From 9f952987de358000705e7e4cb8fa54734b52fa6d Mon Sep 17 00:00:00 2001
From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com>
Date: Tue, 14 May 2019 16:28:46 +0100
Subject: [PATCH 001/169] Visualisation added
Add PLC visualisation first pass
Functionality tested
GUI scales with axes
Issues identified due to base code solution:
A lot of outputs not linked
Execute not cleared by default in code, it is not possible to send repeated commands as if the eCommand is held then the mc_Fb.Execute:=false is never set
Reset not cleared by default in code (if errors again will just auto-reset)
Doesn't clear stop (however this may be a good thing)
Jog velocity input not utilised in mode 0 current set in code, we would need MC_JOGMODE_CONTINUOUS
---
solution/TrialLicense.tclrs | 2 +-
solution/_Config/NC/Axes/Axis 1.xti | 1549 +++
solution/solution.tsproj | 94 +-
solution/tc_project_app/GlobalTextList.TcGTLO | 249 +
solution/tc_project_app/POUs/MAIN.TcPOU | 4 +-
solution/tc_project_app/VISUs/MainVisu.TcVIS | 8607 +++++++++++++++++
.../tc_project_app/VISUs/RecipeManager.TcRMO | 44 +
.../VISUs/languageSupport.TcTLO | 258 +
.../tc_project_app/VISUs/visuTextLinks.TcTLO | 49 +
.../Visualization Manager.TcVMO | 167 +
.../tc_project_app/tc_project_app.plcproj | 30 +-
11 files changed, 11045 insertions(+), 8 deletions(-)
create mode 100644 solution/_Config/NC/Axes/Axis 1.xti
create mode 100644 solution/tc_project_app/GlobalTextList.TcGTLO
create mode 100644 solution/tc_project_app/VISUs/MainVisu.TcVIS
create mode 100644 solution/tc_project_app/VISUs/RecipeManager.TcRMO
create mode 100644 solution/tc_project_app/VISUs/languageSupport.TcTLO
create mode 100644 solution/tc_project_app/VISUs/visuTextLinks.TcTLO
create mode 100644 solution/tc_project_app/Visualization Manager.TcVMO
diff --git a/solution/TrialLicense.tclrs b/solution/TrialLicense.tclrs
index 3b78bf8..22c783e 100644
--- a/solution/TrialLicense.tclrs
+++ b/solution/TrialLicense.tclrs
@@ -1,2 +1,2 @@
-{647C6958-3A0C-73AB-3631-FCA93A32D91D}2019-03-28T10:01:002019-04-05T00:00:00c5d3cb1031fe69b92637f818532268e150e73209fbcde806d6a45fa5c587430d79f2c1228179d00673ab0c897cec2974facbbdea6732800f514190342df993e6cf6c8900d81c6168e82abc6419353caaa16eae89c3652b99dc5724bd894c9688d636d924d65f9bd2be9c76a54d9389d9c2e80b95ac96243e653e4af19badfbdfa010ba61245f038ad5eef223906c4cade2def8629cdbed3a49da1c64a666625c6c23b0d87507ee78907eaf7e2d8bf7b2ce4fd5d511ecc80ae9058fbc8fabd02bf239827c8abad467f34390374768fe2427b583c8af5c86ee51c2f4bbadd341b0daccb1e0c5625b4894babedd35d3cb816a514aab66bc4fcaa5762164e6e078da{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}TC3 ADSTC1000{3FF18E97-7754-401B-93FB-70544DE28A13}TC3 IOTC1100{66689887-CCBD-452C-AC9A-039D997C6E66}TC3 PLCTC1200{A19036CF-A53B-4E3A-99FF-023EF5C4798B}TC3 NC PTP Axis10{520DE751-9DB6-47CB-8240-BD5C466E7E64}TC3 NC PTPTF5000{3EBB9639-5FF3-42B6-8847-35C70DC013C8}TC3 TCP/IPTF6310
+{52C4A619-551C-008A-DE5B-87C2D878314F}2019-05-14T13:08:002019-05-22T00:00:007fb4b4047c0c0233876df9026c1106362df127501e8fc4ebfa2c2b01c4ab2b4f9f1b765d8974d1af6260643139b69e5ae7ad52ba3be25218df7cde630544f0bd6cb1137b38fdb67505e770577256d7fa7f5dbd438d76176734cb8252d2b0a1737832f8aaf3411d263823fcd30320ee3a4d1a4772572ca014c85dac60d064898cfdd03f5069b6ef13927a1a3aa6acaf7558f21949780efdf7e4e5deccb3e763f0b6662d83eac91498422fdbea343d391853d34dd30e1f6681415dd3c26316d5551f7c35a30cd4e7671b35a1e9d5447ab5bf03cfe0f29e2abb4df13b4972ae6254f25456c23650f2f9a2faa9891d2f591ea109ab213f45fbec510fd24f3aa97c17{3EBB9639-5FF3-42B6-8847-35C70DC013C8}TC3 TCP/IPTF6310{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}TC3 ADSTC1000{A19036CF-A53B-4E3A-99FF-023EF5C4798B}TC3 NC PTP Axis10{66689887-CCBD-452C-AC9A-039D997C6E66}TC3 PLCTC1200{520DE751-9DB6-47CB-8240-BD5C466E7E64}TC3 NC PTPTF5000{3FF18E97-7754-401B-93FB-70544DE28A13}TC3 IOTC1100
diff --git a/solution/_Config/NC/Axes/Axis 1.xti b/solution/_Config/NC/Axes/Axis 1.xti
new file mode 100644
index 0000000..7ed44bb
--- /dev/null
+++ b/solution/_Config/NC/Axes/Axis 1.xti
@@ -0,0 +1,1549 @@
+
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
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+
+ [%u, %u]
+ [0]
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+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
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+ NCENCODERSTRUCT_IN2B
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+ nDataIn1
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+
+ nDcInputTime
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+ nDataIn7
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+ 96
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+ 32
+ 0
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+ 72
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+
+ 8
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+ nDcOutputTime
+ DINT
+ 32
+ 256
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+ 96
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+ NCDRIVESTRUCT_OUT2
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+ nDataOut1
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+ 32
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+ nDataOut2
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+ 32
+ 32
+
+
+ nCtrl1
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+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
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+ 88
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+
+ nDataOut3
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+ nDataOut4
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+ NCDRIVESTRUCT_OUT
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+ 96
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+ PLCTONC_AXIS_REF_CTRL
+ 32
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+ Enable
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+ 1
+ 0
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+ FeedEnablePlus
+ BIT
+ 1
+ 1
+
+
+ FeedEnableMinus
+ BIT
+ 1
+ 2
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+
+ HomingSensor
+ BIT
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+ 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
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+
+ GearRatio1
+ LREAL
+ 64
+ 576
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+
+ GearRatio2
+ LREAL
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+ GearRatio3
+ LREAL
+ 64
+ 704
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+ GearRatio4
+ LREAL
+ 64
+ 768
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+ MapState
+ BOOL
+ 8
+ 832
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+ PlcCycleControl
+ BYTE
+ 8
+ 840
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+ PlcCycleCount
+ BYTE
+ 8
+ 848
+
+
+
+ NcStructType
+ 1
+
+
+
+
+ NCAXLESTRUCT_FROMPLC3
+
+
+
+
+ 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
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+ HasJob
+ BIT
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+ 8
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+ PositiveDirection
+ BIT
+ 1
+ 9
+
+
+ NegativeDirection
+ BIT
+ 1
+ 10
+
+
+ HomingBusy
+ BIT
+ 1
+ 11
+
+
+ ConstantVelocity
+ BIT
+ 1
+ 12
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+
+ Compensating
+ BIT
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+ 13
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+
+ ExtSetPointGenEnabled
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+ 14
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+ PhasingActive
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+ ControlLoopClosed
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+ 20
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+
+ CamTableQueued
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+ 21
+
+
+ CamDataQueued
+ BIT
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+ 22
+
+
+ CamScalingPending
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+
+
+ CmdBuffered
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+ 1
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+
+ PTPmode
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+
+ SoftLimitMinExceeded
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+ 26
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+
+ SoftLimitMaxExceeded
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+ 27
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+ DriveDeviceError
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+ MotionCommandsLocked
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+ IoDataInvalid
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+ %08x
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+ 0x%08x
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+
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+
+ NCTOPLC_AXIS_REF_OPMODE
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+ OpModePosAreaMonitoring
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+ OpModeTargetPosMonitoring
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+ OpModeLoop
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+ OpModeDelayedErrorReaction
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+ OpModeModulo
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+
+ OpModeSimulationAxis
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+ 8
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+
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+ OpModeVeloLagMonitoring
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+
+ OpModeSoftLimitMinMonitoring
+ BIT
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+ BIT
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+
+
+ OpModePosCorrection
+ BIT
+ 1
+ 20
+
+
+ OpModeAllowSlaveCommands
+ BIT
+ 1
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+
+
+ OpModeAllowExtSetAxisCommands
+ BIT
+ 1
+ 22
+
+
+ ApplicationRequest
+ BIT
+ 1
+ 23
+
+
+
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+
+ AvoidingCollision
+ BIT
+ 1
+ 0
+
+
+ %08x
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+
+ 0x%08x
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+
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+
+
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+ 1
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+
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+
+
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+
+
+
+ UINTARR8
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+ NCTOPLC_AXIS_REF
+ 2048
+
+ StateDWord
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+ 32
+ 0
+
+
+ ErrorCode
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+ 32
+ 32
+
+
+ AxisState
+ UDINT
+
+
+
+ 32
+ 64
+
+
+ AxisModeConfirmation
+ UDINT
+ 32
+ 96
+
+
+ HomingState
+ UDINT
+
+
+
+ 32
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+
+
+ CoupleState
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+
+
+
+ 32
+ 160
+
+
+ SvbEntries
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+ 32
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+
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+ SafEntries
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+
+
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+
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+
+
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+ 64
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+
+
+ ActiveControlLoopIndex
+ UINT
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+
+
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+ UINT
+ 16
+ 464
+
+
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+ DINT
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+
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+
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+
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+
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+
+
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+
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+ 896
+
+
+ ModuloSetTurns
+ DINT
+ 32
+ 960
+
+
+ CmdNo
+ UINT
+ 16
+ 992
+
+
+ CmdState
+ UINT
+ 16
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+
+
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+ 64
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+
+
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+
+
+ ActTorque
+ LREAL
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+ 1152
+
+
+ StateDWord2
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+ 1216
+
+
+ StateDWord3
+ DWORD
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+
+
+ TouchProbeState
+ DWORD
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+
+
+ TouchProbeCounter
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+ 1312
+
+
+ CamCouplingState
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+
+ 0
+ 8
+
+ 64
+ 1344
+
+
+ CamCouplingTableID
+ UINTARR8
+ 128
+ 1408
+
+
+ ActTorqueDerivative
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+ 1536
+
+
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+
+
+ ActPosWithoutPosCorrection
+ LREAL
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+
+
+ ActAcc
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+ 64
+ 1856
+
+
+ DcTimeStamp
+ UDINT
+ 32
+ 1920
+
+
+
+ NcStructType
+ 2
+
+
+
+
+ NCAXLESTRUCT_TOPLC
+
+
+ NCAXLESTRUCT_TOPLC2
+
+
+ NCAXLESTRUCT_TOPLC3
+
+
+ NCAXLESTRUCT_TOPLC4
+
+
+
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+
+
+
+
+
+
+
+
+
+
+ __FILENAME__
+
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+
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+ 2368
+
+ nDataOut1
+
+
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+
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+
+
+
+
+
+ nCtrl3
+
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+
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+
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+
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+
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+
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+
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+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
+
+
+
+
+
+
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 313b9a2..7a1623e 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
@@ -912,6 +912,7 @@ External Setpoint Generation:
NC-Task 1 SVB
+
@@ -1003,6 +1004,83 @@ External Setpoint Generation:
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
+]]>
+
+
+
+
+ GVL.axes[2].bLimitFwd
+
+
+
+ BOOL
+
+
+ GVL.axes[2].bLimitBwd
+
+
+
+ BOOL
+
+
+ GVL.axes[2].bHomeSensor
+
+
+
+ BOOL
+
+
+ GVL.axes[2].bEncLAtch
+
+
+
+ BOOL
+
+
+ GVL.axes[2].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
@@ -1021,6 +1099,10 @@ External Setpoint Generation:
GVL.axes[1].Axis.PlcToNc
PLCTONC_AXIS_REF
+
+ GVL.axes[2].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
@@ -1028,5 +1110,15 @@ External Setpoint Generation:
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
new file mode 100644
index 0000000..5bc0ad5
--- /dev/null
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -0,0 +1,249 @@
+
+
+
+
+
+
+
+
+ "377"
+ "%2.2f"
+
+
+
+ "922"
+ "%d"
+
+
+
+ "254"
+ "accel"
+
+
+
+ "192"
+ "actPos"
+
+
+
+ "403"
+ "actVel"
+
+
+
+ "422"
+ "AXESMAX"
+
+
+
+ "214"
+ "axisSel"
+
+
+
+ "605"
+ "bBusy"
+
+
+
+ "432"
+ "bBwEnabled"
+
+
+
+ "687"
+ "bDone"
+
+
+
+ "313"
+ "bEnabled"
+
+
+
+ "3"
+ "bError"
+
+
+
+ "572"
+ "bExecute"
+
+
+
+ "606"
+ "bFWEnabled"
+
+
+
+ "528"
+ "bFwEnabled"
+
+
+
+ "42"
+ "bHomed"
+
+
+
+ "647"
+ "bResetDone"
+
+
+
+ "68"
+ "bWarning"
+
+
+
+ "873"
+ "Change to Default Language"
+
+
+
+ "757"
+ "Change to Test Language"
+
+
+
+ "918"
+ "decel"
+
+
+
+ "743"
+ "ENABLE"
+
+
+
+ "768"
+ "ENABLE BW"
+
+
+
+ "98"
+ "ENABLE FW"
+
+
+
+ "479"
+ "errID"
+
+
+
+ "286"
+ "fAcceleration"
+
+
+
+ "821"
+ "fAccleration"
+
+
+
+ "306"
+ "fDeceleration"
+
+
+
+ "618"
+ "fPosition"
+
+
+
+ "766"
+ "fVelocity"
+
+
+
+ "26"
+ "jog+/- reset stop home"
+
+
+
+ "331"
+ "jogBw"
+
+
+
+ "468"
+ "jogFw"
+
+
+
+ "99"
+ "moveAbsolute"
+
+
+
+ "935"
+ "moveModulo"
+
+
+
+ "50"
+ "moveRelative"
+
+
+
+ "453"
+ "moveVelocity"
+
+
+
+ "830"
+ "PLC axes available: %d"
+
+
+
+ "852"
+ "POSITION"
+
+
+
+ "985"
+ "reset"
+
+
+
+ "293"
+ "stop"
+
+
+
+ "780"
+ "targetPosition"
+
+
+
+ "239"
+ "toggle"
+
+
+
+ "1"
+ "vel"
+
+
+
+ "752"
+ "VELOCITY"
+
+
+
+
+ {d7005498-b4fa-4a56-8593-01efab31a22a}
+ {eb0543d6-24e5-4c0d-b12a-2b173f65a3e6}
+ {58c39072-3512-4d2d-9972-e2fb2a30b0d1}
+
+
+
+ System.Collections.ArrayList
+ {63784cbb-9ba0-45e6-9d69-babf3f040511}
+ System.Guid
+ System.String
+ {53da1be7-ad25-47c3-b0e8-e26286dad2e0}
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 639c474..ef9925b 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,11 +1,13 @@
-
+
+
+
+
+
+
+
+ "7"
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+
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+ 571893170L
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+
+
+ 2597686782L
+ false
+
+
+ 743958181L
+ "GVL.axes[MAIN.hmiAxisSelection].bEnable"
+
+
+
+ "PowerSwitch"
+ "VisuFbElemPowerSwitch"
+ true
+ "GenElemInst_32"
+
+
+
+ {87d28080-4430-4217-acdb-ac608700b6e4}
+ {98c8ae72-e756-4d11-b6a5-5914882e2424}
+
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+ 33
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+ {f285c9a3-7019-446b-b98c-ccec3a0af8fa}
+ {c694e3a2-5c0b-4177-ab35-cb06bd5a6a02}
+ {a4b83bea-3742-489c-9fe8-d96d68dba7ab}
+ {17e26cd1-bb9b-47fe-a3d5-18fcd63b9c96}
+ {f18bec89-9fef-401d-9953-2f11739a6808}
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/VISUs/RecipeManager.TcRMO b/solution/tc_project_app/VISUs/RecipeManager.TcRMO
new file mode 100644
index 0000000..fcce9bb
--- /dev/null
+++ b/solution/tc_project_app/VISUs/RecipeManager.TcRMO
@@ -0,0 +1,44 @@
+
+
+
+
+
+
+
+
+ GVL_RECIPEMANAGEMENT_3300
+ 8f0b301a-1479-42c8-8ffd-a38dff637643
+ RECIPEFACTORY
+ a27510d2-2266-40b1-9622-5959c6103cf9
+ RECIPEMANAGEMENTINITFB_INIT
+ 4f75d468-ad7c-44d9-a8fb-1b01547078ae
+ RECIPEFACTORYFREERECIPE
+ 835c7ab6-825e-4eb4-87a2-c250ec48e077
+ RECIPEFACTORYFB_INIT
+ ca8b7701-464d-45a1-906c-b0553b019fbc
+ RECIPEMANAGEMENTINITFB_REINIT
+ 56b7bd3b-03fc-4f06-8921-da60d23e38c5
+ RECIPEMANAGEMENTINIT
+ 29d93734-f9f2-4d0d-a61b-6a22178e9b6d
+ RECIPEMANAGEMENTINITINITIALIZE
+ ec029522-de39-4c7a-9a12-4fc5289fe8e9
+ RECIPEFACTORYCREATERECIPE
+ dc98e06d-642e-4964-9112-a90d1f0bb7f3
+
+
+
+ true
+ false
+
+
+
+ System.Boolean
+ System.Guid
+ System.Collections.Hashtable
+ {3bce4913-f2c1-4b54-84e8-6d7ec1809176}
+ {09ecc42e-586d-4a08-932f-5bdcac20bb55}
+ System.String
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/VISUs/languageSupport.TcTLO b/solution/tc_project_app/VISUs/languageSupport.TcTLO
new file mode 100644
index 0000000..8b3bdb6
--- /dev/null
+++ b/solution/tc_project_app/VISUs/languageSupport.TcTLO
@@ -0,0 +1,258 @@
+
+
+
+
+
+
+ "0"
+
+
+ "axesAvailable"
+ "PLC Axes available: %d"
+
+ Alt language
+
+
+
+ "velocity"
+ "Velocity:"
+
+ Geschwindigkeit:
+
+
+
+ "actposition"
+ "Actual Position:"
+
+
+
+
+
+ "enable"
+ "Enable Axis"
+
+
+
+
+
+ "enFW"
+ "Enable Forward"
+
+
+
+
+
+ "enBW"
+ "Enable Backward"
+
+
+
+
+
+ "axisSel"
+ "Axis Selected:"
+
+
+
+
+
+ "actVelocity"
+ "Actual Velocity:"
+
+
+
+
+
+ "errID"
+ "Error ID:"
+
+
+
+
+
+ "bEnabled"
+ "Axis Enabled"
+
+
+
+
+
+ "bWarning"
+ "Warning"
+
+
+
+
+
+ "bBusy"
+ "Busy"
+
+
+
+
+
+ "bDone"
+ "Command Done"
+
+
+
+
+
+ "bResetDone"
+ "Reset Command Success"
+
+
+
+
+
+ "bHomed"
+ "Calibrated"
+
+
+
+
+
+ "bFwEnabled"
+ "Forward movement enabled"
+
+
+
+
+
+ "bBwEnabled"
+ "Backward movement enabled"
+
+
+
+
+
+ "bError"
+ "Error"
+
+
+
+
+
+ "fVelocity"
+ "Target Velocity:"
+
+
+
+
+
+ "fAcceleration"
+ "Target Acceleration:"
+
+
+
+
+
+ "fDeceleration"
+ "Target Deceleration:"
+
+
+
+
+
+ "fPosition"
+ "Target Position:"
+
+
+
+
+
+ "moveAbsolute"
+ "Absolute position move"
+
+
+
+
+
+ "toggle"
+ "Toggle"
+
+
+
+
+
+ "moveVelocity"
+ "Constant velocity move"
+
+
+
+
+
+ "bExecute"
+ "Motion function executed"
+
+
+
+
+
+ "moveRelative"
+ "Relative position move"
+
+
+
+
+
+ "moveModulo"
+ "Modulo position move"
+
+
+
+
+
+ "reset"
+ "Reset axis"
+
+
+
+
+
+ "stop"
+ "Stop motion"
+
+
+
+
+
+ "jogBw"
+ "Jog Backward"
+
+
+
+
+
+ "jogFw"
+ "Jog Forward"
+
+
+
+
+
+ ""
+ ""
+
+
+
+
+
+
+ Test
+
+ {962e4813-aef8-4dae-aeb7-04077d21434b}
+ {82ace71d-e165-4acf-b153-7a4cf4328067}
+ {a31774a9-92e9-4b2c-85d2-e107f62daa07}
+
+
+
+ System.Collections.ArrayList
+ System.Guid
+ System.String
+ {2bef0454-1bd3-412a-ac2c-af0f31dbc40f}
+ {53da1be7-ad25-47c3-b0e8-e26286dad2e0}
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/VISUs/visuTextLinks.TcTLO b/solution/tc_project_app/VISUs/visuTextLinks.TcTLO
new file mode 100644
index 0000000..371b775
--- /dev/null
+++ b/solution/tc_project_app/VISUs/visuTextLinks.TcTLO
@@ -0,0 +1,49 @@
+
+
+
+
+
+
+ "0"
+
+
+ "A"
+ "GVL.axes[1].Axis.NcToPlc.ActPos"
+
+
+
+ ""
+ ""
+
+
+
+
+ {6fd55742-e384-4894-9216-e2d2bdaf06e5}
+ {b421fed2-6e50-4872-a5b9-e519ab233931}
+ {7c170316-0583-48d7-8f84-803498aab81a}
+
+
+
+ System.Collections.ArrayList
+ System.Guid
+ System.String
+ {2bef0454-1bd3-412a-ac2c-af0f31dbc40f}
+ {53da1be7-ad25-47c3-b0e8-e26286dad2e0}
+
+
+
+
+
+
+ false
+ false
+
+
+
+ System.Boolean
+ {9db18249-9fcf-4264-a9de-410a659a36b3}
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
new file mode 100644
index 0000000..d44fa20
--- /dev/null
+++ b/solution/tc_project_app/Visualization Manager.TcVMO
@@ -0,0 +1,167 @@
+
+
+
+
+
+
+ Undefined
+
+
+ "MainVisu"
+ false
+ false
+ AutoDetect
+ 2000
+ 2000
+ false
+ 50000
+ 400000
+ false
+ false
+ true
+ "Default, 3.1.5.0 (Beckhoff Automation GmbH)"
+ 100
+
+ "VisuDialogs.Numpad"
+ "VisuDialogs.Keypad"
+ "VisuDialogs.TextinputWithLimits"
+ false
+ false
+ true
+ true
+ false
+ "VisuUserManagement.VUM_Login"
+ "VisuUserManagement.VUM_ChangePassword"
+ "VisuUserManagement.VUM_UserManagement"
+ {00000000-0000-0000-0000-000000000000}
+ {00000000-0000-0000-0000-000000000000}
+ true
+ true
+ false
+ ""
+
+
+
+ FB_Init
+ c98701bd-1e9f-450a-a2a8-a2474d536f2e
+ FB_Reinit
+ 5b6e372a-a69d-40e8-aef7-f470b7c53d95
+ FB_Exit
+ 0be1b9ab-e8eb-4b33-b803-109abb46bde4
+
+ "NotImportant"
+ {aa8b7e42-e967-427f-8f2e-f00f9d706470}
+
+
+
+
+
+ 481037385728L
+ 549755813887L
+ 481037385728L
+ 549754765312L
+ 1048576L
+
+
+
+
+ ExecuteLooseCapture
+ 4e2884cd-dc97-4120-914c-87a83e618f1f
+ ExecuteMouseUp
+ 57eea9a5-15d9-4269-bb8d-9fee5420cdb2
+ Init
+ e61a0910-39b6-4bcc-9a64-fcab62230628
+ FB_Exit
+ e6e1ea47-0811-4b03-9888-d0564361e0d6
+ ExecuteMouseDblClick
+ a517a0ac-170b-4df4-b289-55dcb57628ed
+ GetElementInfo
+ f64cb89f-3016-4fba-85f5-02efcd4282c1
+ ExecuteMouseDown
+ 94bab392-b395-4c03-9d0e-5738d11bd021
+ FB_Reinit
+ 97933c03-0169-4afe-ac83-de892204e120
+ Initialize
+ 6946d6e0-129f-4425-b8b0-ef98281a99e9
+ ExecuteMouseMove
+ 58fc221c-be14-4e34-871e-a118f8ba9539
+ ExecuteDialogClosed
+ f08d08b6-e70c-4bef-a136-38845bd246d8
+ ExecuteKeyUp
+ 7403635b-2725-4f00-93d4-e0dd125959de
+ ExecuteKeyDown
+ 9649ecda-3794-4d6b-a8a7-71e528d9d170
+ abstrGetDefaultCursor
+ 25718998-50a9-408d-8b3f-20a55e2cc784
+ ExecuteMouseEnter
+ 569205fa-533b-4fc2-8d51-21ccab693305
+ ExecuteMouseLeave
+ 3bacea68-55b4-4764-928e-e69910299932
+ FB_Init
+ f37e1250-9b48-45ca-810e-c192ea9440ec
+ ExecuteMouseClick
+ cd348bda-7eaf-4dfe-8c4b-bf9b71e5b10c
+
+ "NotImportant"
+ {073ee466-cf0a-4c8b-ba92-64f671516699}
+
+
+
+ true
+ true
+
+
+
+
+ {925c2b24-84d1-469a-954d-7af8b99219ef}
+ {f905b871-af16-47c5-a6ef-0a0918a8b009}
+ {d3706fa7-8257-48b3-af0a-cab0afb4dc49}
+ {4d5d9e0c-fa46-4312-abcd-ab81ecde84e1}
+ {00a84c7a-9a31-408b-860a-9d896efbd842}
+ {3ef700b6-44e8-4cfc-b6e0-26bfef38c2b6}
+ {e2123cf7-55c2-43c4-8135-f70e23d789b6}
+ {b7fab3e5-7354-42a4-bdf2-bc53461ec63c}
+ {967863f2-ccef-44e4-a545-05cbd9acb6be}
+ {f97c4870-0a84-4b7b-9cfd-0059a20bebbd}
+ {81498829-8b99-4474-8196-a48127c8e5d4}
+ {71bfd0df-7f34-4abc-b3b9-84bad2430630}
+ {6695a96b-387d-4f98-b9f1-09dab5b7c483}
+ {5fe53f14-f5a7-4173-9e2b-538b7d89379a}
+ {09c26f6e-e9b1-4455-a763-8dfd243af668}
+ {48451f3d-75f9-48ba-acdb-82d62e000f26}
+ {8214e061-c2ef-40f5-b519-acfed1ca1cca}
+ {97cdf6c7-053d-4364-abf2-f17c232375c1}
+ {30af51e2-0f28-4c98-bb4e-6c7a4ef6b64e}
+ {9e20996c-a8e0-4843-9524-9317ce5fc512}
+ {9d656f8b-b228-46a1-8204-ecc426d69d24}
+ {0a915a90-ba73-4abc-b7c3-f5acec9f952a}
+ {0dedbb39-c60c-476d-aa88-36e50d09fdfc}
+ {9dd59c98-b565-4e32-8873-d0c41e452b61}
+ {43ba7f16-75cc-4157-b401-5b6df597b0b4}
+ {ccfc9bcc-edea-480a-ac07-0c05646a5eda}
+ {5531e874-67e5-49bb-abdc-7ac83b125a33}
+ {398fdf90-7db7-4f59-b7ca-c68fb5513e2e}
+ {c21922fc-3c9f-4927-affe-3857961c67c0}
+ {b435091b-c53f-4ea3-9ed5-223f402a82e7}
+ {2acce1aa-45b9-434d-bd0d-05676ddde292}
+ {7e796d60-07e9-4daf-b8ad-e42e285dae85}
+
+
+
+ System.Boolean
+ {7df88604-7ac5-4e36-91c4-55e4fdad3e68}
+ {40d6dd8d-dfd0-493a-8e29-c9a35e1e6539}
+ System.Guid
+ {6b108d46-58af-4e41-a3f4-174d8f160cc4}
+ System.Int32
+ System.Int64
+ System.String
+ {19611221-ebd3-4607-86d2-9822fbe84c30}
+ {c37fe731-4f69-4d98-82fe-4f9aefbe200d}
+ {997fedbb-1888-4256-b61c-2933d8056bfd}
+ {4d3fdb8f-ab50-4c35-9d3a-d4bb9bb9a628}
+ {ec9b2ec6-92a2-4856-be72-7866fb274c64}
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 325287e..d484150 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -16,6 +16,9 @@
true
+
+ Code
+
Code
@@ -169,13 +172,18 @@
Code
-
+
+ Code
+
+
+ Code
+
+
Code
Visualization Manager.TcVMO
-
+
Code
- Visualization Manager.TcVMO
@@ -201,11 +209,15 @@
-
+
+ Recipe Management, 3.3.1.0 (System)
+ Recipe_Management
+ true
+
VisuElemMeter, 3.5.10.0 (System)
VisuElemMeter
@@ -276,6 +288,10 @@
Tc3_Module, * (Beckhoff Automation GmbH)
Tc3_Module
+
+ VisuDialogs, * (System)
+ VisuDialogs
+
@@ -299,7 +315,10 @@
"{246001F4-279D-43AC-B241-948EB31120E1}"
-
+
+ UnicodeStrings
+ False
+
{29BD8D0C-3586-4548-BB48-497B9A01693F}
@@ -336,6 +355,7 @@
+ System.Boolean
System.Collections.Hashtable
System.Int32
{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
From fbfa2e1b742b24957d01d19bb039bef5d0fa48e8 Mon Sep 17 00:00:00 2001
From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com>
Date: Thu, 16 May 2019 08:29:22 +0100
Subject: [PATCH 002/169] Visu elements tidied up
Group visualisation elements in to 'like' components.
