineId Id="171" Count="0" />
<LineId Id="25" Count="0" />
<LineId Id="178" Count="0" />
<LineId Id="26" Count="1" />
<LineId Id="170" Count="0" />
<LineId Id="29" Count="0" />
<LineId Id="179" Count="0" />
<LineId Id="163" Count="0" />
<LineId Id="212" Count="0" />
<LineId Id="152" Count="0" />
<LineId Id="139" Count="0" />
<LineId Id="131" Count="0" />
<LineId Id="155" Count="0" />
<LineId Id="190" Count="0" />
<LineId Id="140" Count="0" />
<LineId Id="157" Count="0" />
<LineId Id="210" Count="1" />
<LineId Id="187" Count="0" />
<LineId Id="150" Count="1" />
<LineId Id="200" Count="0" />
<LineId Id="145" Count="0" />
<LineId Id="141" Count="0" />
<LineId Id="166" Count="0" />
<LineId Id="203" Count="0" />
<LineId Id="201" Count="0" />
<LineId Id="173" Count="0" />
<LineId Id="56" Count="0" />
<LineId Id="181" Count="0" />
<LineId Id="57" Count="1" />
<LineId Id="216" Count="0" />
<LineId Id="219" Count="1" />
<LineId Id="63" Count="2" />
<LineId Id="174" Count="0" />
<LineId Id="66" Count="0" />
<LineId Id="182" Count="0" />
<LineId Id="204" Count="1" />
<LineId Id="67" Count="1" />
<LineId Id="221" Count="0" />
<LineId Id="71" Count="2" />
<LineId Id="222" Count="0" />
<LineId Id="79" Count="2" />
<LineId Id="175" Count="0" />
<LineId Id="82" Count="0" />
<LineId Id="223" Count="0" />
<LineId Id="83" Count="3" />
<LineId Id="241" Count="0" />
<LineId Id="87" Count="0" />
<LineId Id="242" Count="109" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.STORE_PERSISTENT">
solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+6 -16
View File
@@ -37,7 +37,7 @@ END_VAR]]></Declaration>
<ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed.
GVL.axes[iAxisIndex].control.bEnable := TRUE;
GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
GVL.axes[iAxisIndex].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
@@ -58,7 +58,7 @@ VAR_INPUT
fTargetAcceleration: LREAL;
fTargetDeceleration: LREAL;
fTargetPosition: LREAL;
eMotionStrategy: MotionFunctions; // The desired MotionFunctions motion strategy.
eMotionStrategy: E_MotionFunctions; // The desired MotionFunctions motion strategy.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Prepare the axis so it is ready to action a move when executed for a given motion strategy.
@@ -100,7 +100,7 @@ GVL.axes[iAxisIndex].control.bReset := FALSE;
GVL.axes[iAxisIndex].control.bJogFwd := FALSE;
GVL.axes[iAxisIndex].control.bJogBwd := FALSE;
GVL.axes[iAxisIndex].control.bStop := FALSE;
GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
GVL.axes[iAxisIndex].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.axes[iAxisIndex].config.fVelocity := 0.0;
GVL.axes[iAxisIndex].config.fAcceleration := 0.0;
@@ -125,25 +125,15 @@ GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;]]></ST>
<LineId Id="5" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mPrepareDefaultMove">
<LineId Id="6" Count="0" />
<LineId Id="38" Count="0" />
<LineId Id="8" Count="1" />
<LineId Id="39" Count="0" />
<LineId Id="11" Count="6" />
<LineId Id="44" Count="11" />
<LineId Id="19" Count="0" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mPrepareMove">
<LineId Id="17" Count="11" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mSetAxisDefaults">
<LineId Id="6" Count="0" />
<LineId Id="41" Count="0" />
<LineId Id="34" Count="1" />
<LineId Id="31" Count="0" />
<LineId Id="44" Count="1" />
<LineId Id="43" Count="0" />
<LineId Id="36" Count="2" />
<LineId Id="7" Count="19" />
<LineId Id="50" Count="29" />
<LineId Id="26" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
+1 -1
View File
@@ -66,7 +66,7 @@ InitialValue := GVL.axes[iTargetAxis].config.fPosition;
ExpectedResult := InitialValue + 10;
GVL.axes[iTargetAxis].config.fPosition := ExpectedResult;
GVL.axes[iTargetAxis].control.eCommand := MotionFunctions.MoveAbsolute;
GVL.axes[iTargetAxis].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.axes[iTargetAxis].control.bExecute := TRUE;
Result := GVL.axes[iTargetAxis].status.fActPosition;
solution/tc_project_app/tc_mca_std_lib
+1 -1
Submodule solution/tc_project_app/tc_mca_std_lib updated: 6202b7b790...8edeaa86c4
solution/tc_project_app/tc_project_app.plcproj
+3 -24
View File
@@ -39,7 +39,7 @@
<Compile Include="tc_mca_std_lib\DUTs\E_HomeSwitchTypeClass.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\RestorePosition.TcDUT">
<Compile Include="tc_mca_std_lib\DUTs\E_RestorePosition.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisConfig.TcDUT">
@@ -48,7 +48,7 @@
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisControl.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\MotionFunctions.TcDUT">
<Compile Include="tc_mca_std_lib\DUTs\E_MotionFunctions.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisDescription.TcDUT">
@@ -87,33 +87,12 @@
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeDirect.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeFinish.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomePrepare.TcPOU">
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeAbsoluteSwitch.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadNcVelocities.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeReadSoftLimEnable.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeToSwitch.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeVirtual.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeWriteNcVelocities.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeWriteSoftLimEnable.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
<SubType>Code</SubType>
</Compile>