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Change iStartup case to eStartup

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Change int to enum for better readability
This commit is contained in:
Paul Barron
2019-12-04 15:09:05 +01:00
parent fe65683e7c
commit 56e8fb1c9b
1 changed files with 19 additions and 20 deletions
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solution/tc_project_app/POUs/MAIN.TcPOU
+19 -20
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@@ -39,8 +39,8 @@ VAR
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
iStartup : UINT := 0; // First cycle of the PLC after being reset/power cycled
bColdstartDone : BOOL := FALSE;
eStartUp: (coldStart, readEncRefSys, checkRead, checkFeedbackType, executePosRestore, checkFinished, finsishSetPosition);
bColdstartDone : BOOL := FALSE; // First cycle of the PLC after being reset/power cycled
bExecuteReadEncRefSys : BOOL := TRUE;
tmrRetry : TON;
iRetry : INT;
@@ -157,44 +157,42 @@ FOR i:=1 TO gvl_app.axisNum DO
END_FOR
IF bColdstartDone = FALSE THEN
CASE iStartup OF
0: // First cycle
CASE eStartUp OF
coldStart: // First cycle
IF NOT bColdstartDone THEN
iStartup:=iStartup+1;
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
1: // Read Enc Ref Sys - incremental or absolute
readEncRefSys: // Read Enc Ref Sys - incremental or absolute
bExecuteReadEncRefSys:=TRUE;
iStartup:=iStartup+1;
eStartUp:=eStartUp+1;
tmrRetry(in:=FALSE);
2: // Check if Enc Ref Sys has been read for all axis -> if not read again
checkRead: // Check if Enc Ref Sys has been read for all axis -> if not read again
tmrRetry(in:=TRUE, pt:=T#100MS);
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF tmrretry.Q THEN
bExecuteReadEncRefSys:=FALSE;
iStartup:=iStartup-1;
eStartUp:=eStartUp-1;
iRetry:=iRetry+1;
END_IF
RETURN;
ELSE
iStartup:=iStartup+1;
eStartUp:=eStartUp+1;
EXIT;
END_IF
END_FOR
3: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore
checkFeedbackType: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) THEN
IF gvl.axes[i].config.iRestorePosition=2 THEN
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].control.eCommand:=10;
//Doesn't work yet because you can only home to zero position
//gvl.axes[i].config.######:=iPositionAtShutdown[i];
END_IF
END_IF
END_FOR
iStartup:=iStartup+1;
4: // Execute position restore with or without bHome set
eStartUp:=eStartUp+1;
executePosRestore: // Execute position restore with or without bHome set
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.iRestorePosition OF
@@ -203,8 +201,8 @@ IF bColdstartDone = FALSE THEN
END_CASE
END_IF
END_FOR
iStartup:=iStartup+1;
5: // Check set position or direct homing is finished on axes that were opt-in
eStartUp:=eStartUp+1;
checkFinished: // Check set position or direct homing is finished on axes that were opt-in
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.iRestorePosition OF
@@ -219,8 +217,8 @@ IF bColdstartDone = FALSE THEN
END_CASE
END_IF
END_FOR
iStartup:=iStartup+1;
6: // Reset set position FBs and Finish
eStartUp:=eStartUp+1;
finsishSetPosition: // Reset set position FBs and Finish
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
@@ -272,7 +270,8 @@ END_IF]]></ST>
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.STARTUP">
<LineId Id="2" Count="85" />
<LineId Id="2" Count="47" />
<LineId Id="52" Count="35" />
<LineId Id="1" Count="0" />
</LineIds>
</POU>