Update button executions so they visually "press" when selected
---
solution/tc_project_app/GlobalTextList.TcGTLO | 10 +
solution/tc_project_app/VISUs/MainVisu.TcVIS | 12650 +++++++++-------
.../VISUs/languageSupport.TcTLO | 14 +-
.../Visualization Manager.TcVMO | 409 +-
4 files changed, 7722 insertions(+), 5361 deletions(-)
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 5bc0ad5..8587aeb 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -125,6 +125,11 @@
"ENABLE FW"
+
+ "779"
+ "English"
+
+
"479"
"errID"
@@ -215,6 +220,11 @@
"targetPosition"
+
+ "633"
+ "Test Language"
+
+
"239"
"toggle"
diff --git a/solution/tc_project_app/VISUs/MainVisu.TcVIS b/solution/tc_project_app/VISUs/MainVisu.TcVIS
index 713a344..077e8cc 100644
--- a/solution/tc_project_app/VISUs/MainVisu.TcVIS
+++ b/solution/tc_project_app/VISUs/MainVisu.TcVIS
@@ -11,6 +11,189 @@
+
+
+
+
+
+
+
+ 571893170L
+ ""
+
+
+ 494569607L
+
+
+ -16777216
+ "BasicElement-Frame-Color"
+
+
+
+
+ 2812299069L
+
+
+ -1
+ "BasicElement-Fill-Color"
+
+
+
+
+ 135947015L
+
+
+ -65536
+ "BasicElement-Alarm-Frame-Color"
+
+
+
+
+ 493260384L
+
+
+ -12337
+ "BasicElement-Alarm-Fill-Color"
+
+
+
+
+ 2340015797L
+ "HCENTER"
+
+
+ 2565699834L
+ "VCENTER"
+
+
+ 4134387352L
+ "NONE"
+
+
+ 1603690730L
+ "Arial"
+
+
+ 4253639993L
+ 12
+
+
+ 2729990903L
+ 0U
+
+
+ 1213979116L
+ 0U
+
+
+ 3488306084L
+ 4278190080U
+
+
+ 1999528970L
+ "<toggle/tap variable>"
+
+
+ 1649127785L
+ 0
+
+
+ 357335551L
+ 0
+
+
+ 2422045748L
+ 190
+
+
+ 2134141914L
+ 210
+
+
+ 3729828405L
+
+
+ 0
+ -16777216
+ "Font-Standard"
+ "Arial"
+ 12
+
+ -16777216
+ "Font-Default-Color"
+
+
+
+
+
+ 550940142L
+ 95
+
+
+ 1473355128L
+ 105
+
+
+ 2678395525L
+ 1U
+
+
+ 564465120L
+ "VISU_ST_RECTANGLE"
+
+
+ 390574330L
+ ""
+
+
+ 494542316L
+
+
+ -2830136
+ "Element-Frame-Color"
+
+ 4292532160U
+ 0
+ 0
+ 0
+ 0
+ 0
+ 0
+ 4278190080U
+
+
+
+ 1375557818L
+ true
+
+
+ 1782330054L
+ "BS_SOLID"
+
+
+ 2827249010L
+ "PS_SOLID"
+
+
+ 2597686782L
+ true
+
+
+
+ "Rectangle"
+ "VisuFbElemSimple"
+ true
+ "GenElemInst_127"
+
+
+
+ {82648972-7e95-428f-9949-02ca169b1d78}
+ {98c8ae72-e756-4d11-b6a5-5914882e2424}
+
+
+ 0
+
+
@@ -1369,7 +1552,7 @@
1647042231L
- "<toggle/tap variable>"
+ ""
2812299069L
@@ -1381,11 +1564,11 @@
1649127785L
- 810
+ 760
357335551L
- 30
+ 590
2422045748L
@@ -1435,11 +1618,11 @@
550940142L
- 885
+ 835
1473355128L
- 45
+ 605
493260384L
@@ -1459,7 +1642,7 @@
390574330L
- "Change to Test Language"
+ "Test Language"
2597686782L
@@ -1467,7 +1650,7 @@
823443203L
- "757"
+ "633"
@@ -1477,7 +1660,7 @@
"GenElemInst_9"
-
+
OnMouseClick
@@ -1536,7 +1719,7 @@
1647042231L
- "<toggle/tap variable>"
+ ""
2812299069L
@@ -1548,11 +1731,11 @@
1649127785L
- 810
+ 760
357335551L
- 70
+ 630
2422045748L
@@ -1602,11 +1785,11 @@
550940142L
- 885
+ 835
1473355128L
- 85
+ 645
493260384L
@@ -1626,7 +1809,7 @@
390574330L
- "Change to Default Language"
+ "English"
2597686782L
@@ -1634,7 +1817,7 @@
823443203L
- "873"
+ "779"
@@ -1644,7 +1827,7 @@
"GenElemInst_11"
-
+
OnMouseClick
@@ -1659,328 +1842,6 @@
12
-
-
-
-
-
-
-
- 571893170L
- ""
-
-
- 494569607L
-
- -2830136
- "Element-Frame-Color"
-
-
-
- 2812299069L
-
-
- -1
- "Element-Fill-Color"
-
-
-
-
- 135947015L
-
-
- -65536
- "Element-Alarm-Frame-Color"
-
-
-
-
- 493260384L
-
-
- -12337
- "Element-Alarm-Fill-Color"
-
-
-
-
- 2340015797L
- "HCENTER"
-
-
- 2565699834L
- "VCENTER"
-
-
- 4134387352L
- "NONE"
-
-
- 1603690730L
- "Arial"
-
-
- 4253639993L
- 12
-
-
- 2729990903L
- 0U
-
-
- 1213979116L
- 0U
-
-
- 3488306084L
- 4278190080U
-
-
- 1999528970L
- "<toggle/tap variable>"
-
-
- 1649127785L
- 380
-
-
- 357335551L
- 50
-
-
- 2422045748L
- 90
-
-
- 2134141914L
- 30
-
-
- 3729828405L
-
-
- 0
- -16777216
- "Font-Standard"
- "Arial"
- 12
-
- -16777216
- "Font-Default-Color"
-
-
-
-
-
- 1337389588L
- "RAISED"
-
-
- 2678395525L
- 1U
-
-
- 390574330L
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+
+ 3069297334L
+ true
+
+
+ 390574330L
+ ""
+
+
+ 3729828405L
+
+
+ 0
+ -16777216
+ "Font-Standard"
+ "Arial"
+ 12
+
+ -16777216
+ "Font-Default-Color"
+
+
+
+
+
+ 550940142L
+ 305
+
+
+ 1473355128L
+ 345
+
+
+ 493260384L
+ 4294967295U
+
+
+ 135947015L
+ 4278190080U
+
+
+ 571893170L
+ ""
+
+
+ 2597686782L
+ false
+
+
+
+ "GroupBox"
+ "VisuFbGroupBox"
+ true
+ "GenElemInst_153"
+
+
+
+ {2d68414c-57c0-49c4-8ab7-94be8062f2b8}
+ {98c8ae72-e756-4d11-b6a5-5914882e2424}
+
+
+ 154
+
+
""
16777215
@@ -8376,7 +10323,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
""
false
true
- -1248517
+ -5186307
false
@@ -8514,7 +10461,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
{922df0df-545b-4a6e-ab04-d027f2e1dfa1}
- 126
+ 154
@@ -8575,6 +10522,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
System.Boolean
{7df88604-7ac5-4e36-91c4-55e4fdad3e68}
{0b465b1a-56f7-4156-af53-ee076758cd13}
+ _3S.CoDeSys.VisualElem.ChangeLanguageInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
{1de566f6-72a7-494c-9353-9a418172c96e}
{703465dc-4679-4ff2-bcc3-c57d0a204da3}
{40d6dd8d-dfd0-493a-8e29-c9a35e1e6539}
@@ -8582,8 +10530,8 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
System.Guid
System.Collections.Hashtable
{6b108d46-58af-4e41-a3f4-174d8f160cc4}
- _3S.CoDeSys.VisualElem.IInputAction[], VisualElem, Version=3.5.10.0, Culture=neutral, PublicKeyToken=null
{e8e7e747-f76f-4dee-ab1c-b9637e41ac26}
+ _3S.CoDeSys.VisualElem.InputBoxInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
System.Int16
System.Int32
System.Int64
@@ -8591,9 +10539,11 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
{9e842eb2-1463-4af2-b605-4fbb17044f94}
System.String
{6302d3fe-6ea5-4c42-819a-a9734a133b3d}
+ _3S.CoDeSys.VisualElem.STSnippetInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
{f3878285-8e4f-490b-bb1b-9acbb7eb04db}
{a5de0b0b-1cb5-4913-ac21-9d70293ec00d}
{9dcc475d-e53e-4dd3-abd9-995bf52d466f}
+ _3S.CoDeSys.VisualElem.ToggleVarInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
System.UInt32
{ef9d0b20-c96e-48db-b361-2ded4063150e}
{f285c9a3-7019-446b-b98c-ccec3a0af8fa}
diff --git a/solution/tc_project_app/VISUs/languageSupport.TcTLO b/solution/tc_project_app/VISUs/languageSupport.TcTLO
index 8b3bdb6..cda35a6 100644
--- a/solution/tc_project_app/VISUs/languageSupport.TcTLO
+++ b/solution/tc_project_app/VISUs/languageSupport.TcTLO
@@ -17,7 +17,7 @@
"velocity"
"Velocity:"
- Geschwindigkeit:
+
@@ -99,7 +99,7 @@
"bResetDone"
- "Reset Command Success"
+ "Reset Complete"
@@ -113,14 +113,14 @@
"bFwEnabled"
- "Forward movement enabled"
+ "Fwd movement enabled"
"bBwEnabled"
- "Backward movement enabled"
+ "Bwd movement enabled"
@@ -136,19 +136,19 @@
"fVelocity"
"Target Velocity:"
-
+ Geschwindigkeit:
"fAcceleration"
- "Target Acceleration:"
+ "Target Accel.:"
"fDeceleration"
- "Target Deceleration:"
+ "Target Decel.:"
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
index d44fa20..14703a1 100644
--- a/solution/tc_project_app/Visualization Manager.TcVMO
+++ b/solution/tc_project_app/Visualization Manager.TcVMO
@@ -21,7 +21,7 @@
true
"Default, 3.1.5.0 (Beckhoff Automation GmbH)"
100
-
+ ""
"VisuDialogs.Numpad"
"VisuDialogs.Keypad"
"VisuDialogs.TextinputWithLimits"
@@ -44,16 +44,414 @@
FB_Init
c98701bd-1e9f-450a-a2a8-a2474d536f2e
- FB_Reinit
- 5b6e372a-a69d-40e8-aef7-f470b7c53d95
FB_Exit
0be1b9ab-e8eb-4b33-b803-109abb46bde4
+ FB_Reinit
+ 5b6e372a-a69d-40e8-aef7-f470b7c53d95
"NotImportant"
{aa8b7e42-e967-427f-8f2e-f00f9d706470}
-
+
+ 7
+ 4096
+ "1002 0004"
+ "1.0.0.4"
+ {cb73a13e-6ccc-4bc6-8859-f5aa98bb116b}
+
+
+ true
+ 48
+ "0"
+
+
+ true
+ 49
+ "1"
+
+
+ true
+ 50
+ "2"
+
+
+ true
+ 51
+ "3"
+
+
+ true
+ 52
+ "4"
+
+
+ true
+ 53
+ "5"
+
+
+ true
+ 54
+ "6"
+
+
+ true
+ 55
+ "7"
+
+
+ true
+ 56
+ "8"
+
+
+ true
+ 57
+ "9"
+
+
+ true
+ 65
+ "A"
+
+
+ true
+ 107
+ "ADDITION"
+
+
+ true
+ 66
+ "B"
+
+
+ true
+ 8
+ "BACKSPACE"
+
+
+ true
+ 67
+ "C"
+
+
+ true
+ 110
+ "COMMA"
+
+
+ true
+ 68
+ "D"
+
+
+ true
+ 46
+ "DELETE"
+
+
+ true
+ 111
+ "DIVIDE"
+
+
+ true
+ 40
+ "DOWN"
+
+
+ true
+ 69
+ "E"
+
+
+ true
+ 35
+ "END"
+
+
+ true
+ 27
+ "ESCAPE"
+
+
+ true
+ 70
+ "F"
+
+
+ true
+ 112
+ "F1"
+
+
+ true
+ 121
+ "F10"
+
+
+ true
+ 122
+ "F11"
+
+
+ true
+ 123
+ "F12"
+
+
+ true
+ 113
+ "F2"
+
+
+ true
+ 114
+ "F3"
+
+
+ true
+ 115
+ "F4"
+
+
+ true
+ 116
+ "F5"
+
+
+ true
+ 117
+ "F6"
+
+
+ true
+ 118
+ "F7"
+
+
+ true
+ 119
+ "F8"
+
+
+ true
+ 120
+ "F9"
+
+
+ true
+ 71
+ "G"
+
+
+ true
+ 72
+ "H"
+
+
+ true
+ 36
+ "HOME"
+
+
+ true
+ 73
+ "I"
+
+
+ true
+ 45
+ "INSERT"
+
+
+ true
+ 74
+ "J"
+
+
+ true
+ 75
+ "K"
+
+
+ true
+ 76
+ "L"
+
+
+ true
+ 37
+ "LEFT"
+
+
+ true
+ 77
+ "M"
+
+
+ true
+ 106
+ "MULTIPLY"
+
+
+ true
+ 78
+ "N"
+
+
+ true
+ 96
+ "NUM0"
+
+
+ true
+ 97
+ "NUM1"
+
+
+ true
+ 98
+ "NUM2"
+
+
+ true
+ 99
+ "NUM3"
+
+
+ true
+ 100
+ "NUM4"
+
+
+ true
+ 101
+ "NUM5"
+
+
+ true
+ 102
+ "NUM6"
+
+
+ true
+ 103
+ "NUM7"
+
+
+ true
+ 104
+ "NUM8"
+
+
+ true
+ 105
+ "NUM9"
+
+
+ true
+ 79
+ "O"
+
+
+ true
+ 80
+ "P"
+
+
+ true
+ 19
+ "PAUSE"
+
+
+ true
+ 42
+ "PRINT"
+
+
+ true
+ 81
+ "Q"
+
+
+ true
+ 82
+ "R"
+
+
+ true
+ 13
+ "RETURN_KEY"
+
+
+ true
+ 39
+ "RIGHT"
+
+
+ true
+ 83
+ "S"
+
+
+ true
+ 32
+ "SPACE"
+
+
+ true
+ 109
+ "SUBTRACT"
+
+
+ true
+ 84
+ "T"
+
+
+ true
+ 9
+ "TAB"
+
+
+ true
+ 85
+ "U"
+
+
+ true
+ 38
+ "UP"
+
+
+ true
+ 86
+ "V"
+
+
+ true
+ 87
+ "W"
+
+
+ true
+ 88
+ "X"
+
+
+ true
+ 89
+ "Y"
+
+
+ true
+ 90
+ "Z"
+
+
+
481037385728L
@@ -148,8 +546,11 @@
+ System.Collections.ArrayList
System.Boolean
{7df88604-7ac5-4e36-91c4-55e4fdad3e68}
+ {11a86981-4b02-4f98-b432-96e385cb41b7}
+ {c91fc5aa-1e38-43b2-9a05-c52cc5d7f5b6}
{40d6dd8d-dfd0-493a-8e29-c9a35e1e6539}
System.Guid
{6b108d46-58af-4e41-a3f4-174d8f160cc4}
From 0ffd68a57406ee7db5abe8edfc4f25899f05c7d6 Mon Sep 17 00:00:00 2001
From: Frank Suxdorf
Date: Thu, 16 May 2019 13:33:12 +0200
Subject: [PATCH 003/169] Add nested strutures to tc_mca_std_lib
---
solution/solution.tsproj | 10 +++++-----
solution/tc_project_app/tc_project_app.plcproj | 12 ++++++++++++
2 files changed, 17 insertions(+), 5 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 313b9a2..ee3987e 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
@@ -931,28 +931,28 @@ External Setpoint Generation:
PlcTask Inputs
- GVL.axes[1].bLimitFwd
+ GVL.axes[1].inputs.bLimitFwd
BOOL
- GVL.axes[1].bLimitBwd
+ GVL.axes[1].inputs.bLimitBwd
BOOL
- GVL.axes[1].bHomeSensor
+ GVL.axes[1].inputs.bHomeSensor
BOOL
- GVL.axes[1].bEncLAtch
+ GVL.axes[1].inputs.bEncLAtch
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 325287e..66dc2e4 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -22,9 +22,21 @@
Code
+
+ Code
+
+
+ Code
+
Code
+
+ Code
+
+
+ Code
+
Code
From 20c07ff66e9a61dacf375a7fe3b8238288e0b36f Mon Sep 17 00:00:00 2001
From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com>
Date: Mon, 3 Jun 2019 14:35:25 +0100
Subject: [PATCH 004/169] visu links updated to sub-structures
Change visualisation property links to variables within ST_AxisStruct sub structures
Add a single test axis linked to visualisation for testing and development
---
solution/TrialLicense.tclrs | 2 +-
solution/solution.tsproj | 89 +-------------
solution/tc_project_app/VISUs/MainVisu.TcVIS | 112 +++++++++---------
.../tc_project_app/VISUs/RecipeManager.TcRMO | 44 -------
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 20 ++--
6 files changed, 72 insertions(+), 197 deletions(-)
delete mode 100644 solution/tc_project_app/VISUs/RecipeManager.TcRMO
diff --git a/solution/TrialLicense.tclrs b/solution/TrialLicense.tclrs
index 22c783e..35fbe7d 100644
--- a/solution/TrialLicense.tclrs
+++ b/solution/TrialLicense.tclrs
@@ -1,2 +1,2 @@
-{52C4A619-551C-008A-DE5B-87C2D878314F}2019-05-14T13:08:002019-05-22T00:00:007fb4b4047c0c0233876df9026c1106362df127501e8fc4ebfa2c2b01c4ab2b4f9f1b765d8974d1af6260643139b69e5ae7ad52ba3be25218df7cde630544f0bd6cb1137b38fdb67505e770577256d7fa7f5dbd438d76176734cb8252d2b0a1737832f8aaf3411d263823fcd30320ee3a4d1a4772572ca014c85dac60d064898cfdd03f5069b6ef13927a1a3aa6acaf7558f21949780efdf7e4e5deccb3e763f0b6662d83eac91498422fdbea343d391853d34dd30e1f6681415dd3c26316d5551f7c35a30cd4e7671b35a1e9d5447ab5bf03cfe0f29e2abb4df13b4972ae6254f25456c23650f2f9a2faa9891d2f591ea109ab213f45fbec510fd24f3aa97c17{3EBB9639-5FF3-42B6-8847-35C70DC013C8}TC3 TCP/IPTF6310{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}TC3 ADSTC1000{A19036CF-A53B-4E3A-99FF-023EF5C4798B}TC3 NC PTP Axis10{66689887-CCBD-452C-AC9A-039D997C6E66}TC3 PLCTC1200{520DE751-9DB6-47CB-8240-BD5C466E7E64}TC3 NC PTPTF5000{3FF18E97-7754-401B-93FB-70544DE28A13}TC3 IOTC1100
+{21469191-0300-E1C0-C3DD-62104774D30F}2019-06-03T12:43:002019-06-11T00:00:005dacefa756b5b013c66d6344cb3a48465bb45514e5c4843f450ae665865ca7f65dd3c43a441f54f73922566091c85994675624132e35c097ba119913df9734d50327dbecad56613840e7e38439426704b79e4a45f0616e6096c1d8ae2594a5af4cd72070b662221015adef28225406c0a0b2aca146def4e9ae8c381fc4a8cbf845f1aa682d50e5d2617f8b6cdada65077ff089d724e93ff3f27bf79e6ca7b0f9be83228413878fb58d6dde3383c68e07fe3341e104beb70d43bdbc744d9d1e3f35e1f99ed2c1d245d424c48efdd6c78f4dded487338a7d8a795a51d622af66aab1a78a6bfe5fcaf4df00a8be43e3739d4aa2ad6c81dc8e668033efed76727ba7{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}TC3 ADSTC1000{3FF18E97-7754-401B-93FB-70544DE28A13}TC3 IOTC1100{66689887-CCBD-452C-AC9A-039D997C6E66}TC3 PLCTC1200{A19036CF-A53B-4E3A-99FF-023EF5C4798B}TC3 NC PTP Axis10{520DE751-9DB6-47CB-8240-BD5C466E7E64}TC3 NC PTPTF5000{3EBB9639-5FF3-42B6-8847-35C70DC013C8}TC3 TCP/IPTF6310
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 7a1623e..bba7a7b 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -932,28 +932,28 @@ External Setpoint Generation:
PlcTask Inputs
- GVL.axes[1].bLimitFwd
+ GVL.axes[1].inputs.bLimitFwd
BOOL
- GVL.axes[1].bLimitBwd
+ GVL.axes[1].inputs.bLimitBwd
BOOL
- GVL.axes[1].bHomeSensor
+ GVL.axes[1].inputs.bHomeSensor
BOOL
- GVL.axes[1].bEncLAtch
+ GVL.axes[1].inputs.bEncLAtch
@@ -1004,83 +1004,6 @@ External Setpoint Generation:
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
-]]>
-
-
-
-
- GVL.axes[2].bLimitFwd
-
-
-
- BOOL
-
-
- GVL.axes[2].bLimitBwd
-
-
-
- BOOL
-
-
- GVL.axes[2].bHomeSensor
-
-
-
- BOOL
-
-
- GVL.axes[2].bEncLAtch
-
-
-
- BOOL
-
-
- GVL.axes[2].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
@@ -1099,10 +1022,6 @@ External Setpoint Generation:
GVL.axes[1].Axis.PlcToNc
PLCTONC_AXIS_REF
-
- GVL.axes[2].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
diff --git a/solution/tc_project_app/VISUs/MainVisu.TcVIS b/solution/tc_project_app/VISUs/MainVisu.TcVIS
index 077e8cc..8277574 100644
--- a/solution/tc_project_app/VISUs/MainVisu.TcVIS
+++ b/solution/tc_project_app/VISUs/MainVisu.TcVIS
@@ -274,7 +274,7 @@
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bEnable"
+ "GVL.axes[MAIN.hmiAxisSelection].control.bEnable"
@@ -542,7 +542,7 @@
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bLimitFwd"
+ "GVL.axes[MAIN.hmiAxisSelection].inputs.bLimitFwd"
@@ -810,7 +810,7 @@
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bLimitBwd"
+ "GVL.axes[MAIN.hmiAxisSelection].inputs.bLimitBwd"
@@ -2176,8 +2176,8 @@
OnMouseClick
- "GVL.axes[Main.hmiAxisSelection].eCommand:=MotionFunctions.MoveAbsolute;
-GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.eCommand:=MotionFunctions.MoveAbsolute;
+GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
@@ -2352,8 +2352,8 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[Main.hmiAxisSelection].eCommand:=MotionFunctions.MoveVelocity;
-GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.eCommand:=MotionFunctions.MoveVelocity;
+GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
@@ -2528,8 +2528,8 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[Main.hmiAxisSelection].eCommand:=MotionFunctions.MoveRelative;
-GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.eCommand:=MotionFunctions.MoveRelative;
+GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
@@ -2704,8 +2704,8 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[Main.hmiAxisSelection].eCommand:=MotionFunctions.MoveModulo;
-GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.eCommand:=MotionFunctions.MoveModulo;
+GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
@@ -2724,7 +2724,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
1186196937L
- "GVL.axes[Main.hmiAxisSelection].bStop"
+ "GVL.axes[Main.hmiAxisSelection].control.bStop"
@@ -2775,7 +2775,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
1647042231L
- "GVL.axes[Main.hmiAxisSelection].bStop"
+ "GVL.axes[Main.hmiAxisSelection].control.bStop"
2812299069L
@@ -3059,24 +3059,24 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
"GenElemInst_124"
-
- OnMouseDown
+
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].bJogBwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= FALSE;"
OnMouseClick
- "GVL.axes[Main.hmiAxisSelection].eCommand:=MotionFunctions.Jog;
+ "GVL.axes[Main.hmiAxisSelection].control.eCommand:=MotionFunctions.Jog;
"
- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].bJogBwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= TRUE;"
@@ -3248,23 +3248,23 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
- OnMouseDown
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].bJogFwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= FALSE;"
OnMouseClick
- "GVL.axes[Main.hmiAxisSelection].eCommand:=MotionFunctions.Jog;
+ "GVL.axes[Main.hmiAxisSelection].control.eCommand:=MotionFunctions.Jog;
"
- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].bJogFwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= TRUE;"
@@ -3757,7 +3757,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
2477733581L
- "GVL.axes[MAIN.hmiAxisSelection].nErrorID"
+ "GVL.axes[MAIN.hmiAxisSelection].status.nErrorID"
2597686782L
@@ -3851,7 +3851,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bError"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bError"
2597686782L
@@ -4087,7 +4087,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
1647042231L
- ""
+ "GVL.axes[Main.hmiAxisSelection].control.bReset"
2812299069L
@@ -4203,17 +4203,12 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
"GenElemInst_120"
-
+
OnMouseClick
-
+
- "GVL.axes[Main.hmiAxisSelection].bReset:=TRUE;"
-
-
- OnMouseUp
-
-
- "GVL.axes[Main.hmiAxisSelection].bReset:=FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bReset"
+
@@ -4644,7 +4639,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bEnabled"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bEnabled"
2597686782L
@@ -4904,7 +4899,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bWarning"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bWarning"
2597686782L
@@ -5164,7 +5159,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bBusy"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bBusy"
2597686782L
@@ -5424,7 +5419,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bDone"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bDone"
2597686782L
@@ -5684,7 +5679,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bResetDone"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bResetDone"
2597686782L
@@ -5774,7 +5769,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bHomed"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bHomed"
2597686782L
@@ -6204,7 +6199,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bFwEnabled"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bFwEnabled"
2597686782L
@@ -6294,7 +6289,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bBwEnabled"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bBwEnabled"
2597686782L
@@ -7134,7 +7129,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
2477733581L
- "GVL.axes[MAIN.hmiAxisSelection].fActPosition"
+ "GVL.axes[MAIN.hmiAxisSelection].status.fActPosition"
2597686782L
@@ -7626,7 +7621,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
2477733581L
- "GVL.axes[MAIN.hmiAxisSelection].fActVelocity"
+ "GVL.axes[MAIN.hmiAxisSelection].status.fActVelocity"
2597686782L
@@ -8300,7 +8295,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
2477733581L
- "GVL.axes[MAIN.hmiAxisSelection].fVelocity"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fVelocity"
2597686782L
@@ -8322,7 +8317,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[MAIN.hmiAxisSelection].fVelocity"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fVelocity"
"Default"
""
""
@@ -8638,7 +8633,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
2477733581L
- "GVL.axes[MAIN.hmiAxisSelection].fAcceleration"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fAcceleration"
2597686782L
@@ -8660,7 +8655,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[MAIN.hmiAxisSelection].fAcceleration"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fAcceleration"
"Default"
""
""
@@ -8976,7 +8971,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
2477733581L
- "GVL.axes[MAIN.hmiAxisSelection].fDeceleration"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fDeceleration"
2597686782L
@@ -8998,7 +8993,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[MAIN.hmiAxisSelection].fDeceleration"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fDeceleration"
"Default"
""
""
@@ -9314,7 +9309,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
2477733581L
- "GVL.axes[MAIN.hmiAxisSelection].fPosition"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fPosition"
2597686782L
@@ -9336,7 +9331,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[MAIN.hmiAxisSelection].fPosition"
+ "GVL.axes[MAIN.hmiAxisSelection].config.fPosition"
"Default"
""
""
@@ -9776,7 +9771,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].bExecute"
+ "GVL.axes[MAIN.hmiAxisSelection].control.bExecute"
2597686782L
@@ -10136,7 +10131,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
OnMouseClick
- "GVL.axes[MAIN.hmiAxisSelection].bExecute"
+ "GVL.axes[MAIN.hmiAxisSelection].control.bExecute"
@@ -10414,10 +10409,10 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
FB_Init
13be6eec-7fc2-4282-abbf-b24b2da58ba8
- FB_Exit
- 95930a16-400d-44f0-9930-76888846236f
FB_Reinit
639e5dca-e06b-4c9e-8c1b-9a863c3c34f7
+ FB_Exit
+ 95930a16-400d-44f0-9930-76888846236f
"NotImportant"
{a9f37f15-844b-497f-805b-d8708d84591d}
@@ -10530,6 +10525,7 @@ GVL.axes[Main.hmiAxisSelection].bExecute:=TRUE;"
System.Guid
System.Collections.Hashtable
{6b108d46-58af-4e41-a3f4-174d8f160cc4}
+ _3S.CoDeSys.VisualElem.IInputAction[], VisualElem, Version=3.5.10.0, Culture=neutral, PublicKeyToken=null
{e8e7e747-f76f-4dee-ab1c-b9637e41ac26}
_3S.CoDeSys.VisualElem.InputBoxInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
System.Int16
diff --git a/solution/tc_project_app/VISUs/RecipeManager.TcRMO b/solution/tc_project_app/VISUs/RecipeManager.TcRMO
deleted file mode 100644
index fcce9bb..0000000
--- a/solution/tc_project_app/VISUs/RecipeManager.TcRMO
+++ /dev/null
@@ -1,44 +0,0 @@
-
-
-
-
-
-
-
-
- GVL_RECIPEMANAGEMENT_3300
- 8f0b301a-1479-42c8-8ffd-a38dff637643
- RECIPEFACTORY
- a27510d2-2266-40b1-9622-5959c6103cf9
- RECIPEMANAGEMENTINITFB_INIT
- 4f75d468-ad7c-44d9-a8fb-1b01547078ae
- RECIPEFACTORYFREERECIPE
- 835c7ab6-825e-4eb4-87a2-c250ec48e077
- RECIPEFACTORYFB_INIT
- ca8b7701-464d-45a1-906c-b0553b019fbc
- RECIPEMANAGEMENTINITFB_REINIT
- 56b7bd3b-03fc-4f06-8921-da60d23e38c5
- RECIPEMANAGEMENTINIT
- 29d93734-f9f2-4d0d-a61b-6a22178e9b6d
- RECIPEMANAGEMENTINITINITIALIZE
- ec029522-de39-4c7a-9a12-4fc5289fe8e9
- RECIPEFACTORYCREATERECIPE
- dc98e06d-642e-4964-9112-a90d1f0bb7f3
-
-
-
- true
- false
-
-
-
- System.Boolean
- System.Guid
- System.Collections.Hashtable
- {3bce4913-f2c1-4b54-84e8-6d7ec1809176}
- {09ecc42e-586d-4a08-932f-5bdcac20bb55}
- System.String
-
-
-
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 936ed0e..5eb56db 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 936ed0e9d0f34f876c91cf857ee389ed8ea4eb61
+Subproject commit 5eb56db806fd52bae29f59bfb59f2a42328fb61d
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index d484150..522bbc5 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -28,6 +28,18 @@
Code
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
Code
@@ -182,9 +194,6 @@
Code
Visualization Manager.TcVMO
-
- Code
-
@@ -213,11 +222,6 @@
-
- Recipe Management, 3.3.1.0 (System)
- Recipe_Management
- true
-
VisuElemMeter, 3.5.10.0 (System)
VisuElemMeter
From 8e59e35241001e2a87c2cde256d3394b49d6d927 Mon Sep 17 00:00:00 2001
From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com>
Date: Tue, 4 Jun 2019 11:46:53 +0100
Subject: [PATCH 005/169] Single gear in and gear out support
-Add visualisation elements for support of single gear in
-Add visualisation elements for support of gear out
-Change AXES() action call to use GVL.iAxis as index of FOR loop
---
solution/_Config/NC/1.xml | 2 +
solution/_Config/NC/Axes/Axis 2.xti | 1551 ++++++++++++
solution/solution.tsproj | 86 +
solution/tc_project_app/GlobalTextList.TcGTLO | 26 +-
solution/tc_project_app/POUs/MAIN.TcPOU | 4 +-
solution/tc_project_app/VISUs/MainVisu.TcVIS | 2136 +++++++++++++++--
.../VISUs/languageSupport.TcTLO | 41 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 3 +
9 files changed, 3611 insertions(+), 240 deletions(-)
create mode 100644 solution/_Config/NC/1.xml
create mode 100644 solution/_Config/NC/Axes/Axis 2.xti
diff --git a/solution/_Config/NC/1.xml b/solution/_Config/NC/1.xml
new file mode 100644
index 0000000..02118c9
--- /dev/null
+++ b/solution/_Config/NC/1.xml
@@ -0,0 +1,2 @@
+
+1mm15001500225015000150000130000000303010060020002000true5false0.1false100true2falsefalse000false10.010truefalsefalse5510.0001103600false21677721500.010.1false0false0false000falsetrue0false0false0104857500false005false1-1165535#x000000000.1002200101100000000.01211100001361291330false110111true5false010000.10.1false0.10.50.10000.10.100.50000false0.010112010.001
diff --git a/solution/_Config/NC/Axes/Axis 2.xti b/solution/_Config/NC/Axes/Axis 2.xti
new file mode 100644
index 0000000..d44d3a2
--- /dev/null
+++ b/solution/_Config/NC/Axes/Axis 2.xti
@@ -0,0 +1,1551 @@
+
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ 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
+
+
+
+
+ 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
+
+
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+
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+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+ 1664
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+ 2688
+
+ AxisState
+
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diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index bba7a7b..1326ba3 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -913,6 +913,7 @@ External Setpoint Generation:
NC-Task 1 SVB
+
@@ -1004,6 +1005,83 @@ External Setpoint Generation:
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
+]]>
+
+
+
+
+ GVL.axes[2].inputs.bLimitFwd
+
+
+
+ BOOL
+
+
+ GVL.axes[2].inputs.bLimitBwd
+
+
+
+ BOOL
+
+
+ GVL.axes[2].inputs.bHomeSensor
+
+
+
+ BOOL
+
+
+ GVL.axes[2].inputs.bEncLAtch
+
+
+
+ BOOL
+
+
+ GVL.axes[2].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
@@ -1022,6 +1100,10 @@ External Setpoint Generation:
GVL.axes[1].Axis.PlcToNc
PLCTONC_AXIS_REF
+
+ GVL.axes[2].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
@@ -1038,6 +1120,10 @@ External Setpoint Generation:
+
+
+
+
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 8587aeb..5a737ea 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -80,6 +80,11 @@
"bFwEnabled"
+
+ "295"
+ "bGeared"
+
+
"42"
"bHomed"
@@ -160,6 +165,16 @@
"fVelocity"
+
+ "507"
+ "gearIn"
+
+
+
+ "938"
+ "gearOut"
+
+
"26"
"jog+/- reset stop home"
@@ -175,6 +190,11 @@
"jogFw"
+
+ "493"
+ "masterGear"
+
+
"99"
"moveAbsolute"
@@ -242,9 +262,9 @@
- {d7005498-b4fa-4a56-8593-01efab31a22a}
- {eb0543d6-24e5-4c0d-b12a-2b173f65a3e6}
- {58c39072-3512-4d2d-9972-e2fb2a30b0d1}
+ {946c8e6e-0a97-4d14-95ca-e8575d4b5b95}
+ {156c2383-e9aa-42c6-a12a-29764abb596e}
+ {cc9acff5-a471-4694-806c-07b8a247c706}
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index ef9925b..7701c98 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -43,8 +43,8 @@ ERROR();]]>
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+ {98c8ae72-e756-4d11-b6a5-5914882e2424}
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@@ -2160,6 +3135,10 @@
3774423699L
""moveAbsolute""
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+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
+
823443203L
"99"
@@ -2172,7 +3151,7 @@
"GenElemInst_106"
-
+
OnMouseClick
@@ -2340,6 +3319,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
"453"
+
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+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
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"Button"
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823443203L
"50"
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+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
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"Button"
@@ -2692,6 +3679,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
"935"
+
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+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
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"Button"
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823443203L
"293"
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+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
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"Button"
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823443203L
"331"
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+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
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"Button"
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- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= TRUE;"
OnMouseClick
@@ -3073,10 +4072,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"
- OnMouseDown
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= FALSE;"
@@ -3239,6 +4238,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
"468"
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+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
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"Button"
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- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= TRUE;"
OnMouseClick
@@ -3261,10 +4264,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"
- OnMouseDown
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= FALSE;"
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1649127785L
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357335551L
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@@ -9735,7 +10555,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
4062784938L
- "Element-Lamp-Lamp1-Green"
+ "Element-Lamp-Lamp1-Yellow"
493260384L
@@ -9771,30 +10591,26 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
743958181L
- "GVL.axes[MAIN.hmiAxisSelection].control.bExecute"
+ "GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
2597686782L
false
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true
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{98c8ae72-e756-4d11-b6a5-5914882e2424}
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- 60
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@@ -9921,7 +10737,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
390574330L
- "bExecute"
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2597686782L
@@ -9945,26 +10761,884 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
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- ""bEexecute""
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823443203L
- "572"
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true
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{98c8ae72-e756-4d11-b6a5-5914882e2424}
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+ ""gearIn""
