berti_r/Motion_test
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Remove mode 2 from iRestoreCode

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Issues found regarding overiding of .config params in the axis struct.
Also doubts about whether it would actually be used.
This commit is contained in:
Paul Barron
2019-12-17 10:27:25 +01:00
parent 3e28bfd79a
commit 5743a13513
1 changed files with 18 additions and 50 deletions
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68
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -39,7 +39,7 @@ VAR
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, PrepareToRestore, ExecuteRestore, CheckRestore, FinishRestore);
eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, ExecuteRestore, CheckRestore, FinishRestore);
bPositionRestoreDone : BOOL := FALSE;
bExecuteReadEncRefSys : BOOL := TRUE;
iRetry : INT;
@@ -70,10 +70,7 @@ STORE_PERSISTENT();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
gvl.axes[2].config.eRestorePosition:=RestorePosition.DontRestore;
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR]]></ST>
</Implementation>
@@ -129,14 +126,13 @@ fbEL1808(
<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
<Implementation>
<ST><![CDATA[///#########################################################
// This module will restore the position of an incremental axis on startup with the act position it read before losing power.
// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
// Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.axes[i].config.eRestorePosition is non-zero.
// There are two modes for position restore:
// There is a enum to allow for different types of restore modes, currently only one is implemented.
// 0 'DontRestore'
// 1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
// 2 'RestoreWithHome' -restores the position using a normal direct home routine and should set the home bit to TRUE in the axis struct.
// Note: 0 'DontRestore'
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
@@ -200,45 +196,24 @@ IF bPositionRestoreDone = FALSE THEN
// If the code gets here all axes either have .valid=TRUE for all axes
eStartUp:=eStartUp+1;
PrepareToRestore:
// Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(axesPersistent[i].bMovingAtShutdown) AND gvl.axes[i].config.eRestorePosition=RestorePosition.RestoreWithHome THEN
gvl.axes[i].control.eCommand:=MotionFunctions.Home;
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].config.fHomePosition:=axesPersistent[i].iPositionAtShutdown;
END_IF
END_FOR
eStartUp:=eStartUp+1;
ExecuteRestore:
// Execute position restore using either mode 1: fbRestorePosition or mode 2: normal direct homing (depending on mode)
// Execute position restore by setting fbRestorePosition.execute = TRUE
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
CASE GVL.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
END_CASE
fbRestorePosition[i].Execute:=TRUE;
END_IF
END_FOR
eStartUp:=eStartUp+1;
CheckRestore:
// Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
// 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 i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
CASE gvl.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome:
IF NOT fbRestorePosition[i].Done THEN
IF NOT fbRestorePosition[i].Done THEN
RETURN;
END_IF
RestorePosition.RestoreWithHome:
IF NOT gvl.axes[i].status.bHomed THEN
RETURN;
END_IF
END_CASE
END_IF
END_IF
END_FOR
eStartUp:=eStartUp+1;
@@ -277,8 +252,6 @@ END_IF]]></ST>
<LineId Id="293" Count="0" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="19" Count="1" />
<LineId Id="3" Count="0" />
<LineId Id="1" Count="0" />
<LineId Id="4" Count="0" />
<LineId Id="10" Count="0" />
@@ -311,9 +284,8 @@ END_IF]]></ST>
<LineId Id="98" Count="0" />
<LineId Id="213" Count="0" />
<LineId Id="101" Count="1" />
<LineId Id="104" Count="0" />
<LineId Id="103" Count="0" />
<LineId Id="105" Count="0" />
<LineId Id="215" Count="0" />
<LineId Id="214" Count="0" />
<LineId Id="109" Count="0" />
<LineId Id="95" Count="0" />
<LineId Id="206" Count="0" />
@@ -354,23 +326,19 @@ END_IF]]></ST>
<LineId Id="166" Count="0" />
<LineId Id="203" Count="0" />
<LineId Id="201" Count="0" />
<LineId Id="169" Count="0" />
<LineId Id="44" Count="0" />
<LineId Id="180" Count="0" />
<LineId Id="45" Count="1" />
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<LineId Id="53" Count="2" />
<LineId Id="173" Count="0" />
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<LineId Id="204" Count="1" />
<LineId Id="67" Count="14" />
<LineId Id="67" Count="1" />
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<LineId Id="175" Count="0" />
<LineId Id="82" Count="5" />
<LineId Id="1" Count="0" />