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+GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
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390574330L
- "toggle"
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2597686782L
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3774423699L
- ""toggle""
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823443203L
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true
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OnMouseClick
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- {1b3fbbc5-d980-4cfc-bb39-40c7e5f77c3f}
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{98c8ae72-e756-4d11-b6a5-5914882e2424}
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@@ -10298,15 +11972,15 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"GroupBox"
"VisuFbGroupBox"
true
- "GenElemInst_153"
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- {2d68414c-57c0-49c4-8ab7-94be8062f2b8}
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{98c8ae72-e756-4d11-b6a5-5914882e2424}
- 154
+ 179
@@ -10456,7 +12130,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
{922df0df-545b-4a6e-ab04-d027f2e1dfa1}
- 154
+ 176
diff --git a/solution/tc_project_app/VISUs/languageSupport.TcTLO b/solution/tc_project_app/VISUs/languageSupport.TcTLO
index cda35a6..f9dfe09 100644
--- a/solution/tc_project_app/VISUs/languageSupport.TcTLO
+++ b/solution/tc_project_app/VISUs/languageSupport.TcTLO
@@ -230,6 +230,41 @@
+
+ "bGeared"
+ "In Gear"
+
+
+
+
+
+ "masterGear"
+ "Master Axis"
+
+
+
+
+
+ "gearRatio"
+ "Gear Ratio"
+
+
+
+
+
+ "gearIn"
+ "Gear In"
+
+
+
+
+
+ "gearOut"
+ "Gear Out"
+
+
+
+
""
""
@@ -241,9 +276,9 @@
Test
- {962e4813-aef8-4dae-aeb7-04077d21434b}
- {82ace71d-e165-4acf-b153-7a4cf4328067}
- {a31774a9-92e9-4b2c-85d2-e107f62daa07}
+ {6ee01c9c-bade-4561-8f8f-51a016e36b74}
+ {39936094-7e9a-4d1a-be25-5739d90e11d1}
+ {ed0a015c-01b4-4db1-a63c-fa53488b2ddf}
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 5eb56db..fe55ce8 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 5eb56db806fd52bae29f59bfb59f2a42328fb61d
+Subproject commit fe55ce8af8ae32471e1031b6d089e9497ac5f69e
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 522bbc5..bb8afcd 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -37,6 +37,9 @@
Code
+
+ Code
+
Code
From d2e05e98cf4e122d4844897360a2e3f8ca1ff01f Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Mon, 17 Jun 2019 16:38:05 +0200
Subject: [PATCH 006/169] integration bracnh ponitng to integration branch in
tc_mca_std_lib
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 936ed0e..5eb56db 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 936ed0e9d0f34f876c91cf857ee389ed8ea4eb61
+Subproject commit 5eb56db806fd52bae29f59bfb59f2a42328fb61d
From 2791f6cf87207bd963c2832d450d5e155a55d838 Mon Sep 17 00:00:00 2001
From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com>
Date: Thu, 20 Jun 2019 11:33:13 +0100
Subject: [PATCH 007/169] Add commit changes of TC_MCA_STD_LIB MPB-95
---
solution/TrialLicense.tclrs | 2 +-
solution/_Config/NC/Axes/Axis 3.xti | 1551 ++++++++++++++++++++++++
solution/solution.tsproj | 86 ++
solution/tc_project_app/tc_mca_std_lib | 2 +-
4 files changed, 1639 insertions(+), 2 deletions(-)
create mode 100644 solution/_Config/NC/Axes/Axis 3.xti
diff --git a/solution/TrialLicense.tclrs b/solution/TrialLicense.tclrs
index 35fbe7d..1132474 100644
--- a/solution/TrialLicense.tclrs
+++ b/solution/TrialLicense.tclrs
@@ -1,2 +1,2 @@
-{21469191-0300-E1C0-C3DD-62104774D30F}2019-06-03T12:43:002019-06-11T00:00:005dacefa756b5b013c66d6344cb3a48465bb45514e5c4843f450ae665865ca7f65dd3c43a441f54f73922566091c85994675624132e35c097ba119913df9734d50327dbecad56613840e7e38439426704b79e4a45f0616e6096c1d8ae2594a5af4cd72070b662221015adef28225406c0a0b2aca146def4e9ae8c381fc4a8cbf845f1aa682d50e5d2617f8b6cdada65077ff089d724e93ff3f27bf79e6ca7b0f9be83228413878fb58d6dde3383c68e07fe3341e104beb70d43bdbc744d9d1e3f35e1f99ed2c1d245d424c48efdd6c78f4dded487338a7d8a795a51d622af66aab1a78a6bfe5fcaf4df00a8be43e3739d4aa2ad6c81dc8e668033efed76727ba7{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}TC3 ADSTC1000{3FF18E97-7754-401B-93FB-70544DE28A13}TC3 IOTC1100{66689887-CCBD-452C-AC9A-039D997C6E66}TC3 PLCTC1200{A19036CF-A53B-4E3A-99FF-023EF5C4798B}TC3 NC PTP Axis10{520DE751-9DB6-47CB-8240-BD5C466E7E64}TC3 NC PTPTF5000{3EBB9639-5FF3-42B6-8847-35C70DC013C8}TC3 TCP/IPTF6310
+{52C4A619-551C-008A-DE5B-87C2D878314F}2019-06-20T07:59:002019-06-28T00:00:00440abbbe2f39181db097f16818237251fd1f2d0718115982971343370c9a4a58093f0af3461229dc88336bf779b68022b904abbf9339ebd5a3e73111bf8d2758177c4fbb82aa1b3482b71fef6f7a9b6300970484803798af4d353c784fdefb7b5accab29d326173225fc71fddd9406080470ea2f8a3f68bb26df6c0e7ff7fe974254b232fbf8028e90b2ac13c20814290951e328ff7dbfc8165a7725f2ab3fedde40703fef94b94eb878dd5405b279dd070c783c8c962192b0fcdc7877841ccd04669fa108e4a857081bc8c510cc8548b38d441e6c1199c59d543223ab5453adfbb6e5133d1ac99c0d8608066a000a15787944e475d15e777e111450f531be85{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}TC3 ADSTC1000{3FF18E97-7754-401B-93FB-70544DE28A13}TC3 IOTC1100{66689887-CCBD-452C-AC9A-039D997C6E66}TC3 PLCTC1200{A19036CF-A53B-4E3A-99FF-023EF5C4798B}TC3 NC PTP Axis10{520DE751-9DB6-47CB-8240-BD5C466E7E64}TC3 NC PTPTF5000{3EBB9639-5FF3-42B6-8847-35C70DC013C8}TC3 TCP/IPTF6310
diff --git a/solution/_Config/NC/Axes/Axis 3.xti b/solution/_Config/NC/Axes/Axis 3.xti
new file mode 100644
index 0000000..13d544c
--- /dev/null
+++ b/solution/_Config/NC/Axes/Axis 3.xti
@@ -0,0 +1,1551 @@
+
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ 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
+
+
+
+
+ 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
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ __FILENAME__
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 4352
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 7424
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 4672
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 7744
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+
+
+ nCtrl3
+
+
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+ 3328
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+ 5376
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
+
+
+
+
+
+
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 1326ba3..779cfe8 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -914,6 +914,7 @@ External Setpoint Generation:
+
@@ -1082,6 +1083,83 @@ External Setpoint Generation:
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
+]]>
+
+
+
+
+ GVL.axes[3].inputs.bLimitFwd
+
+
+
+ BOOL
+
+
+ GVL.axes[3].inputs.bLimitBwd
+
+
+
+ BOOL
+
+
+ GVL.axes[3].inputs.bHomeSensor
+
+
+
+ BOOL
+
+
+ GVL.axes[3].inputs.bEncLAtch
+
+
+
+ BOOL
+
+
+ GVL.axes[3].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
@@ -1104,6 +1182,10 @@ External Setpoint Generation:
GVL.axes[2].Axis.PlcToNc
PLCTONC_AXIS_REF
+
+ GVL.axes[3].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
@@ -1124,6 +1206,10 @@ External Setpoint Generation:
+
+
+
+
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index fe55ce8..63439ec 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit fe55ce8af8ae32471e1031b6d089e9497ac5f69e
+Subproject commit 63439ecde299754c957958a98f3756bc6b9a6d09
From dad212b4af954356dcafe10590a772969ff339ce Mon Sep 17 00:00:00 2001
From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com>
Date: Thu, 20 Jun 2019 15:38:37 +0100
Subject: [PATCH 008/169] Third NC axis to configuration Add third axis for
testing gear-in/out Update to latest tc-std-lib commit of MBP-95
---
solution/tc_project_app/VISUs/MainVisu.TcVIS | 99 ++++++++++----------
solution/tc_project_app/tc_mca_std_lib | 2 +-
2 files changed, 50 insertions(+), 51 deletions(-)
diff --git a/solution/tc_project_app/VISUs/MainVisu.TcVIS b/solution/tc_project_app/VISUs/MainVisu.TcVIS
index 66d0170..ba44e3d 100644
--- a/solution/tc_project_app/VISUs/MainVisu.TcVIS
+++ b/solution/tc_project_app/VISUs/MainVisu.TcVIS
@@ -3151,7 +3151,7 @@
"GenElemInst_106"
-
+
OnMouseClick
@@ -3315,14 +3315,14 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3774423699L
""moveVelocity""
-
- 823443203L
- "453"
-
2496894244L
"GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
+
+ 823443203L
+ "453"
+
"Button"
@@ -3495,14 +3495,14 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3774423699L
""moveRelative""
-
- 823443203L
- "50"
-
2496894244L
"GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
+
+ 823443203L
+ "50"
+
"Button"
@@ -3675,14 +3675,14 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3774423699L
""moveModulo""
-
- 823443203L
- "935"
-
2496894244L
"GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
+
+ 823443203L
+ "935"
+
"Button"
@@ -3870,14 +3870,14 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3774423699L
""stop""
-
- 823443203L
- "293"
-
2496894244L
"GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
+
+ 823443203L
+ "293"
+
"Button"
@@ -4042,14 +4042,14 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3774423699L
""jogBw""
-
- 823443203L
- "331"
-
2496894244L
"GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
+
+ 823443203L
+ "331"
+
"Button"
@@ -4058,11 +4058,11 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"GenElemInst_124"
-
- OnMouseDown
+
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= FALSE;"
OnMouseClick
@@ -4072,10 +4072,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"
- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= TRUE;"
@@ -4234,14 +4234,14 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3774423699L
""jogFw""
-
- 823443203L
- "468"
-
2496894244L
"GVL.axes[MAIN.hmiAxisSelection].status.bGeared"
+
+ 823443203L
+ "468"
+
"Button"
@@ -4251,10 +4251,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
- OnMouseDown
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= FALSE;"
OnMouseClick
@@ -4264,10 +4264,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"
- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= TRUE;"
@@ -5206,7 +5206,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"GenElemInst_120"
-
+
OnMouseClick
@@ -11625,7 +11625,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"GenElemInst_164"
-
+
OnMouseClick
@@ -11801,7 +11801,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"GenElemInst_166"
-
+
OnMouseClick
@@ -12003,8 +12003,8 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
30701c7d-977e-49b5-bb21-a0cecf1ead9e
ContainsPoint
64d72d51-c7db-4404-bae2-6d221f8a4519
- HasInputAccess
- 4fd74a45-ea1a-4196-9703-ba786a24fb65
+ SetStaticState
+ f70ff323-614c-45b7-a312-0594be5bd320
HasInputAccessIntern
af8ccc95-fff9-4fe4-9416-a0dfb29be3e1
GetTooltip
@@ -12023,8 +12023,6 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3e518730-123c-436c-b9fa-f2a4d7b1bedd
SetClientData
79534304-3f33-4434-8fe5-447c29f883f2
- HasVisibilityAccessIntern
- d1f92235-4ac0-4e45-9519-7b09eda8f71b
GetInstance
bab24c33-7699-42b2-aecb-eae4d06946ba
GetClientData
@@ -12041,12 +12039,14 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
92c953f5-cb0d-4f1b-9ad0-6f00f1be0217
Initialize
6b50d36a-e27e-4aa8-8e09-34acfbfdddbe
- Destruct
- 278b4e73-b2b6-4e4e-a29e-df9f9243725f
- SetStaticState
- f70ff323-614c-45b7-a312-0594be5bd320
+ HasInputAccess
+ 4fd74a45-ea1a-4196-9703-ba786a24fb65
+ HasVisibilityAccessIntern
+ d1f92235-4ac0-4e45-9519-7b09eda8f71b
GetSurroundingRect
7361ce2b-ad02-452c-a585-935c78b9613e
+ ElementInfo
+ 864206f7-8f61-45ac-a91b-23cae6e958d8
GetResult
8317aaba-0bb5-48f9-8b2e-9d0b5c9c65a8
GetLocalUsergroup
@@ -12069,8 +12069,8 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
a5ca5f52-0a7a-4bed-a5a1-8439dd60c0c5
HandleInput
3b347ea6-12e3-4e3a-9b73-ab3ec97ee6b1
- ElementInfo
- 864206f7-8f61-45ac-a91b-23cae6e958d8
+ Destruct
+ 278b4e73-b2b6-4e4e-a29e-df9f9243725f
"NotImportant"
{98c8ae72-e756-4d11-b6a5-5914882e2424}
@@ -12083,10 +12083,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
FB_Init
13be6eec-7fc2-4282-abbf-b24b2da58ba8
- FB_Reinit
- 639e5dca-e06b-4c9e-8c1b-9a863c3c34f7
FB_Exit
95930a16-400d-44f0-9930-76888846236f
+ FB_Reinit
+ 639e5dca-e06b-4c9e-8c1b-9a863c3c34f7
"NotImportant"
{a9f37f15-844b-497f-805b-d8708d84591d}
@@ -12199,7 +12199,6 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
System.Guid
System.Collections.Hashtable
{6b108d46-58af-4e41-a3f4-174d8f160cc4}
- _3S.CoDeSys.VisualElem.IInputAction[], VisualElem, Version=3.5.10.0, Culture=neutral, PublicKeyToken=null
{e8e7e747-f76f-4dee-ab1c-b9637e41ac26}
_3S.CoDeSys.VisualElem.InputBoxInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
System.Int16
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 63439ec..221d0d0 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 63439ecde299754c957958a98f3756bc6b9a6d09
+Subproject commit 221d0d09e929f442222b88322d1261dc9cc1b040
From a24a629546ed12495a1ef0cb0ba3497c37c746c8 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Mon, 24 Jun 2019 17:13:41 +0100
Subject: [PATCH 009/169] Removed testing axis
---
solution/_Config/NC/Axes/Axis 1.xti | 1549 -----------------
solution/solution.tsproj | 13 +-
solution/tc_project_app/GlobalTextList.TcGTLO | 259 ---
.../tc_project_app/tc_project_app.plcproj | 3 -
4 files changed, 1 insertion(+), 1823 deletions(-)
delete mode 100644 solution/_Config/NC/Axes/Axis 1.xti
delete mode 100644 solution/tc_project_app/GlobalTextList.TcGTLO
diff --git a/solution/_Config/NC/Axes/Axis 1.xti b/solution/_Config/NC/Axes/Axis 1.xti
deleted file mode 100644
index 7ed44bb..0000000
--- a/solution/_Config/NC/Axes/Axis 1.xti
+++ /dev/null
@@ -1,1549 +0,0 @@
-
-
-
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
- UINTARR2
- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
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- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
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-
-
- nCtrl7
- USINT
- 8
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-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
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- 0
-
-
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-
-
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-
-
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-
-
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- LREAL
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- 128
-
-
- PositionCorrection
- LREAL
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-
-
- 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
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- 8
- 840
-
-
- PlcCycleCount
- BYTE
- 8
- 848
-
-
-
- NcStructType
- 1
-
-
-
-
- NCAXLESTRUCT_FROMPLC3
-
-
-
-
- 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
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- __FILENAME__
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 1024
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 2048
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 1344
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 2368
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index bba7a7b..ee3987e 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
@@ -912,7 +912,6 @@ External Setpoint Generation:
NC-Task 1 SVB
-
@@ -1029,15 +1028,5 @@ External Setpoint Generation:
-
-
-
-
-
-
-
-
-
-
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
deleted file mode 100644
index 8587aeb..0000000
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ /dev/null
@@ -1,259 +0,0 @@
-
-
-
-
-
-
-
-
- "377"
- "%2.2f"
-
-
-
- "922"
- "%d"
-
-
-
- "254"
- "accel"
-
-
-
- "192"
- "actPos"
-
-
-
- "403"
- "actVel"
-
-
-
- "422"
- "AXESMAX"
-
-
-
- "214"
- "axisSel"
-
-
-
- "605"
- "bBusy"
-
-
-
- "432"
- "bBwEnabled"
-
-
-
- "687"
- "bDone"
-
-
-
- "313"
- "bEnabled"
-
-
-
- "3"
- "bError"
-
-
-
- "572"
- "bExecute"
-
-
-
- "606"
- "bFWEnabled"
-
-
-
- "528"
- "bFwEnabled"
-
-
-
- "42"
- "bHomed"
-
-
-
- "647"
- "bResetDone"
-
-
-
- "68"
- "bWarning"
-
-
-
- "873"
- "Change to Default Language"
-
-
-
- "757"
- "Change to Test Language"
-
-
-
- "918"
- "decel"
-
-
-
- "743"
- "ENABLE"
-
-
-
- "768"
- "ENABLE BW"
-
-
-
- "98"
- "ENABLE FW"
-
-
-
- "779"
- "English"
-
-
-
- "479"
- "errID"
-
-
-
- "286"
- "fAcceleration"
-
-
-
- "821"
- "fAccleration"
-
-
-
- "306"
- "fDeceleration"
-
-
-
- "618"
- "fPosition"
-
-
-
- "766"
- "fVelocity"
-
-
-
- "26"
- "jog+/- reset stop home"
-
-
-
- "331"
- "jogBw"
-
-
-
- "468"
- "jogFw"
-
-
-
- "99"
- "moveAbsolute"
-
-
-
- "935"
- "moveModulo"
-
-
-
- "50"
- "moveRelative"
-
-
-
- "453"
- "moveVelocity"
-
-
-
- "830"
- "PLC axes available: %d"
-
-
-
- "852"
- "POSITION"
-
-
-
- "985"
- "reset"
-
-
-
- "293"
- "stop"
-
-
-
- "780"
- "targetPosition"
-
-
-
- "633"
- "Test Language"
-
-
-
- "239"
- "toggle"
-
-
-
- "1"
- "vel"
-
-
-
- "752"
- "VELOCITY"
-
-
-
-
- {d7005498-b4fa-4a56-8593-01efab31a22a}
- {eb0543d6-24e5-4c0d-b12a-2b173f65a3e6}
- {58c39072-3512-4d2d-9972-e2fb2a30b0d1}
-
-
-
- System.Collections.ArrayList
- {63784cbb-9ba0-45e6-9d69-babf3f040511}
- System.Guid
- System.String
- {53da1be7-ad25-47c3-b0e8-e26286dad2e0}
-
-
-
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 4f997ed..373586a 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -16,9 +16,6 @@
true
-
- Code
-
Code
From d04cf0ed4b58d50f7a886ede3be8f63f94b5262b Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 28 Jun 2019 14:46:57 +0200
Subject: [PATCH 010/169] Change the fbErrorList to the new fbErrorSystem in
MAIN
Update the FB's in ERROR()
---
solution/tc_project_app/POUs/MAIN.TcPOU | 45 +++++++++----------
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 12 +++--
3 files changed, 30 insertions(+), 29 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index ef9925b..ad52d92 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
,
- nNoError=> ,
- nNoOverflow=> ,
+ nSelectedError=> ,
pErrorSystem=> );
(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
-the variable "fbErrorList.pErrorSystem" to the input ErrorSystem in each FB E. g. :
+the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
fbEL1808(
En:= TRUE,
- iTerminal_ID:= 1,
+ iTerminal_ID:= 01,
ErrorSystem:= fbErrorList.pErrorSystem,
EnO=> ,
- bDi_1=> ,
- bDi_2=> ,
- bDi_3=> ,
- bDi_4=> ,
- bDi_5=> ,
- bDi_6=> ,
- bDi_7=> ,
- bDi_8=> ,
bError=> ); *)
//
+
]]>
@@ -110,11 +108,10 @@ fbEL1808(
-
+
-
-
-
+
+
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 5eb56db..e52c5ad 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 5eb56db806fd52bae29f59bfb59f2a42328fb61d
+Subproject commit e52c5ad7be5ffebbfa3ce4f16908e4597f0e71ac
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 373586a..627dc92 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -36,7 +36,8 @@
Code
-
+
+
Code
@@ -57,16 +58,19 @@
Code
-
+
Code
-
+
+ Code
+
+
Code
Code
-
+
Code
From ed7c121b3dcc0fc6c8461416818f0dc103cd9854 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 28 Jun 2019 15:11:29 +0200
Subject: [PATCH 011/169] Update the solution strucutre with all the new
Hardware FB's and FB_axis if error statements
Update the solution strucutre tree with the new FB's
Modify the if statememts of the FB_Axis error handling for proper review
---
solution/solution.tsproj | 2 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 46 ++++++++++---------
3 files changed, 27 insertions(+), 23 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index ee3987e..3e07037 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index e52c5ad..dfe1a9e 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit e52c5ad7be5ffebbfa3ce4f16908e4597f0e71ac
+Subproject commit dfe1a9ecb84671c586f3b859a4e9a152313442d6
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 627dc92..2a644cd 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -64,9 +64,6 @@
Code
-
- Code
-
Code
@@ -85,15 +82,15 @@
Code
-
- Code
-
Code
Code
+
+ Code
+
Code
@@ -103,9 +100,6 @@
Code
-
- Code
-
Code
@@ -124,22 +118,37 @@
Code
-
+
Code
-
+
Code
-
+
Code
-
+
Code
-
+
Code
-
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
Code
@@ -148,9 +157,6 @@
Code
-
- Code
-
Code
@@ -210,10 +216,8 @@
-
-
+
-
From c52d1a5f01e5972213448297c8cad3fc063dd32e Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 5 Jul 2019 11:24:49 +0200
Subject: [PATCH 012/169] Change in line due to build in new TwinCAT version
3.1.4022.28
---
solution.sln | 32 +++++++++++++-------------
solution/solution.tsproj | 2 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
3 files changed, 18 insertions(+), 18 deletions(-)
diff --git a/solution.sln b/solution.sln
index 1bff69d..976e55d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index ee3987e..3e07037 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 5eb56db..dfe1a9e 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 5eb56db806fd52bae29f59bfb59f2a42328fb61d
+Subproject commit dfe1a9ecb84671c586f3b859a4e9a152313442d6
From f3ed21416267991b14521a88c630014d69c93c6e Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 5 Jul 2019 11:32:36 +0200
Subject: [PATCH 013/169] Add folder FeedbackTerminals to the solution tree
---
solution/tc_project_app/tc_project_app.plcproj | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 2a644cd..7dfd523 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -6,7 +6,7 @@
{fb261665-fd20-4bf2-97f8-2854c82b752d}
True
tc_project_app
- 3.1.4022.2
+ 3.1.4022.6
{047dee04-c246-47b2-8ccc-a15e36987c43}
{ae4eb5ee-6030-47a6-bf35-5a6afd9efeeb}
{5ef19bd0-aca2-493f-b2a1-89e363647697}
@@ -217,6 +217,7 @@
+
From 062432bb3beed35626cb6344c039201d82bf6cc6 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Mon, 8 Jul 2019 13:51:04 +0200
Subject: [PATCH 014/169] Delete Axis 1, 2 1nd 3 to have empty solution
---
solution.sln | 32 +-
solution/_Config/NC/Axes/Axis 1.xti | 1549 --------------------------
solution/_Config/NC/Axes/Axis 2.xti | 1551 ---------------------------
solution/_Config/NC/Axes/Axis 3.xti | 1551 ---------------------------
solution/solution.tsproj | 19 +-
5 files changed, 17 insertions(+), 4685 deletions(-)
delete mode 100644 solution/_Config/NC/Axes/Axis 1.xti
delete mode 100644 solution/_Config/NC/Axes/Axis 2.xti
delete mode 100644 solution/_Config/NC/Axes/Axis 3.xti
diff --git a/solution.sln b/solution.sln
index 1bff69d..976e55d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/_Config/NC/Axes/Axis 1.xti b/solution/_Config/NC/Axes/Axis 1.xti
deleted file mode 100644
index 7ed44bb..0000000
--- a/solution/_Config/NC/Axes/Axis 1.xti
+++ /dev/null
@@ -1,1549 +0,0 @@
-
-
-
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
- UINTARR2
- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
-
- 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
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- __FILENAME__
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 1024
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 2048
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 1344
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 2368
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
diff --git a/solution/_Config/NC/Axes/Axis 2.xti b/solution/_Config/NC/Axes/Axis 2.xti
deleted file mode 100644
index d44d3a2..0000000
--- a/solution/_Config/NC/Axes/Axis 2.xti
+++ /dev/null
@@ -1,1551 +0,0 @@
-
-
-
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
- UINTARR2
- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
-
- 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
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- __FILENAME__
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 2688
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 4736
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 3008
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 5056
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
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-
-
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-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
- 1664
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
- 2688
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
diff --git a/solution/_Config/NC/Axes/Axis 3.xti b/solution/_Config/NC/Axes/Axis 3.xti
deleted file mode 100644
index 13d544c..0000000
--- a/solution/_Config/NC/Axes/Axis 3.xti
+++ /dev/null
@@ -1,1551 +0,0 @@
-
-
-
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
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- 32
- 32
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- nState1
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- 8
- 64
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- USINT
- 8
- 72
-
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- USINT
- 8
- 80
-
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-
-
-
- 8
- 88
-
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- nDataIn3
- UINTARR2
- 32
- 96
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- nDataIn4
- UINTARR2
- 32
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- UINTARR2
- 32
- 192
-
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- nState5
- USINT
- 8
- 224
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- nState6
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- 8
- 232
-
-
- nState7
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- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
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- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
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-
-
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-
- nDataOut1
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- 0
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- 32
-
-
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- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
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- USINT
- 8
- 80
-
-
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- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
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- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
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- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
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-
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- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
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- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
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- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
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- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
-
- 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
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- __FILENAME__
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 4352
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 7424
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 4672
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 7744
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
- 3328
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
- 5376
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 779cfe8..23e7442 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
@@ -912,9 +912,6 @@ External Setpoint Generation:
NC-Task 1 SVB
-
-
-
@@ -1197,19 +1194,5 @@ External Setpoint Generation:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
From 815e48507e85f9cce184030fbdfe9b5f975e340b Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Mon, 8 Jul 2019 15:41:27 +0200
Subject: [PATCH 015/169] Make deafult value for the enum MotionFuncitons equal
to Jog
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 221d0d0..85b9947 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 221d0d09e929f442222b88322d1261dc9cc1b040
+Subproject commit 85b994790d94c71aaabb6a5d9cf2a9c8fcbd2041
From f71f6ad113f3b6aa7ed7a358469aa193ee53c8ab Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 10 Jul 2019 14:58:03 +0200
Subject: [PATCH 016/169] bError and bStop set to FALSE after execution
---
solution.sln | 32 +-
solution/solution.tsproj | 1030 ++++++++++++++++++++----
solution/tc_project_app/tc_mca_std_lib | 2 +-
3 files changed, 869 insertions(+), 195 deletions(-)
diff --git a/solution.sln b/solution.sln
index 1bff69d..976e55d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index ff077ac..c5dd3cd 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,6 +1,626 @@
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ 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
+
+
+
NCTOPLC_AXIS_REF_STATE
32
@@ -700,184 +1320,6 @@ External Setpoint Generation:
-
- 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
-
-
-
@@ -912,6 +1354,231 @@ External Setpoint Generation:
NC-Task 1 SVB
+
+ Axis 1
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 1024
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 2048
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 1344
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 2368
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+
+
+ nCtrl3
+
+
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
+
+
+
+
+
@@ -1190,8 +1857,15 @@ External Setpoint Generation:
+
+
+
+
+
+
+
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 7eb9579..bfbadab 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 7eb9579e91cf77fdfd45fa3ccad081f4a57bd07c
+Subproject commit bfbadab0f756cf88f962d6f947ffcf968203697e
From 2af2c7f5c5f814774a721cac9bf40bd10dfded39 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Thu, 11 Jul 2019 10:21:55 +0200
Subject: [PATCH 017/169] Change ErrorID representation to hexadecimal for
easier undertanding
---
solution/tc_project_app/VISUs/MainVisu.TcVIS | 136 +++++++++----------
1 file changed, 68 insertions(+), 68 deletions(-)
diff --git a/solution/tc_project_app/VISUs/MainVisu.TcVIS b/solution/tc_project_app/VISUs/MainVisu.TcVIS
index ba44e3d..910c162 100644
--- a/solution/tc_project_app/VISUs/MainVisu.TcVIS
+++ b/solution/tc_project_app/VISUs/MainVisu.TcVIS
@@ -1,5 +1,5 @@
-
+
@@ -440,7 +440,7 @@
823443203L
- "572"
+ "102"
@@ -608,7 +608,7 @@
823443203L
- "239"
+ "103"
@@ -1419,7 +1419,7 @@
823443203L
- "743"
+ "104"
@@ -1687,7 +1687,7 @@
823443203L
- "98"
+ "105"
@@ -1955,7 +1955,7 @@
823443203L
- "768"
+ "106"
@@ -2299,7 +2299,7 @@
823443203L
- "214"
+ "107"
@@ -2625,7 +2625,7 @@
823443203L
- "633"
+ "108"
@@ -2792,7 +2792,7 @@
823443203L
- "779"
+ "109"
@@ -2969,7 +2969,7 @@
823443203L
- "422"
+ "110"
@@ -3141,7 +3141,7 @@
823443203L
- "99"
+ "111"
@@ -3321,7 +3321,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "453"
+ "112"
@@ -3501,7 +3501,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "50"
+ "113"
@@ -3681,7 +3681,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "935"
+ "114"
@@ -3876,7 +3876,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "293"
+ "115"
@@ -4048,7 +4048,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "331"
+ "116"
@@ -4059,10 +4059,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= TRUE;"
OnMouseClick
@@ -4072,10 +4072,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"
- OnMouseDown
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogBwd:= FALSE;"
@@ -4240,7 +4240,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "468"
+ "117"
@@ -4251,10 +4251,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
- OnMouseUp
+ OnMouseDown
- "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= FALSE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= TRUE;"
OnMouseClick
@@ -4264,10 +4264,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
"
- OnMouseDown
+ OnMouseUp
- "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= TRUE;"
+ "GVL.axes[Main.hmiAxisSelection].control.bJogFwd:= FALSE;"
@@ -4616,7 +4616,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "479"
+ "939"
@@ -4756,7 +4756,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
390574330L
- "%d"
+ "%x"
2477733581L
@@ -4768,7 +4768,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "922"
+ "940"
@@ -5028,7 +5028,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "3"
+ "941"
@@ -5196,7 +5196,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "985"
+ "942"
@@ -5816,7 +5816,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "313"
+ "943"
@@ -6076,7 +6076,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "68"
+ "944"
@@ -6336,7 +6336,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "605"
+ "945"
@@ -6596,7 +6596,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "687"
+ "946"
@@ -6946,7 +6946,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "647"
+ "947"
@@ -7116,7 +7116,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "42"
+ "948"
@@ -7466,7 +7466,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "528"
+ "949"
@@ -7636,7 +7636,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "432"
+ "950"
@@ -8140,7 +8140,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "377"
+ "951"
@@ -8310,7 +8310,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "192"
+ "952"
@@ -8480,7 +8480,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "403"
+ "953"
@@ -8632,7 +8632,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "377"
+ "951"
@@ -9154,7 +9154,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "766"
+ "954"
@@ -9306,7 +9306,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "377"
+ "951"
@@ -9492,7 +9492,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "286"
+ "955"
@@ -9644,7 +9644,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "377"
+ "951"
@@ -9830,7 +9830,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "306"
+ "956"
@@ -9982,7 +9982,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "377"
+ "951"
@@ -10168,7 +10168,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "618"
+ "957"
@@ -10320,7 +10320,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "377"
+ "951"
@@ -10765,7 +10765,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "295"
+ "297"
@@ -11109,7 +11109,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "493"
+ "298"
@@ -11261,7 +11261,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "377"
+ "951"
@@ -11447,7 +11447,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "493"
+ "298"
@@ -11615,7 +11615,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "507"
+ "299"
@@ -11791,7 +11791,7 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
823443203L
- "938"
+ "300"
@@ -12003,8 +12003,8 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
30701c7d-977e-49b5-bb21-a0cecf1ead9e
ContainsPoint
64d72d51-c7db-4404-bae2-6d221f8a4519
- SetStaticState
- f70ff323-614c-45b7-a312-0594be5bd320
+ HasInputAccess
+ 4fd74a45-ea1a-4196-9703-ba786a24fb65
HasInputAccessIntern
af8ccc95-fff9-4fe4-9416-a0dfb29be3e1
GetTooltip
@@ -12023,6 +12023,8 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
3e518730-123c-436c-b9fa-f2a4d7b1bedd
SetClientData
79534304-3f33-4434-8fe5-447c29f883f2
+ HasVisibilityAccessIntern
+ d1f92235-4ac0-4e45-9519-7b09eda8f71b
GetInstance
bab24c33-7699-42b2-aecb-eae4d06946ba
GetClientData
@@ -12039,14 +12041,12 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
92c953f5-cb0d-4f1b-9ad0-6f00f1be0217
Initialize
6b50d36a-e27e-4aa8-8e09-34acfbfdddbe
- HasInputAccess
- 4fd74a45-ea1a-4196-9703-ba786a24fb65
- HasVisibilityAccessIntern
- d1f92235-4ac0-4e45-9519-7b09eda8f71b
+ Destruct
+ 278b4e73-b2b6-4e4e-a29e-df9f9243725f
+ SetStaticState
+ f70ff323-614c-45b7-a312-0594be5bd320
GetSurroundingRect
7361ce2b-ad02-452c-a585-935c78b9613e
- ElementInfo
- 864206f7-8f61-45ac-a91b-23cae6e958d8
GetResult
8317aaba-0bb5-48f9-8b2e-9d0b5c9c65a8
GetLocalUsergroup
@@ -12069,8 +12069,8 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
a5ca5f52-0a7a-4bed-a5a1-8439dd60c0c5
HandleInput
3b347ea6-12e3-4e3a-9b73-ab3ec97ee6b1
- Destruct
- 278b4e73-b2b6-4e4e-a29e-df9f9243725f
+ ElementInfo
+ 864206f7-8f61-45ac-a91b-23cae6e958d8
"NotImportant"
{98c8ae72-e756-4d11-b6a5-5914882e2424}
@@ -12083,10 +12083,10 @@ GVL.axes[Main.hmiAxisSelection].control.bExecute:=TRUE;"
FB_Init
13be6eec-7fc2-4282-abbf-b24b2da58ba8
- FB_Exit
- 95930a16-400d-44f0-9930-76888846236f
FB_Reinit
639e5dca-e06b-4c9e-8c1b-9a863c3c34f7
+ FB_Exit
+ 95930a16-400d-44f0-9930-76888846236f
"NotImportant"
{a9f37f15-844b-497f-805b-d8708d84591d}
From b52a2a34a980147418275e9bd02755721d900a29 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 12 Jul 2019 10:37:45 +0200
Subject: [PATCH 018/169] All file change with hexadecimal represenation in
visu for ErrorID
---
solution/tc_project_app/GlobalTextList.TcGTLO | 147 ++++++------------
.../Visualization Manager.TcVMO | 6 +-
.../tc_project_app/tc_project_app.plcproj | 3 +
3 files changed, 52 insertions(+), 104 deletions(-)
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 5a737ea..1faa4ae 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -1,270 +1,215 @@
-
-
+
+
- "377"
+ "951"
"%2.2f"
- "922"
+ "878"
"%d"
- "254"
- "accel"
+ "940"
+ "%x"
- "192"
+ "952"
"actPos"
- "403"
+ "953"
"actVel"
- "422"
+ "110"
"AXESMAX"
- "214"
+ "107"
"axisSel"
- "605"
+ "945"
"bBusy"
- "432"
+ "950"
"bBwEnabled"
- "687"
+ "946"
"bDone"
- "313"
+ "943"
"bEnabled"
- "3"
+ "941"
"bError"
- "572"
+ "102"
"bExecute"
- "606"
- "bFWEnabled"
-
-
-
- "528"
+ "949"
"bFwEnabled"
- "295"
+ "297"
"bGeared"
- "42"
+ "948"
"bHomed"
- "647"
+ "947"
"bResetDone"
- "68"
+ "944"
"bWarning"
- "873"
- "Change to Default Language"
-
-
-
- "757"
- "Change to Test Language"
-
-
-
- "918"
- "decel"
-
-
-
- "743"
+ "104"
"ENABLE"
- "768"
+ "106"
"ENABLE BW"
- "98"
+ "105"
"ENABLE FW"
- "779"
+ "109"
"English"
- "479"
+ "939"
"errID"
- "286"
+ "955"
"fAcceleration"
- "821"
- "fAccleration"
-
-
-
- "306"
+ "956"
"fDeceleration"
- "618"
+ "957"
"fPosition"
- "766"
+ "954"
"fVelocity"
- "507"
+ "299"
"gearIn"
- "938"
+ "300"
"gearOut"
- "26"
- "jog+/- reset stop home"
-
-
-
- "331"
+ "116"
"jogBw"
- "468"
+ "117"
"jogFw"
- "493"
+ "298"
"masterGear"
- "99"
+ "111"
"moveAbsolute"
- "935"
+ "114"
"moveModulo"
- "50"
+ "113"
"moveRelative"
- "453"
+ "112"
"moveVelocity"
- "830"
- "PLC axes available: %d"
-
-
-
- "852"
- "POSITION"
-
-
-
- "985"
+ "942"
"reset"
- "293"
+ "115"
"stop"
- "780"
- "targetPosition"
-
-
-
- "633"
+ "108"
"Test Language"
- "239"
+ "103"
"toggle"
-
- "1"
- "vel"
-
-
-
- "752"
- "VELOCITY"
-
-
- {946c8e6e-0a97-4d14-95ca-e8575d4b5b95}
- {156c2383-e9aa-42c6-a12a-29764abb596e}
- {cc9acff5-a471-4694-806c-07b8a247c706}
+ {062c6d5a-aca0-4f82-8481-8e26e8c8681e}
+ {d08328f1-0dac-4dfb-b105-bd18d7b5a756}
+ {180f93fa-c96b-483e-953c-133bc7d30e18}
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
index 14703a1..d2e340f 100644
--- a/solution/tc_project_app/Visualization Manager.TcVMO
+++ b/solution/tc_project_app/Visualization Manager.TcVMO
@@ -1,5 +1,5 @@
-
+
@@ -44,10 +44,10 @@
FB_Init
c98701bd-1e9f-450a-a2a8-a2474d536f2e
- FB_Exit
- 0be1b9ab-e8eb-4b33-b803-109abb46bde4
FB_Reinit
5b6e372a-a69d-40e8-aef7-f470b7c53d95
+ FB_Exit
+ 0be1b9ab-e8eb-4b33-b803-109abb46bde4
"NotImportant"
{aa8b7e42-e967-427f-8f2e-f00f9d706470}
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 656c3b0..67ef9b6 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -16,6 +16,9 @@
true
+
+ Code
+
Code
From 0602dd9e6e88673cf838ab7d5968a39a4c05f88d Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 12 Jul 2019 12:19:30 +0200
Subject: [PATCH 019/169] bExecute realese when moved, bReset and bStop reset
state fixed
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index bfbadab..44e85bd 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit bfbadab0f756cf88f962d6f947ffcf968203697e
+Subproject commit 44e85bde7c9e1f6e493655d9efd6a4c68d40d36c
From c488fd048995bc4782545f0be7198c92d552ac82 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Tue, 16 Jul 2019 10:41:16 +0200
Subject: [PATCH 020/169] delete unused old visualizations from tc_mca_std_lib
---
solution.sln | 32 +++++++++++++-------------
solution/tc_project_app/tc_mca_std_lib | 2 +-
2 files changed, 17 insertions(+), 17 deletions(-)
diff --git a/solution.sln b/solution.sln
index 976e55d..1bff69d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 44e85bd..ac820d9 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 44e85bde7c9e1f6e493655d9efd6a4c68d40d36c
+Subproject commit ac820d92d744766b4fa463f31d9b115b6ae4dc70
From 81b2a6c3268f4f8dd7c8ee69a37a6b501bac17c0 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Tue, 16 Jul 2019 11:32:47 +0200
Subject: [PATCH 021/169] Delete bResetDone and bHome, change VISU location to
tc_mca_std_lib
Delete bResetDone from MainVisu and ST_AxisStatus
Delete bHome from ST_AxisControl
Move all VISU folder from tc_generic_struct to tc_mca_std_lib
---
solution.sln | 32 +-
solution/solution.tsproj | 1 +
solution/tc_project_app/GlobalTextList.TcGTLO | 55 +
solution/tc_project_app/POUs/MAIN.TcPOU | 12 +-
solution/tc_project_app/VISUs/MainVisu.TcVIS | 12226 ----------------
.../VISUs/languageSupport.TcTLO | 293 -
.../tc_project_app/VISUs/visuTextLinks.TcTLO | 49 -
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 22 +-
9 files changed, 96 insertions(+), 12596 deletions(-)
delete mode 100644 solution/tc_project_app/VISUs/MainVisu.TcVIS
delete mode 100644 solution/tc_project_app/VISUs/languageSupport.TcTLO
delete mode 100644 solution/tc_project_app/VISUs/visuTextLinks.TcTLO
diff --git a/solution.sln b/solution.sln
index 1bff69d..976e55d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index c5dd3cd..fc25f08 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1428,6 +1428,7 @@ External Setpoint Generation:
+
Inputs
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 1faa4ae..9aedffb 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -15,11 +15,26 @@
"%d"
+
+ "706"
+ "%i"
+
+
"940"
"%x"
+
+ "703"
+ "Acknowledge"
+
+
+
+ "710"
+ "Active:"
+
+
"952"
"actPos"
@@ -95,6 +110,11 @@
"bWarning"
+
+ "704"
+ "Clear All"
+
+
"104"
"ENABLE"
@@ -120,6 +140,26 @@
"errID"
+
+ "701"
+ "Error #"
+
+
+
+ "705"
+ "Error #:"
+
+
+
+ "702"
+ "Error Log"
+
+
+
+ "707"
+ "Errors:"
+
+
"955"
"fAcceleration"
@@ -135,6 +175,11 @@
"fPosition"
+
+ "708"
+ "Free Entries:"
+
+
"954"
"fVelocity"
@@ -150,6 +195,11 @@
"gearOut"
+
+ "711"
+ "Inactive:"
+
+
"116"
"jogBw"
@@ -185,6 +235,11 @@
"moveVelocity"
+
+ "709"
+ "Overflows:"
+
+
"942"
"reset"
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 780076f..b94dd55 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -36,6 +36,7 @@ VAR
//fbEL7037 : EL7037;
//fbEK1110 : EK1110;
+
END_VAR
]]>
@@ -77,11 +78,12 @@ the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E.
fbEL1808(
En:= TRUE,
iTerminal_ID:= 01,
- ErrorSystem:= fbErrorList.pErrorSystem,
+ ErrorSystem:= fbErorSystem.pErrorSystem,
EnO=> ,
- bError=> ); *)
+ bError=> );
+For axis add *)
+
//
-
]]>
@@ -112,8 +114,10 @@ fbEL1808(
+
+
-
+
diff --git a/solution/tc_project_app/VISUs/MainVisu.TcVIS b/solution/tc_project_app/VISUs/MainVisu.TcVIS
deleted file mode 100644
index 910c162..0000000
--- a/solution/tc_project_app/VISUs/MainVisu.TcVIS
+++ /dev/null
@@ -1,12226 +0,0 @@
-
-
-
-
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- -1
- "BasicElement-Fill-Color"
-
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-
- 135947015L
-
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- -65536
- "BasicElement-Alarm-Frame-Color"
-
-
-
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- 493260384L
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- -12337
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-
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- {8542b7cc-4fae-486a-a4d7-a6201b9dc922}
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- {5ca86bbe-131c-4be2-917b-3da41977c332}
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- {c3a255eb-f813-47a2-b2dc-b7492ab3b22d}
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-
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- {e8e7e747-f76f-4dee-ab1c-b9637e41ac26}
- _3S.CoDeSys.VisualElem.InputBoxInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
- System.Int16
- System.Int32
- System.Int64
- {fa491db2-51ff-4bc1-9cd0-ce8c94ff6216}
- {9e842eb2-1463-4af2-b605-4fbb17044f94}
- System.String
- {6302d3fe-6ea5-4c42-819a-a9734a133b3d}
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- {f3878285-8e4f-490b-bb1b-9acbb7eb04db}
- {a5de0b0b-1cb5-4913-ac21-9d70293ec00d}
- {9dcc475d-e53e-4dd3-abd9-995bf52d466f}
- _3S.CoDeSys.VisualElem.ToggleVarInputAction[], VisualElem.plugin, Version=3.5.10.32, Culture=neutral, PublicKeyToken=null
- System.UInt32
- {ef9d0b20-c96e-48db-b361-2ded4063150e}
- {f285c9a3-7019-446b-b98c-ccec3a0af8fa}
- {c694e3a2-5c0b-4177-ab35-cb06bd5a6a02}
- {a4b83bea-3742-489c-9fe8-d96d68dba7ab}
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-
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\ No newline at end of file
diff --git a/solution/tc_project_app/VISUs/languageSupport.TcTLO b/solution/tc_project_app/VISUs/languageSupport.TcTLO
deleted file mode 100644
index f9dfe09..0000000
--- a/solution/tc_project_app/VISUs/languageSupport.TcTLO
+++ /dev/null
@@ -1,293 +0,0 @@
-
-
-
-
-
-
- "0"
-
-
- "axesAvailable"
- "PLC Axes available: %d"
-
- Alt language
-
-
-
- "velocity"
- "Velocity:"
-
-
-
-
-
- "actposition"
- "Actual Position:"
-
-
-
-
-
- "enable"
- "Enable Axis"
-
-
-
-
-
- "enFW"
- "Enable Forward"
-
-
-
-
-
- "enBW"
- "Enable Backward"
-
-
-
-
-
- "axisSel"
- "Axis Selected:"
-
-
-
-
-
- "actVelocity"
- "Actual Velocity:"
-
-
-
-
-
- "errID"
- "Error ID:"
-
-
-
-
-
- "bEnabled"
- "Axis Enabled"
-
-
-
-
-
- "bWarning"
- "Warning"
-
-
-
-
-
- "bBusy"
- "Busy"
-
-
-
-
-
- "bDone"
- "Command Done"
-
-
-
-
-
- "bResetDone"
- "Reset Complete"
-
-
-
-
-
- "bHomed"
- "Calibrated"
-
-
-
-
-
- "bFwEnabled"
- "Fwd movement enabled"
-
-
-
-
-
- "bBwEnabled"
- "Bwd movement enabled"
-
-
-
-
-
- "bError"
- "Error"
-
-
-
-
-
- "fVelocity"
- "Target Velocity:"
-
- Geschwindigkeit:
-
-
-
- "fAcceleration"
- "Target Accel.:"
-
-
-
-
-
- "fDeceleration"
- "Target Decel.:"
-
-
-
-
-
- "fPosition"
- "Target Position:"
-
-
-
-
-
- "moveAbsolute"
- "Absolute position move"
-
-
-
-
-
- "toggle"
- "Toggle"
-
-
-
-
-
- "moveVelocity"
- "Constant velocity move"
-
-
-
-
-
- "bExecute"
- "Motion function executed"
-
-
-
-
-
- "moveRelative"
- "Relative position move"
-
-
-
-
-
- "moveModulo"
- "Modulo position move"
-
-
-
-
-
- "reset"
- "Reset axis"
-
-
-
-
-
- "stop"
- "Stop motion"
-
-
-
-
-
- "jogBw"
- "Jog Backward"
-
-
-
-
-
- "jogFw"
- "Jog Forward"
-
-
-
-
-
- "bGeared"
- "In Gear"
-
-
-
-
-
- "masterGear"
- "Master Axis"
-
-
-
-
-
- "gearRatio"
- "Gear Ratio"
-
-
-
-
-
- "gearIn"
- "Gear In"
-
-
-
-
-
- "gearOut"
- "Gear Out"
-
-
-
-
-
- ""
- ""
-
-
-
-
-
-
- Test
-
- {6ee01c9c-bade-4561-8f8f-51a016e36b74}
- {39936094-7e9a-4d1a-be25-5739d90e11d1}
- {ed0a015c-01b4-4db1-a63c-fa53488b2ddf}
-
-
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-
-
-
-
\ No newline at end of file
diff --git a/solution/tc_project_app/VISUs/visuTextLinks.TcTLO b/solution/tc_project_app/VISUs/visuTextLinks.TcTLO
deleted file mode 100644
index 371b775..0000000
--- a/solution/tc_project_app/VISUs/visuTextLinks.TcTLO
+++ /dev/null
@@ -1,49 +0,0 @@
-
-
-
-
-
-
- "0"
-
-
- "A"
- "GVL.axes[1].Axis.NcToPlc.ActPos"
-
-
-
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- ""
-
-
-
-
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-
-
-
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- System.Guid
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- {53da1be7-ad25-47c3-b0e8-e26286dad2e0}
-
-
-
-
-
-
- false
- false
-
-
-
- System.Boolean
- {9db18249-9fcf-4264-a9de-410a659a36b3}
-
-
-
-
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index ac820d9..930d7d8 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit ac820d92d744766b4fa463f31d9b115b6ae4dc70
+Subproject commit 930d7d8836eed1fbb226af0c9879fd171196a731
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 67ef9b6..24cec4b 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -196,16 +196,23 @@
Code
-
- Code
-
-
- Code
-
-
+
Code
Visualization Manager.TcVMO
+
+ Code
+
+
+ Code
+ Visualization Manager.TcVMO
+
+
+ Code
+
+
+ Code
+
@@ -229,6 +236,7 @@
+
From 175bdae2de623f3acf69831dccaf2553800bda14 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Tue, 16 Jul 2019 13:29:44 +0200
Subject: [PATCH 022/169] Add missing FB for ErrorHandling FB_NC_Error
---
solution/solution.tsproj | 462 ++++++++++++++++++
solution/tc_project_app/POUs/MAIN.TcPOU | 30 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 3 +
4 files changed, 489 insertions(+), 8 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index fc25f08..e3ecf33 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1574,6 +1574,460 @@ External Setpoint Generation:
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
+]]>
+
+
+
+
+
+
+ Axis 2
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 2688
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 4736
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 3008
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 5056
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+
+
+ nCtrl3
+
+
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+ 1664
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+ 2688
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
+
+
+
+
+
+
+ Axis 3
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 4352
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 7424
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 4672
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 7744
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+
+
+ nCtrl3
+
+
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+ 3328
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+ 5376
+
+ AxisState
+
+
+
+
+
+ HomingState
+
+
+
+
+
+ CoupleState
+
+
@@ -1867,6 +2321,14 @@ External Setpoint Generation:
+
+
+
+
+
+
+
+
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index b94dd55..dd8707e 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -27,6 +27,8 @@ VAR
(******Error Handling********)
fbErrorSystem: FB_ErrorSystem;
+ aFbAxesError: ARRAY [1..gvl.axisNum] OF FB_NC_Error;
+
//fbEL1018 : EL1018;
//fbEL2808 : EL2808;
//fbEL5101 : EL5101;
@@ -37,6 +39,7 @@ VAR
//fbEK1110 : EK1110;
+
END_VAR
]]>
@@ -49,7 +52,7 @@ ERROR();]]>
,
nSelectedError=> ,
pErrorSystem=> );
+
+
+FOR GVL.iAxis:=1 TO gvl.axisNum DO
+ aFbAxesError[gvl.iAxis](EN:=TRUE,
+ nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
+ nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
+ ErrorSystem:= fbErrorSystem.pErrorSystem);
+END_FOR
+
+
(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
@@ -80,10 +93,9 @@ fbEL1808(
iTerminal_ID:= 01,
ErrorSystem:= fbErorSystem.pErrorSystem,
EnO=> ,
- bError=> );
-For axis add *)
-
-//
+ bError=> );
+ *)
+
]]>
@@ -112,10 +124,14 @@ For axis add *)
+
+
+
+
+
-
-
+
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 930d7d8..7ec52da 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 930d7d8836eed1fbb226af0c9879fd171196a731
+Subproject commit 7ec52daf4fd5efe337a2805fdf777650a1b227af
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 24cec4b..5bf6c19 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -70,6 +70,9 @@
Code
+
+ Code
+
Code
From f9544e549b3ed498c8f350ea02eb657ba0b22578 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Tue, 16 Jul 2019 13:31:10 +0200
Subject: [PATCH 023/169] Update Links from Error_Log_Visu to new ST_AxisStruct
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 7ec52da..e48c00d 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 7ec52daf4fd5efe337a2805fdf777650a1b227af
+Subproject commit e48c00d61efcc9ca86262c61b8d2f037e9514a29
From c03cead419d2a2c604f9f4376d59cebbfe32168a Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Tue, 16 Jul 2019 13:42:19 +0200
Subject: [PATCH 024/169] Fix typo in comment
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index e48c00d..11bca1d 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit e48c00d61efcc9ca86262c61b8d2f037e9514a29
+Subproject commit 11bca1ddb2fa2860ecfb80e160d7a974e190fe28
From b3f741222f37c783b1db07ed271e85dad01c25ea Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 17 Jul 2019 10:14:43 +0200
Subject: [PATCH 025/169] Fix bug with bExecute reset after command
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 11bca1d..dbb43ea 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 11bca1ddb2fa2860ecfb80e160d7a974e190fe28
+Subproject commit dbb43ea4d39d345c27fb72060548904c3af28065
From bacbdf1e39ffdbc9e9a79dfb70e44e5be74fd3c7 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 17 Jul 2019 13:52:07 +0200
Subject: [PATCH 026/169] add missing FB for error handling EL7037 and EL7047
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
solution/tc_project_app/tc_project_app.plcproj | 6 ++++++
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index dbb43ea..bb647a8 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit dbb43ea4d39d345c27fb72060548904c3af28065
+Subproject commit bb647a85cc1d93cb081bf1ad1cc61741b5c6cb1d
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 5bf6c19..b6cbc8b 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -133,9 +133,15 @@
Code
+
+ Code
+
Code
+
+ Code
+
Code
From 8beccc5cd8c150cb95b36353405ec5aee88a7969 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 17 Jul 2019 15:55:52 +0200
Subject: [PATCH 027/169] Change representation to Hex of nNC_ErrorID in
FB_NC_Error
---
solution.sln | 32 +++++++++++++-------------
solution/solution.tsproj | 2 ++
solution/tc_project_app/tc_mca_std_lib | 2 +-
3 files changed, 19 insertions(+), 17 deletions(-)
diff --git a/solution.sln b/solution.sln
index 976e55d..1bff69d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index e3ecf33..5947dd3 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1654,6 +1654,7 @@ External Setpoint Generation:
+
Inputs
@@ -1881,6 +1882,7 @@ External Setpoint Generation:
+
Inputs
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index bb647a8..2bcb471 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit bb647a85cc1d93cb081bf1ad1cc61741b5c6cb1d
+Subproject commit 2bcb47184c02566f64e375a0ed45e2e917b87714
From 1b3ef2c20f41a6f1c6053182ac2273def5d8970c Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Thu, 18 Jul 2019 10:03:08 +0200
Subject: [PATCH 028/169] Reset bExecute when Axis are coupled
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 2bcb471..98f573b 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 2bcb47184c02566f64e375a0ed45e2e917b87714
+Subproject commit 98f573b3c71a5342b1bab9e5a7d770e7c6d70e3b
From 1bf298212a58e97856bb7729e0e9a866bebd713f Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Thu, 1 Aug 2019 12:13:24 +0200
Subject: [PATCH 029/169] set bExecute to FLASE at the end of the code
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 98f573b..1a5fa47 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 98f573b3c71a5342b1bab9e5a7d770e7c6d70e3b
+Subproject commit 1a5fa47db49901bee67a942ad2ce5447a7903b0a
From 08c6c6acaf92d0342736525fcd8783fb5cf1871f Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Thu, 1 Aug 2019 12:38:27 +0200
Subject: [PATCH 030/169] Delete Axis task from solution to have a clean
solution
---
solution.sln | 32 +-
solution/solution.tsproj | 1513 +++++---------------------------------
2 files changed, 194 insertions(+), 1351 deletions(-)
diff --git a/solution.sln b/solution.sln
index 1bff69d..976e55d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 5947dd3..e663030 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,626 +1,6 @@
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
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-
-
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- 224
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-
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-
-
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-
-
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-
-
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-
-
-
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-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
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- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
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- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
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-
-
- nCtrl6
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-
-
- nCtrl7
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-
-
- nCtrl8
- USINT
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-
-
-
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-
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-
-
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-
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- 72
-
-
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- 80
-
-
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-
-
-
- 8
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-
-
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-
-
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-
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-
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-
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-
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- 72
-
-
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- 80
-
-
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- 8
- 88
-
-
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- UINTARR2
- 32
- 96
-
-
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- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
NCTOPLC_AXIS_REF_STATE
32
@@ -1320,6 +700,184 @@ External Setpoint Generation:
+
+ 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
+
+
+
@@ -1337,707 +895,6 @@ External Setpoint Generation:
-
-
-
- NC-Task 1 SAF
-
- Inputs
-
-
- Outputs
-
-
- Image
-
-
-
- NC-Task 1 SVB
-
-
- Axis 1
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 1024
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 2048
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 1344
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 2368
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
- Axis 2
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 2688
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 4736
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 3008
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 5056
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
- 1664
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
- 2688
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
- Axis 3
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 4352
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 7424
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 4672
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 7744
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
- 3328
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
- 5376
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
-
@@ -2318,19 +1175,5 @@ External Setpoint Generation:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
From e9bac1d121c4b1dbf11cfc82fcfd5d63addf2b40 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Thu, 1 Aug 2019 12:58:31 +0200
Subject: [PATCH 031/169] Create GVL_APP and add axisNum constant variable in
it
---
solution/solution.tsproj | 1517 +++-----------------
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 14 +
2 files changed, 192 insertions(+), 1339 deletions(-)
create mode 100644 solution/tc_project_app/GVLs/GVL_APP.TcGVL
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 5947dd3..b64b221 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,626 +1,6 @@
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
- UINTARR2
- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
-
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
NCTOPLC_AXIS_REF_STATE
32
@@ -1320,6 +700,184 @@ External Setpoint Generation:
+
+ 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
+
+
+
@@ -1337,707 +895,6 @@ External Setpoint Generation:
-
-
-
- NC-Task 1 SAF
-
- Inputs
-
-
- Outputs
-
-
- Image
-
-
-
- NC-Task 1 SVB
-
-
- Axis 1
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 1024
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 2048
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 1344
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 2368
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
- Axis 2
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 2688
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 4736
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 3008
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 5056
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
- 1664
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
- 2688
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
- Axis 3
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 4352
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 7424
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 4672
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 7744
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
-
-
- nCtrl3
-
-
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
- 3328
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
- 5376
-
- AxisState
-
-
-
-
-
- HomingState
-
-
-
-
-
- CoupleState
-
-
-
-
-
-
-
-
-
@@ -2314,23 +1171,5 @@ External Setpoint Generation:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
new file mode 100644
index 0000000..a366e64
--- /dev/null
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -0,0 +1,14 @@
+
+
+
+
+
+
\ No newline at end of file
From 05927a40a64f4f1bf38368e83045890618198dd6 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Thu, 1 Aug 2019 13:03:33 +0200
Subject: [PATCH 032/169] Change all references and links from GVL.axisNum to
GVL_APP.axisNum
---
solution/tc_project_app/POUs/MAIN.TcPOU | 8 ++++----
solution/tc_project_app/tc_mca_std_lib | 2 +-
solution/tc_project_app/tc_project_app.plcproj | 4 ++++
3 files changed, 9 insertions(+), 5 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index dd8707e..1b367f8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -5,7 +5,7 @@
VAR
sVersion: STRING:='1.0.0';
i : UINT; //index variable for AXES()
- aFbAxes: ARRAY [1..gvl.axisNum] OF FB_Axis;
+ aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
hmiAxisSelection : INT:=1; //Not possible to use local hmi variables for array indexes
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
@@ -27,7 +27,7 @@ VAR
(******Error Handling********)
fbErrorSystem: FB_ErrorSystem;
- aFbAxesError: ARRAY [1..gvl.axisNum] OF FB_NC_Error;
+ aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;
//fbEL1018 : EL1018;
//fbEL2808 : EL2808;
@@ -51,7 +51,7 @@ ERROR();]]>
);
-FOR GVL.iAxis:=1 TO gvl.axisNum DO
+FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxesError[gvl.iAxis](EN:=TRUE,
nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 1a5fa47..f2b1862 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 1a5fa47db49901bee67a942ad2ce5447a7903b0a
+Subproject commit f2b186273119f71345ff25367b3145b07dfa66f4
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index b6cbc8b..903cef5 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -19,6 +19,10 @@
Code
+
+ Code
+ true
+
Code
From ea525c4f49eb4b719f4702c29f875f5cf7cbc082 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Fri, 9 Aug 2019 15:08:12 +0200
Subject: [PATCH 033/169] Add a STARTUP and SHUTDOWN action to MAIN
SHUTDOWN saves the current act pos of all axes and a bit to indicate
whether the axes is moving. STARTUP checks all axes to see if they are
incremental and not moving at previous shutdown and opt-in for value
restore. If all are true then position is restored.
UPS reference library from Beckhoff also added for the saving of values
at shutdown. Might need to be modified as this one is specific for the
particular CPU.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 142 +++++++++++++++++-
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 4 +
3 files changed, 143 insertions(+), 5 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 1b367f8..f7387cc 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
- eSUPS_PowerFailure THEN
+ (* next cycles of powerfailure *)
+ (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
+ RETURN;
+END_IF
+
+PROG();
AXES();
ERROR();]]>
@@ -106,8 +130,110 @@ fbEL1808(
//]]>
+
+
+
+
+
+
+
+ ,
+ ReadMode:= E_READMODE.READMODE_ONCE);
+END_FOR
+
+FOR i:=1 TO gvl_app.axisNum DO
+ fbRestorePosition[i](
+ Axis:= gvl.axes[i].Axis,
+ Execute:= ,
+ Position:= iPositionAtShutdown[i]);
+END_FOR
+
+IF bColdstartDone = FALSE THEN
+ CASE iStartup OF
+ 0: // First cycle
+ IF NOT bColdstartDone THEN
+ iStartup:=iStartup+1;
+ iretry:=0;
+ END_IF
+ 1: // Read Enc Ref Sys - incremental or absolute
+ bExecuteReadEncRefSys:=TRUE;
+ iStartup:=iStartup+1;
+ tmrRetry(in:=FALSE);
+ 2: // 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;
+ iRetry:=iRetry+1;
+ END_IF
+ RETURN;
+ ELSE
+ iStartup:=iStartup+1;
+ EXIT;
+ END_IF
+ END_FOR
+ 3: // 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
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Value = 0 THEN
+ CASE GVL.axes[i].config.iRestorePosition OF
+ 1: fbRestorePosition[i].Execute:=TRUE;
+ 2: gvl.axes[i].control.bExecute:=TRUE;
+ END_CASE
+ END_IF
+ END_FOR
+ iStartup:=iStartup+1;
+ 5: // 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
+ 1:
+ IF NOT fbRestorePosition[i].Done THEN
+ RETURN;
+ END_IF
+ 2:
+ IF NOT gvl.axes[i].status.bHomed THEN
+ RETURN;
+ END_IF
+ END_CASE
+ END_IF
+ END_FOR
+ iStartup:=iStartup+1;
+ 6: // Reset set position FBs and Finish
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbRestorePosition[i].Execute:=FALSE;
+ END_FOR
+ bColdstartDone:=TRUE;
+ END_CASE
+END_IF]]>
+
+
+
+
+
@@ -140,5 +266,13 @@ fbEL1808(
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index f2b1862..32b87da 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit f2b186273119f71345ff25367b3145b07dfa66f4
+Subproject commit 32b87da57e91d57eaebbf927638554641a37c6b9
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 903cef5..6c2d7b0 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -308,6 +308,10 @@
Tc2_Standard, * (Beckhoff Automation GmbH)
Tc2_Standard
+
+ Tc2_SUPS, * (Beckhoff Automation GmbH)
+ Tc2_SUPS
+
Tc2_System, * (Beckhoff Automation GmbH)
Tc2_System
From 80380cbcd14ebf830a5c5c92445fec120c64ba4f Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Mon, 12 Aug 2019 15:55:16 +0200
Subject: [PATCH 034/169] Add action call of action STARTUP( ) to MAIN
---
solution/solution.tsproj | 3 ---
solution/tc_project_app/POUs/MAIN.TcPOU | 4 +++-
2 files changed, 3 insertions(+), 4 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 9224788..b64b221 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1172,7 +1172,4 @@ External Setpoint Generation:
-
-
-
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index f7387cc..2c8e8a8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
eSUPS_PowerFailure THEN
RETURN;
END_IF
+STARTUP();
PROG();
AXES();
ERROR();]]>
@@ -232,6 +233,7 @@ END_IF]]>
+
From 442f8400657d88fc608719428fbbfd325112f923 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 17:07:29 +0100
Subject: [PATCH 035/169] First try at running a pipeline
---
pipeline.py | 0
1 file changed, 0 insertions(+), 0 deletions(-)
create mode 100644 pipeline.py
diff --git a/pipeline.py b/pipeline.py
new file mode 100644
index 0000000..e69de29
From 48788d138fbbaf532d22ecbf49af2257759d802d Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 17:09:09 +0100
Subject: [PATCH 036/169] Add pipeline yaml
---
bitbucket-pipelines.yml | 0
1 file changed, 0 insertions(+), 0 deletions(-)
create mode 100644 bitbucket-pipelines.yml
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
new file mode 100644
index 0000000..e69de29
From cf5349dced72b364875ef8a2e28e51b5c0778851 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 17:11:57 +0100
Subject: [PATCH 037/169] Allow pipeline to be run manually
---
bitbucket-pipelines.yml | 9 +++++++++
pipeline.py | 2 ++
2 files changed, 11 insertions(+)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index e69de29..9a5f522 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -0,0 +1,9 @@
+image: python:3.7.3
+
+pipelines:
+ custom:
+ - step:
+ caches:
+ - pip
+ script:
+ - python pipeline.py
\ No newline at end of file
diff --git a/pipeline.py b/pipeline.py
index e69de29..bbff9c0 100644
--- a/pipeline.py
+++ b/pipeline.py
@@ -0,0 +1,2 @@
+if __name__ == "__main__":
+ exit(1) # Fail the pipeline
From 1946724be1c6837940b71cac3466a49d8a61d0c4 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 17:15:21 +0100
Subject: [PATCH 038/169] Fix syntax error
---
bitbucket-pipelines.yml | 11 ++++++-----
1 file changed, 6 insertions(+), 5 deletions(-)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index 9a5f522..b951f5d 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -2,8 +2,9 @@ image: python:3.7.3
pipelines:
custom:
- - step:
- caches:
- - pip
- script:
- - python pipeline.py
\ No newline at end of file
+ check_version:
+ - step:
+ caches:
+ - pip
+ script:
+ - python pipeline.py
\ No newline at end of file
From 517bd5dc4e352d2510485e2c1a0e0466e05f67f3 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 18:18:44 +0100
Subject: [PATCH 039/169] Pipeline now checks versions
---
pipeline.py | 36 +++++++++++++++++++++++++++++++++++-
1 file changed, 35 insertions(+), 1 deletion(-)
diff --git a/pipeline.py b/pipeline.py
index bbff9c0..ef88205 100644
--- a/pipeline.py
+++ b/pipeline.py
@@ -1,2 +1,36 @@
+import glob
+import xml.etree.ElementTree as ET
+import os
+
+VERSION_TAGS = {"**/*.Tc*": "ProductVersion", "**/*.tsproj": "TcVersion"}
+CORRECT_VERSION = "3.1.4024.0"
+
+
+def check_versions():
+ """
+ Checks the Twincat version used to create a file.
+ It assumes that the version is stored as an attribute on the top element of the file, the attribute names are
+ listed in VERSION_TAGS.
+ :return: A dictionary of incorrect files and their version numbers
+ """
+ incorrect_files = dict()
+ for file_path, version_attrib in VERSION_TAGS.items():
+ found_files = glob.glob(file_path, recursive=True)
+ if not found_files:
+ print("ERROR: No files of type {} found".format(file_path))
+ for file in found_files:
+ tree = ET.parse(file)
+ try:
+ found_version = tree.getroot().attrib[version_attrib]
+ if found_version != CORRECT_VERSION:
+ incorrect_files[file] = found_version
+ except KeyError:
+ print("WARNING: No version found for {}".format(file))
+ return incorrect_files
+
+
if __name__ == "__main__":
- exit(1) # Fail the pipeline
+ incorrect_files = check_versions()
+ for file, version in incorrect_files.items():
+ print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
+ exit(len(incorrect_files)) # Exit with non-zero if any bad versions were found
From b2b97f583cd0d1b90687a537b546dd61858fdb2b Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 18:23:32 +0100
Subject: [PATCH 040/169] Should now do submodules
---
bitbucket-pipelines.yml | 1 +
1 file changed, 1 insertion(+)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index b951f5d..e262282 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -7,4 +7,5 @@ pipelines:
caches:
- pip
script:
+ - git submodule update --init
- python pipeline.py
\ No newline at end of file
From adff4d92d30beca10234d4d30e503896674cdda6 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 18:25:39 +0100
Subject: [PATCH 041/169] Just confirm we can pass a test
---
pipeline.py | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/pipeline.py b/pipeline.py
index ef88205..33fe5e1 100644
--- a/pipeline.py
+++ b/pipeline.py
@@ -33,4 +33,4 @@ if __name__ == "__main__":
incorrect_files = check_versions()
for file, version in incorrect_files.items():
print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
- exit(len(incorrect_files)) # Exit with non-zero if any bad versions were found
+ exit(0) # Exit with non-zero if any bad versions were found
From 81b5d1f1dce0999d876e0edaae4d4ccfd4d980dc Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 18:38:05 +0100
Subject: [PATCH 042/169] Only do on PR
---
bitbucket-pipelines.yml | 9 ++++-----
pipeline.py => twincat_version_manager.py | 3 +--
2 files changed, 5 insertions(+), 7 deletions(-)
rename pipeline.py => twincat_version_manager.py (91%)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index e262282..32f33bd 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -1,11 +1,10 @@
image: python:3.7.3
-
+options:
+ max-time: 1
pipelines:
custom:
- check_version:
+ pull-requests:
- step:
- caches:
- - pip
script:
- git submodule update --init
- - python pipeline.py
\ No newline at end of file
+ - python twincat_version_manager.py
\ No newline at end of file
diff --git a/pipeline.py b/twincat_version_manager.py
similarity index 91%
rename from pipeline.py
rename to twincat_version_manager.py
index 33fe5e1..58d9f07 100644
--- a/pipeline.py
+++ b/twincat_version_manager.py
@@ -1,6 +1,5 @@
import glob
import xml.etree.ElementTree as ET
-import os
VERSION_TAGS = {"**/*.Tc*": "ProductVersion", "**/*.tsproj": "TcVersion"}
CORRECT_VERSION = "3.1.4024.0"
@@ -33,4 +32,4 @@ if __name__ == "__main__":
incorrect_files = check_versions()
for file, version in incorrect_files.items():
print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
- exit(0) # Exit with non-zero if any bad versions were found
+ exit(len(incorrect_files)) # Exit with non-zero if any bad versions were found
From edbb3e8cdbe190aa142dd134657d3f3635f9291a Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 18:51:00 +0100
Subject: [PATCH 043/169] Try and fix for pipelines
---
bitbucket-pipelines.yml | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index 32f33bd..f3e3890 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -2,8 +2,8 @@ image: python:3.7.3
options:
max-time: 1
pipelines:
- custom:
- pull-requests:
+ pull-requests:
+ '**':
- step:
script:
- git submodule update --init
From 0adff94a4633938c36b9121b75801c2a130f70ea Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 23:13:43 +0100
Subject: [PATCH 044/169] Updated version
---
solution/solution.tsproj | 137 ++++++------------
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +-
solution/tc_project_app/GlobalTextList.TcGTLO | 2 +-
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
solution/tc_project_app/PlcTask.TcTTO | 2 +-
.../Visualization Manager.TcVMO | 2 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
7 files changed, 48 insertions(+), 101 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 9224788..d85e701 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
-
+
+
NCTOPLC_AXIS_REF_STATE
@@ -411,8 +411,7 @@
AxisState
UDINT
-
-
-
+]]>
32
64
@@ -440,8 +438,7 @@ External Setpoint Generation:
HomingState
UDINT
-
-
-
+]]>
32
128
CoupleState
UDINT
-
-
-
+]]>
32
160
@@ -690,13 +684,13 @@ External Setpoint Generation:
NCAXLESTRUCT_TOPLC4
-
+
-
+
-
+
@@ -913,30 +907,22 @@ External Setpoint Generation:
PlcTask Inputs
GVL.axes[1].inputs.bLimitFwd
-
-
-
+
BOOL
GVL.axes[1].inputs.bLimitBwd
-
-
-
+
BOOL
GVL.axes[1].inputs.bHomeSensor
-
-
-
+
BOOL
GVL.axes[1].inputs.bEncLAtch
-
-
-
+
BOOL
@@ -944,8 +930,7 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
-
-
+]]>
HomingState
-
-
-
+]]>
CoupleState
-
-
-
+]]>
GVL.axes[2].inputs.bLimitFwd
-
-
-
+
BOOL
GVL.axes[2].inputs.bLimitBwd
-
-
-
+
BOOL
GVL.axes[2].inputs.bHomeSensor
-
-
-
+
BOOL
GVL.axes[2].inputs.bEncLAtch
-
-
-
+
BOOL
@@ -1021,8 +993,7 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
-
-
+]]>
HomingState
-
-
-
+]]>
CoupleState
-
-
-
+]]>
GVL.axes[3].inputs.bLimitFwd
-
-
-
+
BOOL
GVL.axes[3].inputs.bLimitBwd
-
-
-
+
BOOL
GVL.axes[3].inputs.bHomeSensor
-
-
-
+
BOOL
GVL.axes[3].inputs.bEncLAtch
-
-
-
+
BOOL
@@ -1098,8 +1056,7 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
-
-
+]]>
HomingState
-
-
-
+]]>
CoupleState
-
-
-
+]]>
@@ -1147,9 +1099,7 @@ External Setpoint Generation:
PlcTask Outputs
MAIN.bOutput1
-
-
-
+
BOOL
@@ -1172,7 +1122,4 @@ External Setpoint Generation:
-
-
-
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index a366e64..2d96afa 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -1,5 +1,5 @@
-
+
-
+
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 1b367f8..50890c8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
-
+
1000
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
index d2e340f..83b1ee8 100644
--- a/solution/tc_project_app/Visualization Manager.TcVMO
+++ b/solution/tc_project_app/Visualization Manager.TcVMO
@@ -1,5 +1,5 @@
-
+
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index f2b1862..7003429 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit f2b186273119f71345ff25367b3145b07dfa66f4
+Subproject commit 7003429e2198b2e194ecb0583c6ea4ec83b898ec
From 1d3a7d6c590d6f39d07feccaa71f569011167ce5 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 23:18:38 +0100
Subject: [PATCH 045/169] Updated version
---
solution/solution.tsproj | 2 +-
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +-
solution/tc_project_app/GlobalTextList.TcGTLO | 2 +-
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
solution/tc_project_app/PlcTask.TcTTO | 2 +-
solution/tc_project_app/Visualization Manager.TcVMO | 2 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
7 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 9224788..3678528 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index a366e64..2d96afa 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -1,5 +1,5 @@
-
+
-
+
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 1b367f8..50890c8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
-
+
1000
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
index d2e340f..83b1ee8 100644
--- a/solution/tc_project_app/Visualization Manager.TcVMO
+++ b/solution/tc_project_app/Visualization Manager.TcVMO
@@ -1,5 +1,5 @@
-
+
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index f2b1862..7003429 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit f2b186273119f71345ff25367b3145b07dfa66f4
+Subproject commit 7003429e2198b2e194ecb0583c6ea4ec83b898ec
From 1579c29d6f2dd930457cea3d03bc0566ff5a3901 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 23:20:39 +0100
Subject: [PATCH 046/169] Updated version
---
solution/tc_epicscommodule | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
index 6c86fc4..8692633 160000
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
@@ -1 +1 @@
-Subproject commit 6c86fc4bd9250add709323079d3c84c63790648b
+Subproject commit 8692633c02b4cb0da8bc7fd9f12513ec3c4ce086
From 7f9e9feff5947399857fceda2bf377fafdc90b95 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Fri, 11 Oct 2019 23:24:09 +0100
Subject: [PATCH 047/169] Updated submodules
---
solution/tc_epicscommodule | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
index 8692633..370c81a 160000
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
@@ -1 +1 @@
-Subproject commit 8692633c02b4cb0da8bc7fd9f12513ec3c4ce086
+Subproject commit 370c81aa67f1a39bac865b098d611720ebc82d7b
From 9ba0d7a67e42c5f0c5b6c396427365a8467ec7e7 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Mon, 14 Oct 2019 18:01:29 +0100
Subject: [PATCH 048/169] Provide better error codes
---
twincat_version_manager.py | 15 ++++++++++-----
1 file changed, 10 insertions(+), 5 deletions(-)
diff --git a/twincat_version_manager.py b/twincat_version_manager.py
index 58d9f07..3483331 100644
--- a/twincat_version_manager.py
+++ b/twincat_version_manager.py
@@ -16,7 +16,7 @@ def check_versions():
for file_path, version_attrib in VERSION_TAGS.items():
found_files = glob.glob(file_path, recursive=True)
if not found_files:
- print("ERROR: No files of type {} found".format(file_path))
+ raise IOError("ERROR: No files of type {} found".format(file_path))
for file in found_files:
tree = ET.parse(file)
try:
@@ -29,7 +29,12 @@ def check_versions():
if __name__ == "__main__":
- incorrect_files = check_versions()
- for file, version in incorrect_files.items():
- print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
- exit(len(incorrect_files)) # Exit with non-zero if any bad versions were found
+ try:
+ incorrect_files = check_versions()
+ for file, version in incorrect_files.items():
+ print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
+ if incorrect_files:
+ exit(1)
+ except IOError as e:
+ print(e) # Likely no files found
+ exit(2)
From d57ad738ee66967c9dc7cd415c78028ba8a4c74a Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Mon, 14 Oct 2019 18:12:31 +0100
Subject: [PATCH 049/169] Attempt to fix bitbucket being wierd
---
twincat_version_manager.py | 1 +
1 file changed, 1 insertion(+)
diff --git a/twincat_version_manager.py b/twincat_version_manager.py
index 3483331..120547e 100644
--- a/twincat_version_manager.py
+++ b/twincat_version_manager.py
@@ -29,6 +29,7 @@ def check_versions():
if __name__ == "__main__":
+ exit(0)
try:
incorrect_files = check_versions()
for file, version in incorrect_files.items():
From eeeaf8a3a1c8cb27462d85ce6d3447302cf8e071 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Mon, 14 Oct 2019 18:17:55 +0100
Subject: [PATCH 050/169] Fix exit codes
---
twincat_version_manager.py | 1 -
1 file changed, 1 deletion(-)
diff --git a/twincat_version_manager.py b/twincat_version_manager.py
index 120547e..3483331 100644
--- a/twincat_version_manager.py
+++ b/twincat_version_manager.py
@@ -29,7 +29,6 @@ def check_versions():
if __name__ == "__main__":
- exit(0)
try:
incorrect_files = check_versions()
for file, version in incorrect_files.items():
From 9a0b8e98cc2637ac421609a2443630d8eb1a7d87 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Tue, 15 Oct 2019 14:04:02 +0200
Subject: [PATCH 051/169] Update tc_epicscommodule to master for new 3024.0
---
solution/tc_epicscommodule | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
index 6c86fc4..3794bb7 160000
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
@@ -1 +1 @@
-Subproject commit 6c86fc4bd9250add709323079d3c84c63790648b
+Subproject commit 3794bb7a9801d08901fe8efcf3e103582b5d7e2c
From 8ced80123e8c9efb648db6e6160c8b52fbff4d50 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Tue, 15 Oct 2019 14:05:11 +0200
Subject: [PATCH 052/169] Update tc_mca_std_lib to version 3024.0
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 7003429..c74a21a 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 7003429e2198b2e194ecb0583c6ea4ec83b898ec
+Subproject commit c74a21a99d2749be86a12e4406bbfcfbb3618841
From 5644dd9bb77e8fdebca01b994b99084ea72d3a6d Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 16 Oct 2019 11:35:02 +0200
Subject: [PATCH 053/169] Update Hardware FB for the latest version from Viktor
Heirich and 4024.0
Some FB in the Etercat Termianls folder were not the latest version
They were replaced by the latest version according to the developer Viktor Heirich# Please enter the commit message for your changes. Lines starting
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index c74a21a..afc8c96 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit c74a21a99d2749be86a12e4406bbfcfbb3618841
+Subproject commit afc8c964ba035d22f55f2ead68c3ab38f62eb7ba
From df8fd4f4be640391ba860bb9c1bdeeaa9d064568 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 08:16:29 +0100
Subject: [PATCH 054/169] Add check_fix_white_space.py
Make it possible to check for whitespace-damage:
- a file uses TAB instead of space
- a file has trailing whitespace e.g.
"text on this line \n" instead of "text on this line\n"
Both make reviews unnecessary hard and may lead to merge conflicts,
which could be easily avoided.
In the next commit this script will be added to the continous integration.
---
check_fix_white_space.py | 96 ++++++++++++++++++++++++++++++++++++++++
1 file changed, 96 insertions(+)
create mode 100755 check_fix_white_space.py
diff --git a/check_fix_white_space.py b/check_fix_white_space.py
new file mode 100755
index 0000000..cf6fe3c
--- /dev/null
+++ b/check_fix_white_space.py
@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+
+#
+# Script to fix whithespace errors in files
+# All trailing white space are removed
+# TAB are replace by spaces
+#
+import glob
+import sys
+
+file_patterns_tab_width = {"**/*.Tc*": 4,
+ "**/*.py": 4,
+ "**/*.sh": 8}
+def fix_white_space(debug, fix_files):
+ """
+ Checks the Twincat source code for white space:
+ TAB should not be used
+ Trailing SPACE shoulf not be there.
+ :return: A dictionary of white-space-damaged files
+ """
+ incorrect_files = dict()
+ for file_path, tab_width in file_patterns_tab_width.items():
+ found_files = glob.glob(file_path, recursive=True)
+ #if not found_files:
+ # raise IOError("ERROR: No files of type {} found".format(file_path))
+
+ for pathname in found_files:
+ dirty = False
+ new_lines = []
+ if debug >= 1:
+ print("tab_with=%d pathname=%s" % (tab_width, pathname))
+ file = open(pathname, 'r', newline='', encoding="iso-8859-1")
+ lines = file.readlines()
+ file.close()
+ for old_line in lines:
+ had_crlf = 0
+ this_line_dirty = False
+ if old_line.endswith('\r\n'):
+ had_crlf = 2 # Both CR and LF
+ elif old_line.endswith('\n'):
+ had_crlf = 1 # LF
+ # Convert all TAB into SPACE
+ new_line = old_line.expandtabs(tabsize=tab_width)
+ # Strip of all trailing white space, including the CRLF
+ new_line = new_line.rstrip("\r\n ")
+ if had_crlf == 2:
+ new_line = new_line + '\r\n'
+ elif had_crlf == 1:
+ new_line = new_line + '\n'
+
+ if len(new_line) != len(old_line):
+ dirty = True
+ this_line_dirty = True
+ new_lines.append(new_line)
+ if this_line_dirty:
+ if debug >= 2:
+ print("had_crlf=%d" % had_crlf)
+ print("old_line=%s" % old_line)
+ print("new_line=%s" % new_line)
+ # end of loop of all line in one file
+ if debug >= 1:
+ print("pathname=%s dirty=%d" % (pathname, dirty))
+ if dirty:
+ incorrect_files[pathname] = True
+ if fix_files:
+ file = open(pathname, 'w', newline='', encoding="iso-8859-1")
+ file.writelines(new_lines)
+ file.close()
+
+ return incorrect_files
+
+
+if __name__ == "__main__":
+ try:
+ argc = len(sys.argv)
+ arg_idx = 1
+ debug = 0
+ fix_files = False
+ while arg_idx < argc:
+ if sys.argv[arg_idx] == "--fix":
+ fix_files = True
+ elif sys.argv[arg_idx] == "--debug":
+ debug = debug + 1
+ else:
+ print("%s : [--fix|--debug]" % sys.argv[0])
+ exit(2)
+ arg_idx = arg_idx + 1
+ incorrect_files = fix_white_space(debug, fix_files)
+ if not fix_files:
+ for file in incorrect_files:
+ print("ERROR: '{}' has white space damage".format(file))
+ if incorrect_files:
+ exit(1)
+ except IOError as e:
+ print(e) # Likely no files found
+ exit(2)
From 2004342dd345de0f6b4183059a1d62a2eb542f0d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 08:23:40 +0100
Subject: [PATCH 055/169] bitbucket-pipelines.yml: Activate
check_fix_white_space.py
---
bitbucket-pipelines.yml | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index f3e3890..093b1f2 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -7,4 +7,5 @@ pipelines:
- step:
script:
- git submodule update --init
- - python twincat_version_manager.py
\ No newline at end of file
+ - python twincat_version_manager.py
+ - python check_fix_white_space.py
From 7ce75ac945cd4338f6f9f3b1f7382511b820755d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 09:28:54 +0100
Subject: [PATCH 056/169] bitbucket-pipelines.yml: Change pipline from
pull-request to default
Allways run the pipeline, for each push, not only pull-requests.
This should detect problems early,
---
bitbucket-pipelines.yml | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index 093b1f2..873f48c 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -2,9 +2,8 @@ image: python:3.7.3
options:
max-time: 1
pipelines:
- pull-requests:
- '**':
- - step:
+ default:
+ - step:
script:
- git submodule update --init
- python twincat_version_manager.py
From 9facfb89c1661dce09f7017fae080a865906c0ee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 09:43:45 +0100
Subject: [PATCH 057/169] Update tc_epicscommodule to a white+space clean
version
---
solution/tc_epicscommodule | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
index 3794bb7..ee4d3b9 160000
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
@@ -1 +1 @@
-Subproject commit 3794bb7a9801d08901fe8efcf3e103582b5d7e2c
+Subproject commit ee4d3b9b86675f4b0ab652681ea9c87aa5fd41b7
From bef8078e9903560186d68c8520046f67ab8194d6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 09:45:53 +0100
Subject: [PATCH 058/169] Fix whitespace damage
Fix the whitespaces using check_fix_white_space.py
modified: solution/tc_project_app/GVLs/GVL_APP.TcGVL
modified: solution/tc_project_app/POUs/MAIN.TcPOU
---
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 6 +-
solution/tc_project_app/POUs/MAIN.TcPOU | 116 ++++++++++-----------
2 files changed, 61 insertions(+), 61 deletions(-)
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index 2d96afa..a846a85 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -3,12 +3,12 @@
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 50890c8..d74f2d1 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -3,43 +3,43 @@
@@ -52,7 +52,7 @@ ERROR();]]>
,
- nSelectedError=> ,
- pErrorSystem=> );
+ En:= TRUE,
+ bReset:= ,
+ nErrorNum:= ,
+ bACK:= ,
+ bValidSelection:= ,
+ nTableRowIndex:= ,
+ EnO=> ,
+ nSelectedError=> ,
+ pErrorSystem=> );
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
- aFbAxesError[gvl.iAxis](EN:=TRUE,
- nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
- nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
- ErrorSystem:= fbErrorSystem.pErrorSystem);
+ aFbAxesError[gvl.iAxis](EN:=TRUE,
+ nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
+ nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
+ ErrorSystem:= fbErrorSystem.pErrorSystem);
END_FOR
-
-
+
+
(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
- add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
-the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
+ add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
+the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
fbEL1808(
- En:= TRUE,
- iTerminal_ID:= 01,
- ErrorSystem:= fbErorSystem.pErrorSystem,
- EnO=> ,
- bError=> );
+ En:= TRUE,
+ iTerminal_ID:= 01,
+ ErrorSystem:= fbErorSystem.pErrorSystem,
+ EnO=> ,
+ bError=> );
*)
]]>
From 69f8fc469605c131b366e4b870f0ef7dc5c956ce Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 10:56:07 +0100
Subject: [PATCH 059/169] solution/tc_epicscommodule updated to 3.1.4024.0
---
solution/tc_epicscommodule | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
index ee4d3b9..e746bc4 160000
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
@@ -1 +1 @@
-Subproject commit ee4d3b9b86675f4b0ab652681ea9c87aa5fd41b7
+Subproject commit e746bc4b801554a2af3cc5432f9374ffc9fbd82b
From 403b1c92969846e6e5b59bc74d8153222e4f2251 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 11:44:53 +0100
Subject: [PATCH 060/169] bitbucket-pipelines.yml: Print status of `git
submodule`
---
bitbucket-pipelines.yml | 1 +
1 file changed, 1 insertion(+)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index 873f48c..d47cd1d 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -6,5 +6,6 @@ pipelines:
- step:
script:
- git submodule update --init
+ - git submodule
- python twincat_version_manager.py
- python check_fix_white_space.py
From 4b2302d0d45ed8774130c05661f4ff5c673296a1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 29 Nov 2019 11:51:27 +0100
Subject: [PATCH 061/169] Fix whitespace damage in
solution/tc_project_app/tc_mca_std_lib
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index afc8c96..ce9f69f 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit afc8c964ba035d22f55f2ead68c3ab38f62eb7ba
+Subproject commit ce9f69ffdc2ac817ced936189f4550b65235025d
From 1fd4d9bad6c3dbd8151b2bc31f4502de3d14c614 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 4 Dec 2019 14:09:59 +0100
Subject: [PATCH 062/169] Fix white-space danage
---
solution/tc_project_app/POUs/MAIN.TcPOU | 222 ++++++++++++------------
solution/tc_project_app/tc_mca_std_lib | 2 +-
2 files changed, 112 insertions(+), 112 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 261f7c0..43b2f96 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -26,47 +26,47 @@ VAR
//bOutput28 AT %Q*: BOOL:= TRUE;
(******Error Handling********)
- fbErrorSystem: FB_ErrorSystem;
- aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;
-
- //fbEL1018 : EL1018;
- //fbEL2808 : EL2808;
- //fbEL5101 : EL5101;
- //fbEL9505 : EL9505;
- //fbEL1252 : EL1252;
- //fbEL9410 : EL9410;
- //fbEL7037 : EL7037;
- //fbEK1110 : EK1110;
-
+ fbErrorSystem: FB_ErrorSystem;
+ aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;
+
+ //fbEL1018 : EL1018;
+ //fbEL2808 : EL2808;
+ //fbEL5101 : EL5101;
+ //fbEL9505 : EL9505;
+ //fbEL1252 : EL1252;
+ //fbEL9410 : EL9410;
+ //fbEL7037 : EL7037;
+ //fbEK1110 : EK1110;
+
(******Startup, Shutdown and UPS********)
- iStartup : UINT := 0;
- bColdstartDone : BOOL := FALSE;
- 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;
+ iStartup : UINT := 0;
+ bColdstartDone : BOOL := FALSE;
+ 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;
END_VAR
VAR PERSISTENT
- iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
- bMovingAtShutdown : ARRAY [1..gvl_app.axisNum] OF BOOL;
+ iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
+ bMovingAtShutdown : ARRAY [1..gvl_app.axisNum] OF BOOL;
END_VAR
]]>
eSUPS_PowerFailure THEN
- (* next cycles of powerfailure *)
- (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
- RETURN;
+ (* next cycles of powerfailure *)
+ (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
+ RETURN;
END_IF
STARTUP();
@@ -135,99 +135,99 @@ fbEL1808(
- ,
- ReadMode:= E_READMODE.READMODE_ONCE);
+ ,
+ ReadMode:= E_READMODE.READMODE_ONCE);
END_FOR
FOR i:=1 TO gvl_app.axisNum DO
- fbRestorePosition[i](
- Axis:= gvl.axes[i].Axis,
- Execute:= ,
- Position:= iPositionAtShutdown[i]);
+ fbRestorePosition[i](
+ Axis:= gvl.axes[i].Axis,
+ Execute:= ,
+ Position:= iPositionAtShutdown[i]);
END_FOR
IF bColdstartDone = FALSE THEN
- CASE iStartup OF
- 0: // First cycle
- IF NOT bColdstartDone THEN
- iStartup:=iStartup+1;
- iretry:=0;
- END_IF
- 1: // Read Enc Ref Sys - incremental or absolute
- bExecuteReadEncRefSys:=TRUE;
- iStartup:=iStartup+1;
- tmrRetry(in:=FALSE);
- 2: // 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;
- iRetry:=iRetry+1;
- END_IF
- RETURN;
- ELSE
- iStartup:=iStartup+1;
- EXIT;
- END_IF
- END_FOR
- 3: // 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
- FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Value = 0 THEN
- CASE GVL.axes[i].config.iRestorePosition OF
- 1: fbRestorePosition[i].Execute:=TRUE;
- 2: gvl.axes[i].control.bExecute:=TRUE;
- END_CASE
- END_IF
- END_FOR
- iStartup:=iStartup+1;
- 5: // 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
- 1:
- IF NOT fbRestorePosition[i].Done THEN
- RETURN;
- END_IF
- 2:
- IF NOT gvl.axes[i].status.bHomed THEN
- RETURN;
- END_IF
- END_CASE
- END_IF
- END_FOR
- iStartup:=iStartup+1;
- 6: // Reset set position FBs and Finish
- FOR i:=1 TO gvl_app.axisNum DO
- fbRestorePosition[i].Execute:=FALSE;
- END_FOR
- bColdstartDone:=TRUE;
- END_CASE
+ CASE iStartup OF
+ 0: // First cycle
+ IF NOT bColdstartDone THEN
+ iStartup:=iStartup+1;
+ iretry:=0;
+ END_IF
+ 1: // Read Enc Ref Sys - incremental or absolute
+ bExecuteReadEncRefSys:=TRUE;
+ iStartup:=iStartup+1;
+ tmrRetry(in:=FALSE);
+ 2: // 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;
+ iRetry:=iRetry+1;
+ END_IF
+ RETURN;
+ ELSE
+ iStartup:=iStartup+1;
+ EXIT;
+ END_IF
+ END_FOR
+ 3: // 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
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Value = 0 THEN
+ CASE GVL.axes[i].config.iRestorePosition OF
+ 1: fbRestorePosition[i].Execute:=TRUE;
+ 2: gvl.axes[i].control.bExecute:=TRUE;
+ END_CASE
+ END_IF
+ END_FOR
+ iStartup:=iStartup+1;
+ 5: // 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
+ 1:
+ IF NOT fbRestorePosition[i].Done THEN
+ RETURN;
+ END_IF
+ 2:
+ IF NOT gvl.axes[i].status.bHomed THEN
+ RETURN;
+ END_IF
+ END_CASE
+ END_IF
+ END_FOR
+ iStartup:=iStartup+1;
+ 6: // Reset set position FBs and Finish
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbRestorePosition[i].Execute:=FALSE;
+ END_FOR
+ bColdstartDone:=TRUE;
+ END_CASE
END_IF]]>
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index ab99f8c..0bca79b 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit ab99f8caafe634de4ebfb327f8cf1ebe53228514
+Subproject commit 0bca79b3b4357b07024050e65514caa9365afabf
From 5d0116f27c0e507ff2bca403a4aa2d6fa58be4e0 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 4 Dec 2019 14:44:49 +0100
Subject: [PATCH 063/169] Add comment plus variable name consistency fix
---
solution/tc_project_app/POUs/MAIN.TcPOU | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 43b2f96..1ac000c 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
Date: Wed, 4 Dec 2019 14:50:58 +0100
Subject: [PATCH 064/169] White space fix
---
solution/tc_project_app/POUs/MAIN.TcPOU | 4 +---
1 file changed, 1 insertion(+), 3 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 1ac000c..730c49b 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -49,13 +49,11 @@ VAR
eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
-
END_VAR
VAR PERSISTENT
iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
bMovingAtShutdown : ARRAY [1..gvl_app.axisNum] OF BOOL;
-END_VAR
-]]>
+END_VAR]]>
Date: Wed, 4 Dec 2019 15:09:05 +0100
Subject: [PATCH 065/169] Change iStartup case to eStartup
Change int to enum for better readability
---
solution/tc_project_app/POUs/MAIN.TcPOU | 39 ++++++++++++-------------
1 file changed, 19 insertions(+), 20 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 730c49b..24397d4 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -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]]>
-
+
+
From 1e8ecb1f6b03872204bfb6ff47a59f5fb02af7d8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Wed, 4 Dec 2019 16:11:52 +0100
Subject: [PATCH 066/169] Remove and ignore solution/TrialLicense.tclrs
Trial-licenses should not be part of any Git - they
experire and soon and cause a lot of merge-conflicts.
Remove solution/TrialLicense.tclrs and
ignore it in .gitignore (keep .gitignore sorted)
---
.gitignore | 25 +++++++++++++------------
solution/TrialLicense.tclrs | 2 --
2 files changed, 13 insertions(+), 14 deletions(-)
delete mode 100644 solution/TrialLicense.tclrs
diff --git a/.gitignore b/.gitignore
index 2d1ca8d..5853ffd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,17 +1,18 @@
+
+*.bak
+*.pyc
+*.suo
+*.tmc
+*.tpy
+*.~u
+*~
+.#*
+.epics.*
+\#*#
_Boot/
_CompileInfo/
_Libraries/
+logs.0*
+solution/TrialLicense.tclrs
tools/linux/ADS/
tools/linux/getADSState/getADSState.bin
-logs.0*
-.epics.*
-*.bak
-*.~u
-*.pyc
-*.tpy
-*.suo
-*~
-.#*
-\#*#
-*.tmc
-
diff --git a/solution/TrialLicense.tclrs b/solution/TrialLicense.tclrs
deleted file mode 100644
index 1132474..0000000
--- a/solution/TrialLicense.tclrs
+++ /dev/null
@@ -1,2 +0,0 @@
-
-{52C4A619-551C-008A-DE5B-87C2D878314F}2019-06-20T07:59:002019-06-28T00:00:00440abbbe2f39181db097f16818237251fd1f2d0718115982971343370c9a4a58093f0af3461229dc88336bf779b68022b904abbf9339ebd5a3e73111bf8d2758177c4fbb82aa1b3482b71fef6f7a9b6300970484803798af4d353c784fdefb7b5accab29d326173225fc71fddd9406080470ea2f8a3f68bb26df6c0e7ff7fe974254b232fbf8028e90b2ac13c20814290951e328ff7dbfc8165a7725f2ab3fedde40703fef94b94eb878dd5405b279dd070c783c8c962192b0fcdc7877841ccd04669fa108e4a857081bc8c510cc8548b38d441e6c1199c59d543223ab5453adfbb6e5133d1ac99c0d8608066a000a15787944e475d15e777e111450f531be85{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}TC3 ADSTC1000{3FF18E97-7754-401B-93FB-70544DE28A13}TC3 IOTC1100{66689887-CCBD-452C-AC9A-039D997C6E66}TC3 PLCTC1200{A19036CF-A53B-4E3A-99FF-023EF5C4798B}TC3 NC PTP Axis10{520DE751-9DB6-47CB-8240-BD5C466E7E64}TC3 NC PTPTF5000{3EBB9639-5FF3-42B6-8847-35C70DC013C8}TC3 TCP/IPTF6310
From 3331756998de93375b1715e217edb87d84887d64 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Wed, 4 Dec 2019 16:14:59 +0100
Subject: [PATCH 067/169] Remove and ignore UpgradeLog.htm
UpgradeLog.htm should not be under Git, so remove it and ignore
it forever.
---
.gitignore | 1 +
UpgradeLog.htm | Bin 36656 -> 0 bytes
2 files changed, 1 insertion(+)
delete mode 100644 UpgradeLog.htm
diff --git a/.gitignore b/.gitignore
index 5853ffd..8f8c117 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,6 +8,7 @@
*~
.#*
.epics.*
+UpgradeLog.htm
\#*#
_Boot/
_CompileInfo/
diff --git a/UpgradeLog.htm b/UpgradeLog.htm
deleted file mode 100644
index 103b560f2c69d2625e27fc190d00ae9e10fbbf9e..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001
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From 4ca1f6e110f02a750ade7c81b75cce98bfcc57b2 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Wed, 4 Dec 2019 16:30:58 +0100
Subject: [PATCH 068/169] Normalize all line endings to LF in the repo
Change the CRLF strategie:
All (nearly all) files have LF in the repo, and CRLF in the working tree.
When we started, all files had been commited "as is".
Now it is more and more disturbing that Git shows "^M" in git diff
when a line was added or chenged.
To avoid this, store all files in the repo with LF.
To normalzie existing repos for a crate, run:
Step 1)
(unless you have done that already)
git remote add tc_generic_structure https://bitbucket.org/europeanspallationsource/tc_generic_structure.git
Step 2)
git fetch tc_generic_structure
Step 3)
(master below may be integration)
git merge tc_generic_structure/master -X renormalize
---
.gitattributes | 10 +-
bitbucket-pipelines.yml | 22 +-
solution.sln | 144 +-
solution/Licenses/ReadMe_licenses.txt | 8 +-
solution/_Config/NC/1.xml | 4 +-
solution/solution.tsproj | 2250 ++++++++---------
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 26 +-
solution/tc_project_app/GlobalTextList.TcGTLO | 556 ++--
solution/tc_project_app/POUs/MAIN.TcPOU | 286 +--
solution/tc_project_app/PlcTask.TcTTO | 30 +-
.../Visualization Manager.TcVMO | 1134 ++++-----
.../tc_project_app/tc_project_app.plcproj | 804 +++---
twincat_version_manager.py | 80 +-
13 files changed, 2676 insertions(+), 2678 deletions(-)
diff --git a/.gitattributes b/.gitattributes
index d697d2e..a1aec5e 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,8 +1,6 @@
# end of line conversion CLRF -- LF
-# Default is no conversion (follow Visual Studio)
-* -text
+# Default is auto
+* text=auto
#
-.gitattributes text
-.gitignore text
-
-
+# Shell scripts must be line feed
+*.sh text eol=lf
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index d47cd1d..7c786ab 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -1,11 +1,11 @@
-image: python:3.7.3
-options:
- max-time: 1
-pipelines:
- default:
- - step:
- script:
- - git submodule update --init
- - git submodule
- - python twincat_version_manager.py
- - python check_fix_white_space.py
+image: python:3.7.3
+options:
+ max-time: 1
+pipelines:
+ default:
+ - step:
+ script:
+ - git submodule update --init
+ - git submodule
+ - python twincat_version_manager.py
+ - python check_fix_white_space.py
diff --git a/solution.sln b/solution.sln
index 976e55d..9459e68 100644
--- a/solution.sln
+++ b/solution.sln
@@ -1,72 +1,72 @@
-
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio 2013
-VisualStudioVersion = 12.0.21005.1
-MinimumVisualStudioVersion = 10.0.40219.1
-Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}"
-EndProject
-Global
- GlobalSection(SolutionConfigurationPlatforms) = preSolution
- Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7)
- Debug|TwinCAT OS (ARMT2) = Debug|TwinCAT OS (ARMT2)
- Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64)
- Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86)
- Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7)
- Release|TwinCAT OS (ARMT2) = Release|TwinCAT OS (ARMT2)
- Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64)
- Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86)
- EndGlobalSection
- GlobalSection(ProjectConfigurationPlatforms) = postSolution
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- EndGlobalSection
- GlobalSection(SolutionProperties) = preSolution
- HideSolutionNode = FALSE
- EndGlobalSection
-EndGlobal
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 2013
+VisualStudioVersion = 12.0.21005.1
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7)
+ Debug|TwinCAT OS (ARMT2) = Debug|TwinCAT OS (ARMT2)
+ Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64)
+ Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86)
+ Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7)
+ Release|TwinCAT OS (ARMT2) = Release|TwinCAT OS (ARMT2)
+ Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64)
+ Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86)
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/solution/Licenses/ReadMe_licenses.txt b/solution/Licenses/ReadMe_licenses.txt
index 79e6b36..1cc9be8 100644
--- a/solution/Licenses/ReadMe_licenses.txt
+++ b/solution/Licenses/ReadMe_licenses.txt
@@ -1,5 +1,5 @@
-Copy and paste in this folder the licenses contained inside the Beckhoff CPU in the path:
-
-C:\TwinCAT\3.1\Target\License
-
+Copy and paste in this folder the licenses contained inside the Beckhoff CPU in the path:
+
+C:\TwinCAT\3.1\Target\License
+
Thank you
\ No newline at end of file
diff --git a/solution/_Config/NC/1.xml b/solution/_Config/NC/1.xml
index 02118c9..7447a9f 100644
--- a/solution/_Config/NC/1.xml
+++ b/solution/_Config/NC/1.xml
@@ -1,2 +1,2 @@
-
-1mm15001500225015000150000130000000303010060020002000true5false0.1false100true2falsefalse000false10.010truefalsefalse5510.0001103600false21677721500.010.1false0false0false000falsetrue0false0false0104857500false005false1-1165535#x000000000.1002200101100000000.01211100001361291330false110111true5false010000.10.1false0.10.50.10000.10.100.50000false0.010112010.001
+
+1mm15001500225015000150000130000000303010060020002000true5false0.1false100true2falsefalse000false10.010truefalsefalse5510.0001103600false21677721500.010.1false0false0false000falsetrue0false0false0104857500false005false1-1165535#x000000000.1002200101100000000.01211100001361291330false110111true5false010000.10.1false0.10.50.10000.10.100.50000false0.010112010.001
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 729ffe6..45bd716 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,1125 +1,1125 @@
-
-
-
-
- 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
-
-
-
-
-
-
-
-
- {3EBB9639-5FF3-42B6-8847-35C70DC013C8}
-
-
-
-
- PlcTaskCom
-
-
- PlcTask
-
-
-
-
-
-
- tc_epicscommodule Instance
- {08500001-0000-0000-F000-000000000064}
-
-
-
-
-
-
-
- tc_project_app Instance
- {08500001-0000-0000-F000-000000000064}
-
- PlcTask Inputs
-
- GVL.axes[1].inputs.bLimitFwd
-
- BOOL
-
-
- GVL.axes[1].inputs.bLimitBwd
-
- BOOL
-
-
- GVL.axes[1].inputs.bHomeSensor
-
- BOOL
-
-
- GVL.axes[1].inputs.bEncLAtch
-
- BOOL
-
-
- GVL.axes[1].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
- GVL.axes[2].inputs.bLimitFwd
-
- BOOL
-
-
- GVL.axes[2].inputs.bLimitBwd
-
- BOOL
-
-
- GVL.axes[2].inputs.bHomeSensor
-
- BOOL
-
-
- GVL.axes[2].inputs.bEncLAtch
-
- BOOL
-
-
- GVL.axes[2].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
- GVL.axes[3].inputs.bLimitFwd
-
- BOOL
-
-
- GVL.axes[3].inputs.bLimitBwd
-
- BOOL
-
-
- GVL.axes[3].inputs.bHomeSensor
-
- BOOL
-
-
- GVL.axes[3].inputs.bEncLAtch
-
- BOOL
-
-
- GVL.axes[3].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
-
- PlcTask Outputs
-
- MAIN.bOutput1
-
- BOOL
-
-
- GVL.axes[1].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
-
- GVL.axes[2].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
-
- GVL.axes[3].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+ 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
+
+
+
+
+
+
+
+
+ {3EBB9639-5FF3-42B6-8847-35C70DC013C8}
+
+
+
+
+ PlcTaskCom
+
+
+ PlcTask
+
+
+
+
+
+
+ tc_epicscommodule Instance
+ {08500001-0000-0000-F000-000000000064}
+
+
+
+
+
+
+
+ tc_project_app Instance
+ {08500001-0000-0000-F000-000000000064}
+
+ PlcTask Inputs
+
+ GVL.axes[1].inputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.axes[1].inputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.axes[1].inputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.axes[1].inputs.bEncLAtch
+
+ BOOL
+
+
+ GVL.axes[1].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+ GVL.axes[2].inputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.axes[2].inputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.axes[2].inputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.axes[2].inputs.bEncLAtch
+
+ BOOL
+
+
+ GVL.axes[2].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+ GVL.axes[3].inputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.axes[3].inputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.axes[3].inputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.axes[3].inputs.bEncLAtch
+
+ BOOL
+
+
+ GVL.axes[3].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+ PlcTask Outputs
+
+ MAIN.bOutput1
+
+ BOOL
+
+
+ GVL.axes[1].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+ GVL.axes[2].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+ GVL.axes[3].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index a846a85..150f4ac 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -1,14 +1,14 @@
-
-
-
-
-
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO
index 859af55..1818614 100644
--- a/solution/tc_project_app/GlobalTextList.TcGTLO
+++ b/solution/tc_project_app/GlobalTextList.TcGTLO
@@ -1,279 +1,279 @@
-
-
-
-
-
-
-
-
- "951"
- "%2.2f"
-
-
-
- "878"
- "%d"
-
-
-
- "706"
- "%i"
-
-
-
- "940"
- "%x"
-
-
-
- "703"
- "Acknowledge"
-
-
-
- "710"
- "Active:"
-
-
-
- "952"
- "actPos"
-
-
-
- "953"
- "actVel"
-
-
-
- "110"
- "AXESMAX"
-
-
-
- "107"
- "axisSel"
-
-
-
- "945"
- "bBusy"
-
-
-
- "950"
- "bBwEnabled"
-
-
-
- "946"
- "bDone"
-
-
-
- "943"
- "bEnabled"
-
-
-
- "941"
- "bError"
-
-
-
- "102"
- "bExecute"
-
-
-
- "949"
- "bFwEnabled"
-
-
-
- "297"
- "bGeared"
-
-
-
- "948"
- "bHomed"
-
-
-
- "947"
- "bResetDone"
-
-
-
- "944"
- "bWarning"
-
-
-
- "704"
- "Clear All"
-
-
-
- "104"
- "ENABLE"
-
-
-
- "106"
- "ENABLE BW"
-
-
-
- "105"
- "ENABLE FW"
-
-
-
- "109"
- "English"
-
-
-
- "939"
- "errID"
-
-
-
- "701"
- "Error #"
-
-
-
- "705"
- "Error #:"
-
-
-
- "702"
- "Error Log"
-
-
-
- "707"
- "Errors:"
-
-
-
- "955"
- "fAcceleration"
-
-
-
- "956"
- "fDeceleration"
-
-
-
- "957"
- "fPosition"
-
-
-
- "708"
- "Free Entries:"
-
-
-
- "954"
- "fVelocity"
-
-
-
- "299"
- "gearIn"
-
-
-
- "300"
- "gearOut"
-
-
-
- "711"
- "Inactive:"
-
-
-
- "116"
- "jogBw"
-
-
-
- "117"
- "jogFw"
-
-
-
- "298"
- "masterGear"
-
-
-
- "111"
- "moveAbsolute"
-
-
-
- "114"
- "moveModulo"
-
-
-
- "113"
- "moveRelative"
-
-
-
- "112"
- "moveVelocity"
-
-
-
- "709"
- "Overflows:"
-
-
-
- "942"
- "reset"
-
-
-
- "115"
- "stop"
-
-
-
- "108"
- "Test Language"
-
-
-
- "103"
- "toggle"
-
-
-
-
- {062c6d5a-aca0-4f82-8481-8e26e8c8681e}
- {d08328f1-0dac-4dfb-b105-bd18d7b5a756}
- {180f93fa-c96b-483e-953c-133bc7d30e18}
-
-
-
- System.Collections.ArrayList
- {63784cbb-9ba0-45e6-9d69-babf3f040511}
- System.Guid
- System.String
- {53da1be7-ad25-47c3-b0e8-e26286dad2e0}
-
-
-
+
+
+
+
+
+
+
+
+ "951"
+ "%2.2f"
+
+
+
+ "878"
+ "%d"
+
+
+
+ "706"
+ "%i"
+
+
+
+ "940"
+ "%x"
+
+
+
+ "703"
+ "Acknowledge"
+
+
+
+ "710"
+ "Active:"
+
+
+
+ "952"
+ "actPos"
+
+
+
+ "953"
+ "actVel"
+
+
+
+ "110"
+ "AXESMAX"
+
+
+
+ "107"
+ "axisSel"
+
+
+
+ "945"
+ "bBusy"
+
+
+
+ "950"
+ "bBwEnabled"
+
+
+
+ "946"
+ "bDone"
+
+
+
+ "943"
+ "bEnabled"
+
+
+
+ "941"
+ "bError"
+
+
+
+ "102"
+ "bExecute"
+
+
+
+ "949"
+ "bFwEnabled"
+
+
+
+ "297"
+ "bGeared"
+
+
+
+ "948"
+ "bHomed"
+
+
+
+ "947"
+ "bResetDone"
+
+
+
+ "944"
+ "bWarning"
+
+
+
+ "704"
+ "Clear All"
+
+
+
+ "104"
+ "ENABLE"
+
+
+
+ "106"
+ "ENABLE BW"
+
+
+
+ "105"
+ "ENABLE FW"
+
+
+
+ "109"
+ "English"
+
+
+
+ "939"
+ "errID"
+
+
+
+ "701"
+ "Error #"
+
+
+
+ "705"
+ "Error #:"
+
+
+
+ "702"
+ "Error Log"
+
+
+
+ "707"
+ "Errors:"
+
+
+
+ "955"
+ "fAcceleration"
+
+
+
+ "956"
+ "fDeceleration"
+
+
+
+ "957"
+ "fPosition"
+
+
+
+ "708"
+ "Free Entries:"
+
+
+
+ "954"
+ "fVelocity"
+
+
+
+ "299"
+ "gearIn"
+
+
+
+ "300"
+ "gearOut"
+
+
+
+ "711"
+ "Inactive:"
+
+
+
+ "116"
+ "jogBw"
+
+
+
+ "117"
+ "jogFw"
+
+
+
+ "298"
+ "masterGear"
+
+
+
+ "111"
+ "moveAbsolute"
+
+
+
+ "114"
+ "moveModulo"
+
+
+
+ "113"
+ "moveRelative"
+
+
+
+ "112"
+ "moveVelocity"
+
+
+
+ "709"
+ "Overflows:"
+
+
+
+ "942"
+ "reset"
+
+
+
+ "115"
+ "stop"
+
+
+
+ "108"
+ "Test Language"
+
+
+
+ "103"
+ "toggle"
+
+
+
+
+ {062c6d5a-aca0-4f82-8481-8e26e8c8681e}
+ {d08328f1-0dac-4dfb-b105-bd18d7b5a756}
+ {180f93fa-c96b-483e-953c-133bc7d30e18}
+
+
+
+ System.Collections.ArrayList
+ {63784cbb-9ba0-45e6-9d69-babf3f040511}
+ System.Guid
+ System.String
+ {53da1be7-ad25-47c3-b0e8-e26286dad2e0}
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index d74f2d1..887910d 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,144 +1,144 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- ,
- nSelectedError=> ,
- pErrorSystem=> );
-
-
-FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
- aFbAxesError[gvl.iAxis](EN:=TRUE,
- nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
- nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
- ErrorSystem:= fbErrorSystem.pErrorSystem);
-END_FOR
-
-
-
-(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
- add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
-the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
-fbEL1808(
- En:= TRUE,
- iTerminal_ID:= 01,
- ErrorSystem:= fbErorSystem.pErrorSystem,
- EnO=> ,
- bError=> );
- *)
-
-]]>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ ,
+ nSelectedError=> ,
+ pErrorSystem=> );
+
+
+FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
+ aFbAxesError[gvl.iAxis](EN:=TRUE,
+ nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
+ nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
+ ErrorSystem:= fbErrorSystem.pErrorSystem);
+END_FOR
+
+
+
+(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
+ add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
+the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
+fbEL1808(
+ En:= TRUE,
+ iTerminal_ID:= 01,
+ ErrorSystem:= fbErorSystem.pErrorSystem,
+ EnO=> ,
+ bError=> );
+ *)
+
+]]>
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 98d1faf..0763afe 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -1,16 +1,16 @@
-
-
-
-
- 1000
- 20
-
- MAIN
-
- {26d89752-95b4-4b52-80c0-c79242bc34d7}
- {137c4fd1-c794-4dee-a041-b4fea1d22866}
- {2478772d-357b-433f-886f-15340bef9bdf}
- {c16ee410-277f-45f0-a92e-1ec5f87024b9}
- {291eb57a-f9a9-4722-b7d3-fd700e5db288}
-
+
+
+
+
+ 1000
+ 20
+
+ MAIN
+
+ {26d89752-95b4-4b52-80c0-c79242bc34d7}
+ {137c4fd1-c794-4dee-a041-b4fea1d22866}
+ {2478772d-357b-433f-886f-15340bef9bdf}
+ {c16ee410-277f-45f0-a92e-1ec5f87024b9}
+ {291eb57a-f9a9-4722-b7d3-fd700e5db288}
+
\ No newline at end of file
diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO
index 83b1ee8..e63f527 100644
--- a/solution/tc_project_app/Visualization Manager.TcVMO
+++ b/solution/tc_project_app/Visualization Manager.TcVMO
@@ -1,568 +1,568 @@
-
-
-
-
-
-
- Undefined
-
-
- "MainVisu"
- false
- false
- AutoDetect
- 2000
- 2000
- false
- 50000
- 400000
- false
- false
- true
- "Default, 3.1.5.0 (Beckhoff Automation GmbH)"
- 100
- ""
- "VisuDialogs.Numpad"
- "VisuDialogs.Keypad"
- "VisuDialogs.TextinputWithLimits"
- false
- false
- true
- true
- false
- "VisuUserManagement.VUM_Login"
- "VisuUserManagement.VUM_ChangePassword"
- "VisuUserManagement.VUM_UserManagement"
- {00000000-0000-0000-0000-000000000000}
- {00000000-0000-0000-0000-000000000000}
- true
- true
- false
- ""
-
-
-
- FB_Init
- c98701bd-1e9f-450a-a2a8-a2474d536f2e
- FB_Reinit
- 5b6e372a-a69d-40e8-aef7-f470b7c53d95
- FB_Exit
- 0be1b9ab-e8eb-4b33-b803-109abb46bde4
-
- "NotImportant"
- {aa8b7e42-e967-427f-8f2e-f00f9d706470}
-
-
-
- 7
- 4096
- "1002 0004"
- "1.0.0.4"
- {cb73a13e-6ccc-4bc6-8859-f5aa98bb116b}
-
-
- true
- 48
- "0"
-
-
- true
- 49
- "1"
-
-
- true
- 50
- "2"
-
-
- true
- 51
- "3"
-
-
- true
- 52
- "4"
-
-
- true
- 53
- "5"
-
-
- true
- 54
- "6"
-
-
- true
- 55
- "7"
-
-
- true
- 56
- "8"
-
-
- true
- 57
- "9"
-
-
- true
- 65
- "A"
-
-
- true
- 107
- "ADDITION"
-
-
- true
- 66
- "B"
-
-
- true
- 8
- "BACKSPACE"
-
-
- true
- 67
- "C"
-
-
- true
- 110
- "COMMA"
-
-
- true
- 68
- "D"
-
-
- true
- 46
- "DELETE"
-
-
- true
- 111
- "DIVIDE"
-
-
- true
- 40
- "DOWN"
-
-
- true
- 69
- "E"
-
-
- true
- 35
- "END"
-
-
- true
- 27
- "ESCAPE"
-
-
- true
- 70
- "F"
-
-
- true
- 112
- "F1"
-
-
- true
- 121
- "F10"
-
-
- true
- 122
- "F11"
-
-
- true
- 123
- "F12"
-
-
- true
- 113
- "F2"
-
-
- true
- 114
- "F3"
-
-
- true
- 115
- "F4"
-
-
- true
- 116
- "F5"
-
-
- true
- 117
- "F6"
-
-
- true
- 118
- "F7"
-
-
- true
- 119
- "F8"
-
-
- true
- 120
- "F9"
-
-
- true
- 71
- "G"
-
-
- true
- 72
- "H"
-
-
- true
- 36
- "HOME"
-
-
- true
- 73
- "I"
-
-
- true
- 45
- "INSERT"
-
-
- true
- 74
- "J"
-
-
- true
- 75
- "K"
-
-
- true
- 76
- "L"
-
-
- true
- 37
- "LEFT"
-
-
- true
- 77
- "M"
-
-
- true
- 106
- "MULTIPLY"
-
-
- true
- 78
- "N"
-
-
- true
- 96
- "NUM0"
-
-
- true
- 97
- "NUM1"
-
-
- true
- 98
- "NUM2"
-
-
- true
- 99
- "NUM3"
-
-
- true
- 100
- "NUM4"
-
-
- true
- 101
- "NUM5"
-
-
- true
- 102
- "NUM6"
-
-
- true
- 103
- "NUM7"
-
-
- true
- 104
- "NUM8"
-
-
- true
- 105
- "NUM9"
-
-
- true
- 79
- "O"
-
-
- true
- 80
- "P"
-
-
- true
- 19
- "PAUSE"
-
-
- true
- 42
- "PRINT"
-
-
- true
- 81
- "Q"
-
-
- true
- 82
- "R"
-
-
- true
- 13
- "RETURN_KEY"
-
-
- true
- 39
- "RIGHT"
-
-
- true
- 83
- "S"
-
-
- true
- 32
- "SPACE"
-
-
- true
- 109
- "SUBTRACT"
-
-
- true
- 84
- "T"
-
-
- true
- 9
- "TAB"
-
-
- true
- 85
- "U"
-
-
- true
- 38
- "UP"
-
-
- true
- 86
- "V"
-
-
- true
- 87
- "W"
-
-
- true
- 88
- "X"
-
-
- true
- 89
- "Y"
-
-
- true
- 90
- "Z"
-
-
-
-
-
- 481037385728L
- 549755813887L
- 481037385728L
- 549754765312L
- 1048576L
-
-
-
-
- ExecuteLooseCapture
- 4e2884cd-dc97-4120-914c-87a83e618f1f
- ExecuteMouseUp
- 57eea9a5-15d9-4269-bb8d-9fee5420cdb2
- Init
- e61a0910-39b6-4bcc-9a64-fcab62230628
- FB_Exit
- e6e1ea47-0811-4b03-9888-d0564361e0d6
- ExecuteMouseDblClick
- a517a0ac-170b-4df4-b289-55dcb57628ed
- GetElementInfo
- f64cb89f-3016-4fba-85f5-02efcd4282c1
- ExecuteMouseDown
- 94bab392-b395-4c03-9d0e-5738d11bd021
- FB_Reinit
- 97933c03-0169-4afe-ac83-de892204e120
- Initialize
- 6946d6e0-129f-4425-b8b0-ef98281a99e9
- ExecuteMouseMove
- 58fc221c-be14-4e34-871e-a118f8ba9539
- ExecuteDialogClosed
- f08d08b6-e70c-4bef-a136-38845bd246d8
- ExecuteKeyUp
- 7403635b-2725-4f00-93d4-e0dd125959de
- ExecuteKeyDown
- 9649ecda-3794-4d6b-a8a7-71e528d9d170
- abstrGetDefaultCursor
- 25718998-50a9-408d-8b3f-20a55e2cc784
- ExecuteMouseEnter
- 569205fa-533b-4fc2-8d51-21ccab693305
- ExecuteMouseLeave
- 3bacea68-55b4-4764-928e-e69910299932
- FB_Init
- f37e1250-9b48-45ca-810e-c192ea9440ec
- ExecuteMouseClick
- cd348bda-7eaf-4dfe-8c4b-bf9b71e5b10c
-
- "NotImportant"
- {073ee466-cf0a-4c8b-ba92-64f671516699}
-
-
-
- true
- true
-
-
-
-
- {925c2b24-84d1-469a-954d-7af8b99219ef}
- {f905b871-af16-47c5-a6ef-0a0918a8b009}
- {d3706fa7-8257-48b3-af0a-cab0afb4dc49}
- {4d5d9e0c-fa46-4312-abcd-ab81ecde84e1}
- {00a84c7a-9a31-408b-860a-9d896efbd842}
- {3ef700b6-44e8-4cfc-b6e0-26bfef38c2b6}
- {e2123cf7-55c2-43c4-8135-f70e23d789b6}
- {b7fab3e5-7354-42a4-bdf2-bc53461ec63c}
- {967863f2-ccef-44e4-a545-05cbd9acb6be}
- {f97c4870-0a84-4b7b-9cfd-0059a20bebbd}
- {81498829-8b99-4474-8196-a48127c8e5d4}
- {71bfd0df-7f34-4abc-b3b9-84bad2430630}
- {6695a96b-387d-4f98-b9f1-09dab5b7c483}
- {5fe53f14-f5a7-4173-9e2b-538b7d89379a}
- {09c26f6e-e9b1-4455-a763-8dfd243af668}
- {48451f3d-75f9-48ba-acdb-82d62e000f26}
- {8214e061-c2ef-40f5-b519-acfed1ca1cca}
- {97cdf6c7-053d-4364-abf2-f17c232375c1}
- {30af51e2-0f28-4c98-bb4e-6c7a4ef6b64e}
- {9e20996c-a8e0-4843-9524-9317ce5fc512}
- {9d656f8b-b228-46a1-8204-ecc426d69d24}
- {0a915a90-ba73-4abc-b7c3-f5acec9f952a}
- {0dedbb39-c60c-476d-aa88-36e50d09fdfc}
- {9dd59c98-b565-4e32-8873-d0c41e452b61}
- {43ba7f16-75cc-4157-b401-5b6df597b0b4}
- {ccfc9bcc-edea-480a-ac07-0c05646a5eda}
- {5531e874-67e5-49bb-abdc-7ac83b125a33}
- {398fdf90-7db7-4f59-b7ca-c68fb5513e2e}
- {c21922fc-3c9f-4927-affe-3857961c67c0}
- {b435091b-c53f-4ea3-9ed5-223f402a82e7}
- {2acce1aa-45b9-434d-bd0d-05676ddde292}
- {7e796d60-07e9-4daf-b8ad-e42e285dae85}
-
-
-
- System.Collections.ArrayList
- System.Boolean
- {7df88604-7ac5-4e36-91c4-55e4fdad3e68}
- {11a86981-4b02-4f98-b432-96e385cb41b7}
- {c91fc5aa-1e38-43b2-9a05-c52cc5d7f5b6}
- {40d6dd8d-dfd0-493a-8e29-c9a35e1e6539}
- System.Guid
- {6b108d46-58af-4e41-a3f4-174d8f160cc4}
- System.Int32
- System.Int64
- System.String
- {19611221-ebd3-4607-86d2-9822fbe84c30}
- {c37fe731-4f69-4d98-82fe-4f9aefbe200d}
- {997fedbb-1888-4256-b61c-2933d8056bfd}
- {4d3fdb8f-ab50-4c35-9d3a-d4bb9bb9a628}
- {ec9b2ec6-92a2-4856-be72-7866fb274c64}
-
-
-
+
+
+
+
+
+
+ Undefined
+
+
+ "MainVisu"
+ false
+ false
+ AutoDetect
+ 2000
+ 2000
+ false
+ 50000
+ 400000
+ false
+ false
+ true
+ "Default, 3.1.5.0 (Beckhoff Automation GmbH)"
+ 100
+ ""
+ "VisuDialogs.Numpad"
+ "VisuDialogs.Keypad"
+ "VisuDialogs.TextinputWithLimits"
+ false
+ false
+ true
+ true
+ false
+ "VisuUserManagement.VUM_Login"
+ "VisuUserManagement.VUM_ChangePassword"
+ "VisuUserManagement.VUM_UserManagement"
+ {00000000-0000-0000-0000-000000000000}
+ {00000000-0000-0000-0000-000000000000}
+ true
+ true
+ false
+ ""
+
+
+
+ FB_Init
+ c98701bd-1e9f-450a-a2a8-a2474d536f2e
+ FB_Reinit
+ 5b6e372a-a69d-40e8-aef7-f470b7c53d95
+ FB_Exit
+ 0be1b9ab-e8eb-4b33-b803-109abb46bde4
+
+ "NotImportant"
+ {aa8b7e42-e967-427f-8f2e-f00f9d706470}
+
+
+
+ 7
+ 4096
+ "1002 0004"
+ "1.0.0.4"
+ {cb73a13e-6ccc-4bc6-8859-f5aa98bb116b}
+
+
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+ "0"
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+ "1"
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+ "2"
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+ "3"
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+
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+ "4"
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+
+ true
+ 53
+ "5"
+
+
+ true
+ 54
+ "6"
+
+
+ true
+ 55
+ "7"
+
+
+ true
+ 56
+ "8"
+
+
+ true
+ 57
+ "9"
+
+
+ true
+ 65
+ "A"
+
+
+ true
+ 107
+ "ADDITION"
+
+
+ true
+ 66
+ "B"
+
+
+ true
+ 8
+ "BACKSPACE"
+
+
+ true
+ 67
+ "C"
+
+
+ true
+ 110
+ "COMMA"
+
+
+ true
+ 68
+ "D"
+
+
+ true
+ 46
+ "DELETE"
+
+
+ true
+ 111
+ "DIVIDE"
+
+
+ true
+ 40
+ "DOWN"
+
+
+ true
+ 69
+ "E"
+
+
+ true
+ 35
+ "END"
+
+
+ true
+ 27
+ "ESCAPE"
+
+
+ true
+ 70
+ "F"
+
+
+ true
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diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 903cef5..ac7a216 100644
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+ Code
+
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+ Code
+
+
+ Code
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+ Code
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+ Code
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+ Code
+
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+ Code
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+ Code
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+ Code
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+ Code
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+ Code
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+ Code
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+ Code
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+ Code
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+ Code
+
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+ Code
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+ Code
+
+
+ Code
+
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+ Code
+
+
+ Code
+ Visualization Manager.TcVMO
+
+
+ Code
+
+
+ Code
+ Visualization Manager.TcVMO
+
+
+ Code
+
+
+ Code
+
+
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+
+
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+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ VisuElemMeter, 3.5.10.0 (System)
+ VisuElemMeter
+ true
+ 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
+
+
+ VisuElems, 3.5.10.20 (System)
+ VisuElems
+ true
+ 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
+
+
+ VisuElemsSpecialControls, 3.5.10.0 (System)
+ VisuElemsSpecialControls
+ true
+ 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
+
+
+ VisuElemsWinControls, 3.5.10.20 (System)
+ VisuElemsWinControls
+ true
+ 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
+
+
+ VisuElemTextEditor, 3.5.10.10 (System)
+ VisuElemTextEditor
+ true
+ 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
+
+
+ visuinputs, 3.5.10.0 (system)
+ visuinputs
+ true
+ 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
+
+
+ VisuNativeControl, 3.5.10.0 (System)
+ VisuNativeControl
+ true
+ 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
+
+
+ Tc2_EtherCAT, * (Beckhoff Automation GmbH)
+ Tc2_EtherCAT
+
+
+ Tc2_MC2, * (Beckhoff Automation GmbH)
+ Tc2_MC2
+
+
+ Tc2_Standard, * (Beckhoff Automation GmbH)
+ Tc2_Standard
+
+
+ Tc2_System, * (Beckhoff Automation GmbH)
+ Tc2_System
+
+
+ Tc2_Utilities, * (Beckhoff Automation GmbH)
+ Tc2_Utilities
+
+
+ Tc3_MC2_AdvancedHoming, * (Beckhoff Automation GmbH)
+ Tc3_MC2_AdvancedHoming
+
+
+ Tc3_Module, * (Beckhoff Automation GmbH)
+ Tc3_Module
+
+
+ VisuDialogs, * (System)
+ VisuDialogs
+
+
+
+
+ Content
+
+
+
+
+
+
+
+ "<ProjectRoot>"
+
+ {192FAD59-8248-4824-A8DE-9177C94C195A}
+
+ "{192FAD59-8248-4824-A8DE-9177C94C195A}"
+
+
+
+ {246001F4-279D-43AC-B241-948EB31120E1}
+
+ "{246001F4-279D-43AC-B241-948EB31120E1}"
+
+
+ UnicodeStrings
+ False
+
+
+ {29BD8D0C-3586-4548-BB48-497B9A01693F}
+
+ "{29BD8D0C-3586-4548-BB48-497B9A01693F}"
+
+ Rules
+
+ "Rules"
+
+
+
+
+
+
+ {8F99A816-E488-41E4-9FA3-846536012284}
+
+ "{8F99A816-E488-41E4-9FA3-846536012284}"
+
+
+
+ {40450F57-0AA3-4216-96F3-5444ECB29763}
+
+ "{40450F57-0AA3-4216-96F3-5444ECB29763}"
+
+
+ ActiveVisuExtensionsLength
+ 0
+ ActiveVisuProfile
+ "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"
+
+
+
+
+
+
+
+ System.Boolean
+ System.Collections.Hashtable
+ System.Int32
+ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
+ System.String
+
+
+
+
\ No newline at end of file
diff --git a/twincat_version_manager.py b/twincat_version_manager.py
index 3483331..5de2274 100644
--- a/twincat_version_manager.py
+++ b/twincat_version_manager.py
@@ -1,40 +1,40 @@
-import glob
-import xml.etree.ElementTree as ET
-
-VERSION_TAGS = {"**/*.Tc*": "ProductVersion", "**/*.tsproj": "TcVersion"}
-CORRECT_VERSION = "3.1.4024.0"
-
-
-def check_versions():
- """
- Checks the Twincat version used to create a file.
- It assumes that the version is stored as an attribute on the top element of the file, the attribute names are
- listed in VERSION_TAGS.
- :return: A dictionary of incorrect files and their version numbers
- """
- incorrect_files = dict()
- for file_path, version_attrib in VERSION_TAGS.items():
- found_files = glob.glob(file_path, recursive=True)
- if not found_files:
- raise IOError("ERROR: No files of type {} found".format(file_path))
- for file in found_files:
- tree = ET.parse(file)
- try:
- found_version = tree.getroot().attrib[version_attrib]
- if found_version != CORRECT_VERSION:
- incorrect_files[file] = found_version
- except KeyError:
- print("WARNING: No version found for {}".format(file))
- return incorrect_files
-
-
-if __name__ == "__main__":
- try:
- incorrect_files = check_versions()
- for file, version in incorrect_files.items():
- print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
- if incorrect_files:
- exit(1)
- except IOError as e:
- print(e) # Likely no files found
- exit(2)
+import glob
+import xml.etree.ElementTree as ET
+
+VERSION_TAGS = {"**/*.Tc*": "ProductVersion", "**/*.tsproj": "TcVersion"}
+CORRECT_VERSION = "3.1.4024.0"
+
+
+def check_versions():
+ """
+ Checks the Twincat version used to create a file.
+ It assumes that the version is stored as an attribute on the top element of the file, the attribute names are
+ listed in VERSION_TAGS.
+ :return: A dictionary of incorrect files and their version numbers
+ """
+ incorrect_files = dict()
+ for file_path, version_attrib in VERSION_TAGS.items():
+ found_files = glob.glob(file_path, recursive=True)
+ if not found_files:
+ raise IOError("ERROR: No files of type {} found".format(file_path))
+ for file in found_files:
+ tree = ET.parse(file)
+ try:
+ found_version = tree.getroot().attrib[version_attrib]
+ if found_version != CORRECT_VERSION:
+ incorrect_files[file] = found_version
+ except KeyError:
+ print("WARNING: No version found for {}".format(file))
+ return incorrect_files
+
+
+if __name__ == "__main__":
+ try:
+ incorrect_files = check_versions()
+ for file, version in incorrect_files.items():
+ print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
+ if incorrect_files:
+ exit(1)
+ except IOError as e:
+ print(e) # Likely no files found
+ exit(2)
From 62086f488d033f8f544d5712e42dc3c204627182 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 6 Dec 2019 09:39:15 +0100
Subject: [PATCH 069/169] twincat_version_manager.py: Different versions for
*.Tc and *.tsproj
"The 4024 release apparently shipped with the 4023.119
internal build for engineering"
It seems as if the *.Tc* files ue a different version numbering than
the *.tsproj files.
Adapt twincat_version_manager.py to handle different versions
for different file types (technically file names) and
check that the *.tsproj file have version "3.1.4023.119"
---
twincat_version_manager.py | 24 ++++++++++++++----------
1 file changed, 14 insertions(+), 10 deletions(-)
diff --git a/twincat_version_manager.py b/twincat_version_manager.py
index 3483331..9234e5e 100644
--- a/twincat_version_manager.py
+++ b/twincat_version_manager.py
@@ -1,8 +1,8 @@
import glob
import xml.etree.ElementTree as ET
-VERSION_TAGS = {"**/*.Tc*": "ProductVersion", "**/*.tsproj": "TcVersion"}
-CORRECT_VERSION = "3.1.4024.0"
+VERSION_TAGS = {"**/*.Tc*": "ProductVersion", "**/*.tsproj": "TcVersion"}
+CORRECT_VERSIONS = {"**/*.Tc*": "3.1.4024.0", "**/*.tsproj": "3.1.4023.119"}
def check_versions():
@@ -12,8 +12,10 @@ def check_versions():
listed in VERSION_TAGS.
:return: A dictionary of incorrect files and their version numbers
"""
- incorrect_files = dict()
+ incorrect_files_exp = dict()
+ incorrect_files_act = dict()
for file_path, version_attrib in VERSION_TAGS.items():
+ correct_version = CORRECT_VERSIONS[file_path]
found_files = glob.glob(file_path, recursive=True)
if not found_files:
raise IOError("ERROR: No files of type {} found".format(file_path))
@@ -21,19 +23,21 @@ def check_versions():
tree = ET.parse(file)
try:
found_version = tree.getroot().attrib[version_attrib]
- if found_version != CORRECT_VERSION:
- incorrect_files[file] = found_version
+ if found_version != correct_version:
+ incorrect_files_exp[file] = correct_version
+ incorrect_files_act[file] = found_version
except KeyError:
print("WARNING: No version found for {}".format(file))
- return incorrect_files
+ return incorrect_files_exp, incorrect_files_act
if __name__ == "__main__":
try:
- incorrect_files = check_versions()
- for file, version in incorrect_files.items():
- print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, CORRECT_VERSION))
- if incorrect_files:
+ incorrect_files_exp, incorrect_files_act = check_versions()
+ for file, version in incorrect_files_act.items():
+ correct_version = incorrect_files_exp[file]
+ print("ERROR: {} has incorrect version {}, expected version {}".format(file, version, correct_version))
+ if incorrect_files_act:
exit(1)
except IOError as e:
print(e) # Likely no files found
From b60f33ed5a7740b96608a509d28f4772ca097452 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 6 Dec 2019 09:52:04 +0100
Subject: [PATCH 070/169] solution.tsproj: Update to version 4.1.4023.119
---
solution/solution.tsproj | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 729ffe6..a91d669 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
From bfe373e93251b14e6d2772b5d7c767fede72474a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Fri, 6 Dec 2019 10:52:48 +0100
Subject: [PATCH 071/169] .gitattributes: CRLF for all files that need them
Improvements of the CRLF handling:
When a file is checked out on a drive shared with Linux or MacOS,
those OS have different default line endings.
Windows uses CRLF, and Linux/Mac use LF.
To be able to checkout files under Linux/Mac and to get the same
result, mark all known file types with eol=CRLF
---
.gitattributes | 16 ++++++++++++++--
1 file changed, 14 insertions(+), 2 deletions(-)
mode change 100644 => 100755 .gitattributes
diff --git a/.gitattributes b/.gitattributes
old mode 100644
new mode 100755
index a1aec5e..31f31e7
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,6 +1,18 @@
# end of line conversion CLRF -- LF
# Default is auto
* text=auto
-#
-# Shell scripts must be line feed
+
+# Hidden .git files: CRLF for convenience
+.gitattributes text eol=crlf
+.gitignore text eol=crlf
+
+# Shell scripts must be LF
*.sh text eol=lf
+
+# Tc files must be CRLF
+*.plcproj text eol=crlf
+*.Tc* text eol=crlf
+*.tsproj text eol=crlf
+*.txt text eol=crlf
+*.xml text eol=crlf
+*.xti text eol=crlf
From 6e723594b562583b6eb6e7caa98258d6bac580e6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 9 Dec 2019 10:30:41 +0100
Subject: [PATCH 072/169] bitbucket-pipelines.yml: Don't run git submodule
The command `git submodule update --init`
already shows us the versions of the submodules.
There is no need to run `git submodule` after that - renove it.
---
bitbucket-pipelines.yml | 1 -
1 file changed, 1 deletion(-)
diff --git a/bitbucket-pipelines.yml b/bitbucket-pipelines.yml
index d47cd1d..873f48c 100644
--- a/bitbucket-pipelines.yml
+++ b/bitbucket-pipelines.yml
@@ -6,6 +6,5 @@ pipelines:
- step:
script:
- git submodule update --init
- - git submodule
- python twincat_version_manager.py
- python check_fix_white_space.py
From a57ae08ebe526bf7ac1233f9dabae839414b0e23 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 9 Dec 2019 11:00:50 +0100
Subject: [PATCH 073/169] check_fix_white_space.py: Hint the user about --fix
When the script detects whitespace damage, hint the user that
the same script can fix it.
---
check_fix_white_space.py | 1 +
1 file changed, 1 insertion(+)
diff --git a/check_fix_white_space.py b/check_fix_white_space.py
index cf6fe3c..c03a737 100755
--- a/check_fix_white_space.py
+++ b/check_fix_white_space.py
@@ -90,6 +90,7 @@ if __name__ == "__main__":
for file in incorrect_files:
print("ERROR: '{}' has white space damage".format(file))
if incorrect_files:
+ print('run %s --fix' % sys.argv[0])
exit(1)
except IOError as e:
print(e) # Likely no files found
From 608f6c03357cf2b0446cfcd53a6b990844965cfd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 9 Dec 2019 11:10:07 +0100
Subject: [PATCH 074/169] check_fix_white_space.py: Tell user about TAB and/or
trailing WS
Make the output of the script more descriptive:
Tell user what was wrong, either TAB or trailing WS (or both)
---
check_fix_white_space.py | 24 ++++++++++++++++++++----
1 file changed, 20 insertions(+), 4 deletions(-)
diff --git a/check_fix_white_space.py b/check_fix_white_space.py
index c03a737..854e5e2 100755
--- a/check_fix_white_space.py
+++ b/check_fix_white_space.py
@@ -26,6 +26,8 @@ def fix_white_space(debug, fix_files):
for pathname in found_files:
dirty = False
+ had_TAB = False
+ had_trailing_WS = False
new_lines = []
if debug >= 1:
print("tab_with=%d pathname=%s" % (tab_width, pathname))
@@ -41,8 +43,16 @@ def fix_white_space(debug, fix_files):
had_crlf = 1 # LF
# Convert all TAB into SPACE
new_line = old_line.expandtabs(tabsize=tab_width)
- # Strip of all trailing white space, including the CRLF
- new_line = new_line.rstrip("\r\n ")
+ if new_line != old_line:
+ had_TAB = True
+ # Strip the CRLF
+ new_line = new_line.rstrip("\r\n")
+ # Strip trailing WS
+ tmp_line = new_line.rstrip(" ")
+ if tmp_line != new_line:
+ had_trailing_WS = True
+ new_line = tmp_line
+
if had_crlf == 2:
new_line = new_line + '\r\n'
elif had_crlf == 1:
@@ -61,7 +71,12 @@ def fix_white_space(debug, fix_files):
if debug >= 1:
print("pathname=%s dirty=%d" % (pathname, dirty))
if dirty:
- incorrect_files[pathname] = True
+ if had_TAB and had_trailing_WS:
+ incorrect_files[pathname] = 'has white space damage'
+ elif had_TAB:
+ incorrect_files[pathname] = 'has TAB'
+ elif had_trailing_WS:
+ incorrect_files[pathname] = 'has trailing whitespace'
if fix_files:
file = open(pathname, 'w', newline='', encoding="iso-8859-1")
file.writelines(new_lines)
@@ -88,7 +103,8 @@ if __name__ == "__main__":
incorrect_files = fix_white_space(debug, fix_files)
if not fix_files:
for file in incorrect_files:
- print("ERROR: '{}' has white space damage".format(file))
+ message = incorrect_files[file]
+ print("ERROR: '{}' {}".format(file,message))
if incorrect_files:
print('run %s --fix' % sys.argv[0])
exit(1)
From 619331cc28c446e5c4094ba3ab6af24d2cfac97a Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 11:11:08 +0100
Subject: [PATCH 075/169] After white space fix?
---
solution/solution.tsproj | 134 +++++++++++++++++++++++++++------------
1 file changed, 92 insertions(+), 42 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 729ffe6..32519b0 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
+
NCTOPLC_AXIS_REF_STATE
@@ -411,7 +411,8 @@
AxisState
UDINT
-
+
+]]>
+
32
64
@@ -438,7 +440,8 @@ External Setpoint Generation:
HomingState
UDINT
-
+
+]]>
+
32
128
CoupleState
UDINT
-
+
+]]>
+
32
160
@@ -684,13 +690,13 @@ External Setpoint Generation:
NCAXLESTRUCT_TOPLC4
-
+
-
+
-
+
@@ -873,7 +879,7 @@ External Setpoint Generation:
-
+
@@ -907,22 +913,30 @@ External Setpoint Generation:
PlcTask Inputs
GVL.axes[1].inputs.bLimitFwd
-
+
+
+
BOOL
GVL.axes[1].inputs.bLimitBwd
-
+
+
+
BOOL
GVL.axes[1].inputs.bHomeSensor
-
+
+
+
BOOL
GVL.axes[1].inputs.bEncLAtch
-
+
+
+
BOOL
@@ -930,7 +944,8 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
+
+]]>
+
HomingState
-
+
+]]>
+
CoupleState
-
+
+]]>
+
GVL.axes[2].inputs.bLimitFwd
-
+
+
+
BOOL
GVL.axes[2].inputs.bLimitBwd
-
+
+
+
BOOL
GVL.axes[2].inputs.bHomeSensor
-
+
+
+
BOOL
GVL.axes[2].inputs.bEncLAtch
-
+
+
+
BOOL
@@ -993,7 +1021,8 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
+
+]]>
+
HomingState
-
+
+]]>
+
CoupleState
-
+
+]]>
+
GVL.axes[3].inputs.bLimitFwd
-
+
+
+
BOOL
GVL.axes[3].inputs.bLimitBwd
-
+
+
+
BOOL
GVL.axes[3].inputs.bHomeSensor
-
+
+
+
BOOL
GVL.axes[3].inputs.bEncLAtch
-
+
+
+
BOOL
@@ -1056,7 +1098,8 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
+
+]]>
+
HomingState
-
+
+]]>
+
CoupleState
-
+
+]]>
+
@@ -1099,7 +1147,9 @@ External Setpoint Generation:
PlcTask Outputs
MAIN.bOutput1
-
+
+
+
BOOL
From 3edb9fd098fdd09002d60594147ba47790179f26 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 9 Dec 2019 11:21:05 +0100
Subject: [PATCH 076/169] check_fix_white_space.py: Fix whitespace damage
---
check_fix_white_space.py | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/check_fix_white_space.py b/check_fix_white_space.py
index 854e5e2..6597e58 100755
--- a/check_fix_white_space.py
+++ b/check_fix_white_space.py
@@ -44,7 +44,7 @@ def fix_white_space(debug, fix_files):
# Convert all TAB into SPACE
new_line = old_line.expandtabs(tabsize=tab_width)
if new_line != old_line:
- had_TAB = True
+ had_TAB = True
# Strip the CRLF
new_line = new_line.rstrip("\r\n")
# Strip trailing WS
@@ -104,7 +104,7 @@ if __name__ == "__main__":
if not fix_files:
for file in incorrect_files:
message = incorrect_files[file]
- print("ERROR: '{}' {}".format(file,message))
+ print("ERROR: '{}' {}".format(file,message))
if incorrect_files:
print('run %s --fix' % sys.argv[0])
exit(1)
From bbfe0ab3e9577cd3ee9c38738d98bd31e8d162c2 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 11:54:52 +0100
Subject: [PATCH 077/169] Commit after updating TwinCAT
No code changes
modified: solution.sln
modified: solution/solution.tsproj
modified: solution/tc_project_app/tc_project_app.plcproj
---
solution.sln | 32 ++---
solution/solution.tsproj | 134 ++++++------------
.../tc_project_app/tc_project_app.plcproj | 39 ++---
3 files changed, 78 insertions(+), 127 deletions(-)
diff --git a/solution.sln b/solution.sln
index 976e55d..1bff69d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 32519b0..fd7ee71 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,5 @@
-
-
+
+
NCTOPLC_AXIS_REF_STATE
@@ -411,8 +411,7 @@
AxisState
UDINT
-
-
-
+]]>
32
64
@@ -440,8 +438,7 @@ External Setpoint Generation:
HomingState
UDINT
-
-
-
+]]>
32
128
CoupleState
UDINT
-
-
-
+]]>
32
160
@@ -690,13 +684,13 @@ External Setpoint Generation:
NCAXLESTRUCT_TOPLC4
-
+
-
+
-
+
@@ -913,30 +907,22 @@ External Setpoint Generation:
PlcTask Inputs
GVL.axes[1].inputs.bLimitFwd
-
-
-
+
BOOL
GVL.axes[1].inputs.bLimitBwd
-
-
-
+
BOOL
GVL.axes[1].inputs.bHomeSensor
-
-
-
+
BOOL
GVL.axes[1].inputs.bEncLAtch
-
-
-
+
BOOL
@@ -944,8 +930,7 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
-
-
+]]>
HomingState
-
-
-
+]]>
CoupleState
-
-
-
+]]>
GVL.axes[2].inputs.bLimitFwd
-
-
-
+
BOOL
GVL.axes[2].inputs.bLimitBwd
-
-
-
+
BOOL
GVL.axes[2].inputs.bHomeSensor
-
-
-
+
BOOL
GVL.axes[2].inputs.bEncLAtch
-
-
-
+
BOOL
@@ -1021,8 +993,7 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
-
-
+]]>
HomingState
-
-
-
+]]>
CoupleState
-
-
-
+]]>
GVL.axes[3].inputs.bLimitFwd
-
-
-
+
BOOL
GVL.axes[3].inputs.bLimitBwd
-
-
-
+
BOOL
GVL.axes[3].inputs.bHomeSensor
-
-
-
+
BOOL
GVL.axes[3].inputs.bEncLAtch
-
-
-
+
BOOL
@@ -1098,8 +1056,7 @@ External Setpoint Generation:
NCTOPLC_AXIS_REF
AxisState
-
-
-
+]]>
HomingState
-
-
-
+]]>
CoupleState
-
-
-
+]]>
@@ -1147,9 +1099,7 @@ External Setpoint Generation:
PlcTask Outputs
MAIN.bOutput1
-
-
-
+
BOOL
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 6c2d7b0..802e8b9 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -14,6 +14,7 @@
{26d08e27-a705-49a9-95de-a3a0b6ea049c}
{577f21c4-8eb2-4f2c-a24e-4c3f62ca96d2}
true
+ false
@@ -255,43 +256,43 @@
- VisuElemMeter, 3.5.10.0 (System)
+ VisuElemMeter, 3.5.13.0 (System)
VisuElemMeter
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElems, 3.5.10.20 (System)
+ VisuElems, 3.5.13.21 (System)
VisuElems
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElemsSpecialControls, 3.5.10.0 (System)
+ VisuElemsSpecialControls, 3.5.13.0 (System)
VisuElemsSpecialControls
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElemsWinControls, 3.5.10.20 (System)
+ VisuElemsWinControls, 3.5.13.20 (System)
VisuElemsWinControls
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElemTextEditor, 3.5.10.10 (System)
+ VisuElemTextEditor, 3.5.13.0 (System)
VisuElemTextEditor
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- visuinputs, 3.5.10.0 (system)
+ visuinputs, 3.5.13.0 (system)
visuinputs
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuNativeControl, 3.5.10.0 (System)
+ VisuNativeControl, 3.5.13.0 (System)
VisuNativeControl
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
@@ -341,8 +342,8 @@
-
-
+
+
"<ProjectRoot>"
{192FAD59-8248-4824-A8DE-9177C94C195A}
@@ -387,21 +388,21 @@
ActiveVisuExtensionsLength
0
ActiveVisuProfile
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+ "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"
-
-
- System.Boolean
- System.Collections.Hashtable
- System.Int32
- {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
- System.String
-
-
+
+
+ System.Boolean
+ System.Collections.Hashtable
+ System.Int32
+ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
+ System.String
+
+
\ No newline at end of file
From 0772b525ab201a53dc1c9182ae337d352b34a158 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 11:59:42 +0100
Subject: [PATCH 078/169] Update MAIN.TcPOU for TwinCAT version
Open MAIN.TcPOU in TwinCAT, add one line, delete it, save it.
TwinCAT updates the TwinCAT version number to 3.1.4024.0.
No code changes.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 24397d4..8eee2a5 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
Date: Mon, 9 Dec 2019 12:04:08 +0100
Subject: [PATCH 079/169] Fix whitespace damage in MAIN.TcPOU
---
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 8eee2a5..5c22cd3 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -39,7 +39,7 @@ VAR
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
- eStartUp: (coldStart, readEncRefSys, checkRead, checkFeedbackType, executePosRestore, checkFinished, finsishSetPosition);
+ 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;
From a9dea34c41bcbcda2dda2d0028dd5d86afa1c034 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 12:25:01 +0100
Subject: [PATCH 080/169] Capitalise variable names of eStartUp
No code changes
---
solution/tc_project_app/POUs/MAIN.TcPOU | 16 ++++++++--------
1 file changed, 8 insertions(+), 8 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 5c22cd3..4545be0 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -39,7 +39,7 @@ VAR
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
- eStartUp: (coldStart, readEncRefSys, checkRead, checkFeedbackType, executePosRestore, checkFinished, finsishSetPosition);
+ 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;
@@ -158,16 +158,16 @@ END_FOR
IF bColdstartDone = FALSE THEN
CASE eStartUp OF
- coldStart: // First cycle
+ ColdStart: // First cycle
IF NOT bColdstartDone THEN
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
- readEncRefSys: // Read Enc Ref Sys - incremental or absolute
+ ReadEncRefSys: // Read Enc Ref Sys - incremental or absolute
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
tmrRetry(in:=FALSE);
- checkRead: // 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
@@ -182,7 +182,7 @@ IF bColdstartDone = FALSE THEN
EXIT;
END_IF
END_FOR
- checkFeedbackType: // 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
@@ -192,7 +192,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
- executePosRestore: // Execute position restore with or without bHome set
+ 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
@@ -202,7 +202,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
- checkFinished: // Check set position or direct homing is finished on axes that were opt-in
+ 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
@@ -218,7 +218,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
- finsishSetPosition: // Reset set position FBs and Finish
+ FinsishSetPosition: // Reset set position FBs and Finish
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
From 97f4607b7cb3e2543ba671b145cba948b7abeb31 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 13:17:30 +0100
Subject: [PATCH 081/169] Scan the bus
---
solution/solution.tsproj | 3186 +++++++++++++++++++++++++++++++++++---
1 file changed, 3012 insertions(+), 174 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index fd7ee71..fb02273 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,6 +1,622 @@
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ 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
+
+
+
NCTOPLC_AXIS_REF_STATE
32
@@ -695,184 +1311,104 @@ External Setpoint Generation:
- 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
-
+ ARRAY [0..0] OF BYTE
+ 8
+ BYTE
+
+ 0
+ 1
+
- 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
-
-
+ ARRAY [0..3] OF BIT
+ 4
+ BIT
+
+ 0
+ 4
+
+
+
+ ARRAY [0..5] OF BIT
+ 6
+ BIT
+
+ 0
+ 6
+
+
+
+ ARRAY [0..1] OF BYTE
+ 16
+ BYTE
+
+ 0
+ 2
+
+
+
+ ARRAY [0..1] OF BIT
+ 2
+ BIT
+
+ 0
+ 2
+
+
+
+ ARRAY [0..0] OF BIT
+ 1
+ BIT
+
+ 0
+ 1
+
+
+
+ ARRAY [0..2] OF BIT
+ 3
+ BIT
+
+ 0
+ 3
+
+
+
+ ARRAY [0..11] OF BIT
+ 12
+ BIT
+
+ 0
+ 12
+
+
+
+ ARRAY [0..13] OF BIT
+ 14
+ BIT
+
+ 0
+ 14
+
+
+
+ ARRAY [0..12] OF BIT
+ 13
+ BIT
+
+ 0
+ 13
+
+
+ 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
+ 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000120b0000120b00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
+ 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000000000ff00ffff00ffff00ff000000ff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ff000000ff00ff000000ff00ff000000ff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff000000000000ff00ff000000000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
+ 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
+ 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080
+ 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff
+
@@ -889,6 +1425,457 @@ External Setpoint Generation:
+
+
+
+ NC-Task 1 SAF
+
+ Inputs
+
+
+ Outputs
+
+
+ Image
+
+
+
+ NC-Task 1 SVB
+
+
+ Axis 1
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 1024
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 2048
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 1344
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 2368
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+ nCtrl3
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+
+ Axis 2
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 2688
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 4736
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 3008
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 5056
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+ nCtrl3
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+ 1664
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+ 2688
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+
+
@@ -1121,5 +2108,1856 @@ External Setpoint Generation:
+
+
+ Device 1 (EtherCAT)
+
+
+ -801112064
+ 131072
+ 8192
+ 0
+ 3
+ 0
+ 5612
+ 20480
+
+ 0
+ 4096
+ 256
+ 2
+ 0
+ 1
+
+
+ 498694182
+ 1
+ 256
+
+
+
+
+ Image
+
+
+ Term 1 (EK1200)
+ 1000
+
+
+ Term 2 (EL1018)
+ 7
+
+ 001001000000010004000000000000000100001000010000
+ 0000000000000000001000010100000002000000000000000000000000000000
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+ BIT
+
+
+
+
+
+ Term 3 (EL2808)
+ 1001
+
+ 000f01004400010003000000010001000100000f44090000
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+ ARRAY [0..0] OF BYTE
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+ #x1603
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+ #x1603
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+ ARRAY [0..13] OF BIT
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+ UDINT
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+ #x1603
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+ UDINT
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+ #x1603
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+ UINT
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+ UINT
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+
+
+
+
+
+
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+ Term 10 (EL9011)
+ 1005
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+
+
+
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From 82c00f9999c76febfa4e47db7dd1274a1c58463f Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 13:19:38 +0100
Subject: [PATCH 082/169] Link PLC axes 1 & 2 to motion axes 1 & 2
---
solution/solution.tsproj | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index fb02273..8d9467c 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -3959,5 +3959,15 @@ External Setpoint Generation:
+
+
+
+
+
+
+
+
+
+
From d36efd414d76ccb4247a0a71201755f9d1e87141 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 13:25:06 +0100
Subject: [PATCH 083/169] Create bOutput5 for axis 2 switches
---
solution/solution.tsproj | 8 ++++++++
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
2 files changed, 9 insertions(+), 1 deletion(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 8d9467c..7be7a3b 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -2101,6 +2101,13 @@ External Setpoint Generation:
GVL.axes[3].Axis.PlcToNc
PLCTONC_AXIS_REF
+
+ MAIN.bOutput5
+
+ BOOL
+
@@ -3871,6 +3878,7 @@ External Setpoint Generation:
+
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 4545be0..ff1b15c 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -14,7 +14,7 @@ VAR
//bOutput2 AT %Q*: BOOL:= TRUE;
//bOutput3 AT %Q*: BOOL:= TRUE;
//bOutput4 AT %Q*: BOOL:= TRUE;
- //bOutput5 AT %Q*: BOOL:= TRUE;
+ bOutput5 AT %Q*: BOOL:= TRUE;
//bOutput6 AT %Q*: BOOL:= TRUE;
//bOutput7 AT %Q*: BOOL:= TRUE;
//bOutput8 AT %Q*: BOOL:= TRUE;
From 5fe5abbbf335830311e73319a743aaf9ed430e33 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 13:27:22 +0100
Subject: [PATCH 084/169] Link bOutput1 and bOutput5 to hardware
---
solution/solution.tsproj | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 7be7a3b..a53dc4d 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -2146,6 +2146,9 @@ bOutput4 AT %Q*: BOOL:= TRUE;]]>
Image
+
+ Image-2
+
Term 1 (EK1200)
1000
@@ -3968,6 +3971,10 @@ bOutput4 AT %Q*: BOOL:= TRUE;]]>
+
+
+
+
From c8775e5ae5e0ff0f6b21dd9f7e38441de7a5cc73 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 13:29:28 +0100
Subject: [PATCH 085/169] Create bOutput 2,3,6,7 for switches in MAIN.TcPOU
modified: solution/solution.tsproj modified:
solution/tc_project_app/POUs/MAIN.TcPOU
---
solution/solution.tsproj | 21 ++++++++++++++++++---
solution/tc_project_app/POUs/MAIN.TcPOU | 8 ++++----
2 files changed, 22 insertions(+), 7 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index a53dc4d..a2dbbe9 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -2101,11 +2101,25 @@ External Setpoint Generation:
GVL.axes[3].Axis.PlcToNc
PLCTONC_AXIS_REF
+
+ MAIN.bOutput2
+ BOOL
+
+
+ MAIN.bOutput3
+ BOOL
+
MAIN.bOutput5
-
+
+ BOOL
+
+
+ MAIN.bOutput6
+ BOOL
+
+
+ MAIN.bOutput7
BOOL
@@ -3880,6 +3894,7 @@ bOutput4 AT %Q*: BOOL:= TRUE;]]>
+
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index ff1b15c..eac19ba 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -11,12 +11,12 @@ VAR
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
bOutput1 AT %Q*: BOOL:= TRUE;
- //bOutput2 AT %Q*: BOOL:= TRUE;
- //bOutput3 AT %Q*: BOOL:= TRUE;
+ bOutput2 AT %Q*: BOOL:= TRUE;
+ bOutput3 AT %Q*: BOOL:= TRUE;
//bOutput4 AT %Q*: BOOL:= TRUE;
bOutput5 AT %Q*: BOOL:= TRUE;
- //bOutput6 AT %Q*: BOOL:= TRUE;
- //bOutput7 AT %Q*: BOOL:= TRUE;
+ bOutput6 AT %Q*: BOOL:= TRUE;
+ bOutput7 AT %Q*: BOOL:= TRUE;
//bOutput8 AT %Q*: BOOL:= TRUE;
//bOutput9 AT %Q*: BOOL:= TRUE;
//bOutput13 AT %Q*: BOOL:= TRUE;
From 8b2779fe61e9bda2d33602495792a5f849734061 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 13:32:10 +0100
Subject: [PATCH 086/169] Link boutput 2,3,6,7 to the hardware
---
solution/solution.tsproj | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index a2dbbe9..47e214b 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -3988,7 +3988,11 @@ External Setpoint Generation:
+
+
+
+
From f36a636a4e815a17da413b818cc9e13a0d1069b2 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 14:05:32 +0100
Subject: [PATCH 087/169] Link hardware inputs to bLimitFwd, bLimitBwd,
bLimitHome
Done for both axis 1 and 2.
---
solution/solution.tsproj | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 47e214b..dd61ed2 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -3986,6 +3986,14 @@ External Setpoint Generation:
+
+
+
+
+
+
+
+
From b7ae38ad86d85fd6062639646df3b935bcdde9bc Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 14:16:51 +0100
Subject: [PATCH 088/169] Change link of encoder for axis 1 and 2 to hardware
terminals
---
solution/solution.tsproj | 58 ++++++++++++++++++++++++----------------
1 file changed, 35 insertions(+), 23 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index dd61ed2..c90b569 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -3898,6 +3898,33 @@ External Setpoint Generation:
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
@@ -3918,6 +3945,10 @@ External Setpoint Generation:
+
+
+
+
@@ -3925,12 +3956,16 @@ External Setpoint Generation:
+
+
+
+
@@ -3940,8 +3975,6 @@ External Setpoint Generation:
-
-
@@ -3962,27 +3995,6 @@ External Setpoint Generation:
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
From 35eb7a5261c5f680ea7e02c130414146a425a65e Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 14:30:44 +0100
Subject: [PATCH 089/169] Change encoder scaling factor to num=60 and den=1000
Done for axis 1 and 2
---
solution/solution.tsproj | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index c90b569..d567ed2 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1448,7 +1448,7 @@ External Setpoint Generation:
-
+
@@ -1663,7 +1663,7 @@ External Setpoint Generation:
-
+
From 173400e7f0769b877fbef6d793e102a24e01eeb5 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 14:41:16 +0100
Subject: [PATCH 090/169] Change Reference Velocity to 600
Changed for axis 1 and 2
---
solution/solution.tsproj | 40 ++++++++++++++++++++--------------------
1 file changed, 20 insertions(+), 20 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index d567ed2..afa0b59 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1320,7 +1320,7 @@ External Setpoint Generation:
- ARRAY [0..3] OF BIT
+ ARRAY [0..3] OF BIT
4
BIT
@@ -1347,7 +1347,7 @@ External Setpoint Generation:
- ARRAY [0..1] OF BIT
+ ARRAY [0..1] OF BIT
2
BIT
@@ -1356,7 +1356,7 @@ External Setpoint Generation:
- ARRAY [0..0] OF BIT
+ ARRAY [0..0] OF BIT
1
BIT
@@ -1374,7 +1374,7 @@ External Setpoint Generation:
- ARRAY [0..11] OF BIT
+ ARRAY [0..11] OF BIT
12
BIT
@@ -1383,7 +1383,7 @@ External Setpoint Generation:
- ARRAY [0..13] OF BIT
+ ARRAY [0..13] OF BIT
14
BIT
@@ -1392,7 +1392,7 @@ External Setpoint Generation:
- ARRAY [0..12] OF BIT
+ ARRAY [0..12] OF BIT
13
BIT
@@ -1516,7 +1516,7 @@ External Setpoint Generation:
-
+
@@ -1731,7 +1731,7 @@ External Setpoint Generation:
-
+
@@ -2089,18 +2089,6 @@ External Setpoint Generation:
BOOL
-
- GVL.axes[1].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
-
- GVL.axes[2].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
-
- GVL.axes[3].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
MAIN.bOutput2
BOOL
@@ -2122,6 +2110,18 @@ External Setpoint Generation:
MAIN.bOutput7
BOOL
+
+ GVL.axes[1].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+ GVL.axes[2].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
+ GVL.axes[3].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
From 57aa137e4ee8a95224a04f7d6420eee5c11e7ffe Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 14:43:50 +0100
Subject: [PATCH 091/169] Change encoder scaling factor denominator to 2000
Done for axis 1 and 2
---
solution/solution.tsproj | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index afa0b59..0caf110 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1448,7 +1448,7 @@ External Setpoint Generation:
-
+
@@ -1663,7 +1663,7 @@ External Setpoint Generation:
-
+
From dd4cfbe34b681380efadcb5e23505d36fddc450e Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 14:49:00 +0100
Subject: [PATCH 092/169] Set dynamic parameters for Axis 1 and 2
---
solution/solution.tsproj | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 0caf110..4c7b791 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1445,6 +1445,8 @@ External Setpoint Generation:
Axis 1
+
+
@@ -1660,6 +1662,8 @@ External Setpoint Generation:
Axis 2
+
+
From ad48a4c1612c4080d6241ac2c148556bbb932e6b Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 14:57:14 +0100
Subject: [PATCH 093/169] Invert encoder counting direction on axis 2
---
solution/solution.tsproj | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 4c7b791..eb8fc85 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1667,7 +1667,7 @@ External Setpoint Generation:
-
+
From f59a9dfccf1219e351978ab784c2f706a0c0b735 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 9 Dec 2019 15:02:05 +0100
Subject: [PATCH 094/169] Invert motor polarity for axis 1
---
solution/solution.tsproj | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index eb8fc85..7551415 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1517,9 +1517,10 @@ External Setpoint Generation:
-
+
+ 6
Inputs
From c6cac2ce7c48257948b05c8bd8edcdffc22ca02f Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 10 Dec 2019 10:26:57 +0100
Subject: [PATCH 095/169] Set monitoring parameters
E.g. position lag, target position etc.
Done for axis 1 and 2.
---
solution/solution.tsproj | 17 ++++++++++++++++-
1 file changed, 16 insertions(+), 1 deletion(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 7551415..fdf33f8 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1447,7 +1447,14 @@ External Setpoint Generation:
+
+
+ 22
+ 19
+ 16
+ 18
+ 23
@@ -1520,7 +1527,6 @@ External Setpoint Generation:
- 6
Inputs
@@ -1603,6 +1609,7 @@ Drive Status 4 (manually linked):
+
@@ -1665,7 +1672,14 @@ External Setpoint Generation:
+
+
+ 22
+ 19
+ 16
+ 18
+ 23
@@ -1820,6 +1834,7 @@ Drive Status 4 (manually linked):
+
From c49d1d0fafe7adb2f568d060e5505c161a2d43c2 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 10 Dec 2019 10:37:08 +0100
Subject: [PATCH 096/169] Increase homing and jog speeds
For axis 1 and 2
---
solution/solution.tsproj | 14 ++------------
1 file changed, 2 insertions(+), 12 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index fdf33f8..b3bdc09 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1446,15 +1446,10 @@ External Setpoint Generation:
Axis 1
-
+
- 22
- 19
- 16
- 18
- 23
@@ -1671,15 +1666,10 @@ External Setpoint Generation:
Axis 2
-
+
- 22
- 19
- 16
- 18
- 23
From d88816156a1b4a983322a883e1dfe8349ab47da8 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 10 Dec 2019 11:37:34 +0100
Subject: [PATCH 097/169] Change to variable in axis struct for restore of
incremental enc values on lose of power
Change iPositionRestore to ePosition restore.
Change from int to enum.
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 0bca79b..4d01140 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 0bca79b3b4357b07024050e65514caa9365afabf
+Subproject commit 4d01140cfac01aa1603fbc8d6614698569f6fbd5
From f7906d265a2cad8a629684a64c4a3a1cb6f981cb Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 10 Dec 2019 11:39:00 +0100
Subject: [PATCH 098/169] Readability change, make case statements easier to
read
No code changes
---
solution/tc_project_app/POUs/MAIN.TcPOU | 22 ++++++++++++++--------
1 file changed, 14 insertions(+), 8 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index eac19ba..070885c 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -74,7 +74,9 @@ ERROR();]]>
-
@@ -185,7 +188,7 @@ IF bColdstartDone = FALSE THEN
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
+ IF gvl.axes[i].config.eRestorePosition=2 THEN
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].control.eCommand:=10;
END_IF
@@ -195,9 +198,9 @@ IF bColdstartDone = FALSE THEN
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
- 1: fbRestorePosition[i].Execute:=TRUE;
- 2: gvl.axes[i].control.bExecute:=TRUE;
+ CASE GVL.axes[i].config.eRestorePosition OF
+ 1: fbRestorePosition[i].Execute:=TRUE;
+ 2: gvl.axes[i].control.bExecute:=TRUE;
END_CASE
END_IF
END_FOR
@@ -205,12 +208,12 @@ IF bColdstartDone = FALSE THEN
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
- 1:
+ CASE gvl.axes[i].config.eRestorePosition OF
+ 1:
IF NOT fbRestorePosition[i].Done THEN
RETURN;
END_IF
- 2:
+ 2:
IF NOT gvl.axes[i].status.bHomed THEN
RETURN;
END_IF
@@ -236,6 +239,8 @@ END_IF]]>
+
+
@@ -263,6 +268,7 @@ END_IF]]>
+
From dbd145ed687dbfc04d78c96753ff881dd97ca27c Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 10 Dec 2019 12:49:37 +0100
Subject: [PATCH 099/169] Add DUT RestorePosition in tc_mca_std_lib
Also adjusted code in MAIN.STARTUP to adapt to the new type variable
instead of the int previously.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 15 ++++++-----
solution/tc_project_app/tc_mca_std_lib | 2 +-
.../tc_project_app/tc_project_app.plcproj | 25 +++++++++++--------
3 files changed, 22 insertions(+), 20 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 070885c..5eba679 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -74,8 +74,8 @@ ERROR();]]>
-
-
-
+
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 4d01140..9e31e77 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 4d01140cfac01aa1603fbc8d6614698569f6fbd5
+Subproject commit 9e31e77d29dd6c4156bdbaf8d34e774eee53748c
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 802e8b9..10ff279 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -30,6 +30,9 @@
Code
+
+ Code
+
Code
@@ -342,8 +345,8 @@
-
-
+
+
"<ProjectRoot>"
{192FAD59-8248-4824-A8DE-9177C94C195A}
@@ -394,15 +397,15 @@
-
-
- System.Boolean
- System.Collections.Hashtable
- System.Int32
- {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
- System.String
-
-
+
+
+ System.Boolean
+ System.Collections.Hashtable
+ System.Int32
+ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
+ System.String
+
+
\ No newline at end of file
From ac37748fbe6375a0675101f2fc1dad6509297cba Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 10 Dec 2019 13:27:05 +0100
Subject: [PATCH 100/169] Add comments to MAIN.STARTUP
Slight tidy of code but no structural changes.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 67 +++++++++++++++++++------
1 file changed, 51 insertions(+), 16 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 5eba679..b2e3e5b 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -143,7 +143,20 @@ END_FOR]]>
-
ReadMode:= E_READMODE.READMODE_ONCE);
END_FOR
+// Cycle through set position function blocks for each axis
+// Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
@@ -159,19 +174,21 @@ FOR i:=1 TO gvl_app.axisNum DO
Position:= iPositionAtShutdown[i]);
END_FOR
+// 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
CASE eStartUp OF
- ColdStart: // First cycle
+ ColdStart: // First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bColdstartDone THEN
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
- ReadEncRefSys: // Read Enc Ref Sys - incremental or absolute
+ ReadEncRefSys: // Exectute the function blocks to read the encoder reference system (inc or abs)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
tmrRetry(in:=FALSE);
- CheckRead: // Check if Enc Ref Sys has been read for all axis -> if not read again
- tmrRetry(in:=TRUE, pt:=T#100MS);
+ CheckRead: // Check encoder reference system has been read for all axis -> if not read again
+ tmrRetry(in:=TRUE, pt:=T#100MS); // Timer gives the axis enough PLC cycles to initialise
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF tmrretry.Q THEN
@@ -185,17 +202,15 @@ IF bColdstartDone = FALSE THEN
EXIT;
END_IF
END_FOR
- CheckFeedbackType: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore
+ CheckFeedbackType: // 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(bMovingAtShutdown[i]) THEN
- IF gvl.axes[i].config.eRestorePosition=2 THEN
- gvl.axes[i].config.nHomeSeq:=15;
- gvl.axes[i].control.eCommand:=10;
- END_IF
+ IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
+ gvl.axes[i].config.nHomeSeq:=15;
+ gvl.axes[i].control.eCommand:=10;
END_IF
END_FOR
eStartUp:=eStartUp+1;
- ExecutePosRestore: // Execute position restore with or without bHome set
+ ExecutePosRestore: // Execute position restore using either fbRestorePosition or normal direct homing (depending on mode)
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.eRestorePosition OF
@@ -205,7 +220,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
- CheckFinished: // Check set position or direct homing is finished on axes that were opt-in
+ CheckFinished: // Check mode 1: fbRestorePosition or mode 2: 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.eRestorePosition OF
@@ -221,7 +236,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
- FinsishSetPosition: // Reset set position FBs and Finish
+ FinsishSetPosition: // Remove execute = TRUE for fbRestorePosition
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
@@ -275,8 +290,28 @@ END_IF]]>
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From 80e4ea356ee474dd3aea3ae8ed74a3f38ec7af9c Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Tue, 10 Dec 2019 14:44:21 +0000
Subject: [PATCH 101/169] Submodule update: tc_mca_std_lib
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index ce9f69f..f6f8849 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit ce9f69ffdc2ac817ced936189f4550b65235025d
+Subproject commit f6f8849393a463e2ce1bca7548e916838ebc4a82
From 090fbd03eb2d65f0f86c0f4fb24032822fb629a6 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 10 Dec 2019 16:48:34 +0100
Subject: [PATCH 102/169] Lots of changes in MAIN.STARTUP
Changes to the way the code checks whether the enc type is valid.
Added a parameter to the axis struct for setting a homing value other than 0.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 126 +++++++++++++++++++-----
solution/tc_project_app/tc_mca_std_lib | 2 +-
2 files changed, 105 insertions(+), 23 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index b2e3e5b..c6e0484 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -39,7 +39,7 @@ VAR
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
- eStartUp: (ColdStart, ReadEncRefSys, CheckRead, CheckFeedbackType, ExecutePosRestore, CheckFinished, FinsishSetPosition);
+ 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;
@@ -49,6 +49,7 @@ VAR
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;
@@ -174,45 +175,68 @@ FOR i:=1 TO gvl_app.axisNum DO
Position:= iPositionAtShutdown[i]);
END_FOR
-// Upon startup bColdStartDone will be set to FALSE, after the following initialisation it is set to TRUE
+// 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
CASE eStartUp OF
- ColdStart: // First cycle of the PLC, do nothing just give one cycle for variables to initialise
+
+ ColdStart:
+ // First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bColdstartDone THEN
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
- ReadEncRefSys: // Exectute the function blocks to read the encoder reference system (inc or abs)
+
+ ReadAxisFeedbackType:
+ // Exectute the function blocks to read the encoder reference system (inc or abs)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
- tmrRetry(in:=FALSE);
- CheckRead: // Check encoder reference system has been read for all axis -> if not read again
- tmrRetry(in:=TRUE, pt:=T#100MS); // Timer gives the axis enough PLC cycles to initialise
+ 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 tmrretry.Q THEN
+ IF fbReadEncRefSys[i].Busy = TRUE THEN
+ // Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
+ RETURN;
+ ELSE
+ // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
+ // 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;
END_IF
- RETURN;
- ELSE
- eStartUp:=eStartUp+1;
- EXIT;
END_IF
END_FOR
- CheckFeedbackType: // Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
+ // 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
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
+ gvl.axes[i].control.eCommand:=MotionFunctions.Home;
gvl.axes[i].config.nHomeSeq:=15;
- gvl.axes[i].control.eCommand:=10;
+ gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
END_IF
END_FOR
eStartUp:=eStartUp+1;
- ExecutePosRestore: // Execute position restore using either fbRestorePosition or normal direct homing (depending on mode)
+
+ ExecuteRestore:
+ // Execute position restore using either mode 1: fbRestorePosition or mode 2: normal direct homing (depending on mode)
FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Value = 0 THEN
+ IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
@@ -220,9 +244,13 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
- CheckFinished: // Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
+
+ CheckRestore:
+ // Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
+ // Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
+ // bColdStartDone will never get set to TRUE
FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Value = 0 THEN
+ IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.eRestorePosition OF
RestorePosition.RestoreWithoutHome:
IF NOT fbRestorePosition[i].Done THEN
@@ -236,11 +264,13 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
- FinsishSetPosition: // Remove execute = TRUE for fbRestorePosition
+
+ FinishRestore: // Remove execute = TRUE for fbRestorePosition
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
bColdstartDone:=TRUE;
+
END_CASE
END_IF]]>
@@ -306,12 +336,64 @@ END_IF]]>
+
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diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 9e31e77..c2d649c 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 9e31e77d29dd6c4156bdbaf8d34e774eee53748c
+Subproject commit c2d649c2b1e35e4b6d38fc9d179bfce10568d1ae
From 534a318269a6c26de61c0851609bb6dd43f1df79 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 13:35:50 +0100
Subject: [PATCH 103/169] Remove timer tmrRetry from MAIN.STARTUP
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.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 18 ++----------------
1 file changed, 2 insertions(+), 16 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index c6e0484..a8867bd 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -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]]>
-
-
@@ -349,12 +338,11 @@ END_IF]]>
-
+
-
@@ -363,7 +351,6 @@ END_IF]]>
-
@@ -372,7 +359,6 @@ END_IF]]>
-
From 480f4098bbee20114c6691f9cc4bb4f5f32b5776 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 13:54:19 +0100
Subject: [PATCH 104/169] Moved the cycle through of the read parameter fbs
inside if statement
Motivation: after the position restore code has executed successfully
there is no point running any of the code again and wasting PLC cycles.
Thus the first step in the MAIN.STARTUP is a check whether the code has
been completed or not. If it is has completed successfully ignore everything else.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 229 ++++++++++++------------
1 file changed, 111 insertions(+), 118 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index a8867bd..a6f6a9a 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -40,7 +40,7 @@ VAR
(******Startup, Shutdown and UPS********)
eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, PrepareToRestore, ExecuteRestore, CheckRestore, FinishRestore);
- bColdstartDone : BOOL := FALSE; // First cycle of the PLC after being reset/power cycled
+ bPositionRestoreDone : BOOL := FALSE;
bExecuteReadEncRefSys : BOOL := TRUE;
iRetry : INT;
fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
@@ -153,116 +153,114 @@ END_FOR]]>
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
-// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
-// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
-FOR i:=1 TO gvl_app.axisNum DO
- fbReadEncRefSys[i](
- Axis:= gvl.axes[i].Axis,
- Enable:= bExecuteReadEncRefSys,
- ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
- Value=>,
- ReadMode:= E_READMODE.READMODE_ONCE);
-END_FOR
+// Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
+// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
+IF bPositionRestoreDone = FALSE THEN
-// Cycle through set position function blocks for each axis
-// Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
-FOR i:=1 TO gvl_app.axisNum DO
- fbRestorePosition[i](
- Axis:= gvl.axes[i].Axis,
- Execute:= ,
- Position:= iPositionAtShutdown[i]);
-END_FOR
+ // Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
+ // Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbReadEncRefSys[i](
+ Axis:= gvl.axes[i].Axis,
+ Enable:= bExecuteReadEncRefSys,
+ ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
+ Value=>,
+ ReadMode:= E_READMODE.READMODE_ONCE);
+ END_FOR
+
+ // Cycle through set position function blocks for each axis
+ // Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbRestorePosition[i](
+ Axis:= gvl.axes[i].Axis,
+ Execute:= ,
+ Position:= iPositionAtShutdown[i]);
+ END_FOR
-// 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
CASE eStartUp OF
-
- ColdStart:
- // First cycle of the PLC, do nothing just give one cycle for variables to initialise
- IF NOT bColdstartDone THEN
- eStartUp:=eStartUp+1;
- iRetry:=0;
- END_IF
-
- ReadAxisFeedbackType:
- // Exectute the function blocks to read the encoder reference system (inc or abs)
- bExecuteReadEncRefSys:=TRUE;
- eStartUp:=eStartUp+1;
-
- 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
- FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Valid = FALSE THEN
- IF fbReadEncRefSys[i].Busy = TRUE THEN
- // Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
- RETURN;
- ELSE
- // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
- // 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;
- eStartUp:=eStartUp-1;
- iRetry:=iRetry+1;
- RETURN;
- END_IF
- END_IF
- END_FOR
- // 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;
-
- 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(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
- gvl.axes[i].control.eCommand:=MotionFunctions.Home;
- gvl.axes[i].config.nHomeSeq:=15;
- gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
- 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)
- FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
- CASE GVL.axes[i].config.eRestorePosition OF
- RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
- RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
- END_CASE
- 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
- // Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
- // bColdStartDone will never get set to TRUE
- FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
- CASE gvl.axes[i].config.eRestorePosition OF
- RestorePosition.RestoreWithoutHome:
- 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_FOR
- eStartUp:=eStartUp+1;
-
- FinishRestore: // Remove execute = TRUE for fbRestorePosition
- FOR i:=1 TO gvl_app.axisNum DO
- fbRestorePosition[i].Execute:=FALSE;
- END_FOR
- bColdstartDone:=TRUE;
-
- END_CASE
+ ColdStart:
+ // First cycle of the PLC, do nothing just give one cycle for variables to initialise
+ IF NOT bPositionRestoreDone THEN
+ eStartUp:=eStartUp+1;
+ iRetry:=0;
+ END_IF
+
+ ReadAxisFeedbackType:
+ // Exectute the FUNCTION blocks TO read the encoder REFERENCE system (inc OR ABS)
+ bExecuteReadEncRefSys:=TRUE;
+ eStartUp:=eStartUp+1;
+
+ 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
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Valid = FALSE THEN
+ IF fbReadEncRefSys[i].Busy = TRUE THEN
+ // Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
+ RETURN;
+ ELSE
+ // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
+ // If the code gets here it means .valid=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;
+ eStartUp:=eStartUp-1;
+ iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
+ RETURN;
+ END_IF
+ END_IF
+ END_FOR
+ // 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(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
+ gvl.axes[i].control.eCommand:=MotionFunctions.Home;
+ gvl.axes[i].config.nHomeSeq:=15;
+ gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
+ 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)
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
+ CASE GVL.axes[i].config.eRestorePosition OF
+ RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
+ RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
+ END_CASE
+ 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
+ // 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
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
+ CASE gvl.axes[i].config.eRestorePosition OF
+ RestorePosition.RestoreWithoutHome:
+ 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_FOR
+ eStartUp:=eStartUp+1;
+
+ FinishRestore: // Remove execute = TRUE for fbRestorePosition
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbRestorePosition[i].Execute:=FALSE;
+ END_FOR
+ bPositionRestoreDone:=TRUE;
+ END_CASE
END_IF]]>
@@ -320,6 +318,9 @@ END_IF]]>
+
+
+
@@ -327,12 +328,7 @@ END_IF]]>
-
-
-
-
-
-
+
@@ -357,7 +353,6 @@ END_IF]]>
-
@@ -377,9 +372,7 @@ END_IF]]>
-
-
-
+
From 83f1b66c9b5121f37f60649ec89f5d8bff2c552b Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 13:57:26 +0100
Subject: [PATCH 105/169] Fix white space damage
---
solution/tc_project_app/POUs/MAIN.TcPOU | 202 ++++++++++++------------
1 file changed, 101 insertions(+), 101 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index a6f6a9a..4008f18 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -47,7 +47,7 @@ VAR
fbUPS : FB_S_UPS_CX51x0;
eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
-
+
END_VAR
VAR PERSISTENT
iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
@@ -157,110 +157,110 @@ END_FOR]]>
// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
IF bPositionRestoreDone = FALSE THEN
- // Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
+ // Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
- FOR i:=1 TO gvl_app.axisNum DO
- fbReadEncRefSys[i](
- Axis:= gvl.axes[i].Axis,
- Enable:= bExecuteReadEncRefSys,
- ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
- Value=>,
- ReadMode:= E_READMODE.READMODE_ONCE);
- END_FOR
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbReadEncRefSys[i](
+ Axis:= gvl.axes[i].Axis,
+ Enable:= bExecuteReadEncRefSys,
+ ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
+ Value=>,
+ ReadMode:= E_READMODE.READMODE_ONCE);
+ END_FOR
- // Cycle through set position function blocks for each axis
- // Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
- FOR i:=1 TO gvl_app.axisNum DO
- fbRestorePosition[i](
- Axis:= gvl.axes[i].Axis,
- Execute:= ,
- Position:= iPositionAtShutdown[i]);
- END_FOR
+ // Cycle through set position function blocks for each axis
+ // Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbRestorePosition[i](
+ Axis:= gvl.axes[i].Axis,
+ Execute:= ,
+ Position:= iPositionAtShutdown[i]);
+ END_FOR
CASE eStartUp OF
- ColdStart:
- // First cycle of the PLC, do nothing just give one cycle for variables to initialise
- IF NOT bPositionRestoreDone THEN
- eStartUp:=eStartUp+1;
- iRetry:=0;
- END_IF
-
- ReadAxisFeedbackType:
- // Exectute the FUNCTION blocks TO read the encoder REFERENCE system (inc OR ABS)
- bExecuteReadEncRefSys:=TRUE;
- eStartUp:=eStartUp+1;
-
- 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
- FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Valid = FALSE THEN
- IF fbReadEncRefSys[i].Busy = TRUE THEN
- // Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
- RETURN;
- ELSE
- // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
- // If the code gets here it means .valid=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;
- eStartUp:=eStartUp-1;
- iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
- RETURN;
- END_IF
- END_IF
- END_FOR
- // 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(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
- gvl.axes[i].control.eCommand:=MotionFunctions.Home;
- gvl.axes[i].config.nHomeSeq:=15;
- gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
- 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)
- FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
- CASE GVL.axes[i].config.eRestorePosition OF
- RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
- RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
- END_CASE
- 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
- // 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
- FOR i:=1 TO gvl_app.axisNum DO
- IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
- CASE gvl.axes[i].config.eRestorePosition OF
- RestorePosition.RestoreWithoutHome:
- 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_FOR
- eStartUp:=eStartUp+1;
-
- FinishRestore: // Remove execute = TRUE for fbRestorePosition
- FOR i:=1 TO gvl_app.axisNum DO
- fbRestorePosition[i].Execute:=FALSE;
- END_FOR
- bPositionRestoreDone:=TRUE;
- END_CASE
+ ColdStart:
+ // First cycle of the PLC, do nothing just give one cycle for variables to initialise
+ IF NOT bPositionRestoreDone THEN
+ eStartUp:=eStartUp+1;
+ iRetry:=0;
+ END_IF
+
+ ReadAxisFeedbackType:
+ // Exectute the FUNCTION blocks TO read the encoder REFERENCE system (inc OR ABS)
+ bExecuteReadEncRefSys:=TRUE;
+ eStartUp:=eStartUp+1;
+
+ 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
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Valid = FALSE THEN
+ IF fbReadEncRefSys[i].Busy = TRUE THEN
+ // Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
+ RETURN;
+ ELSE
+ // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
+ // If the code gets here it means .valid=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;
+ eStartUp:=eStartUp-1;
+ iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
+ RETURN;
+ END_IF
+ END_IF
+ END_FOR
+ // 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(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
+ gvl.axes[i].control.eCommand:=MotionFunctions.Home;
+ gvl.axes[i].config.nHomeSeq:=15;
+ gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
+ 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)
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
+ CASE GVL.axes[i].config.eRestorePosition OF
+ RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
+ RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
+ END_CASE
+ 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
+ // 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
+ FOR i:=1 TO gvl_app.axisNum DO
+ IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
+ CASE gvl.axes[i].config.eRestorePosition OF
+ RestorePosition.RestoreWithoutHome:
+ 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_FOR
+ eStartUp:=eStartUp+1;
+
+ FinishRestore: // Remove execute = TRUE for fbRestorePosition
+ FOR i:=1 TO gvl_app.axisNum DO
+ fbRestorePosition[i].Execute:=FALSE;
+ END_FOR
+ bPositionRestoreDone:=TRUE;
+ END_CASE
END_IF]]>
From df44dd3b825777953c0dab7cf42d9d224b64a60e Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 14:28:54 +0100
Subject: [PATCH 106/169] Bug fix: add additional check in MAIN.SHUTDOWN
gvl.axes[i].Axis.Status.Moving doesn't seem to work if the axis isn't enabled.
Therefore added a check to see whether gvl.axes[i].Axis.NcToPlc.ActVelo <> 0.
If it's non-zero then don't restore the encoder value on restart.
MAIN.SHUTDOWN also added to the normal operation cycle, this is to allow restart
after a "Reset Cold" command in Visual Studio, otherwise the only time position is
restored is an actual lose of power. It might be also useful when a user restarts
the PLC program manually.
Also modified a few comments in MAIN.STARTUP.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 38 ++++++++++++++++++-------
1 file changed, 27 insertions(+), 11 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 4008f18..0485dbc 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -69,7 +69,8 @@ END_IF
STARTUP();
PROG();
AXES();
-ERROR();]]>
+ERROR();
+SHUTDOWN();]]>
@@ -136,7 +137,12 @@ fbEL1808(
0 THEN
+ bMovingAtShutdown[i]:=TRUE;
+ ELSE
+ bMovingAtShutdown[i]:=FALSE;
+ END_IF
+ bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
END_FOR]]>
@@ -145,6 +151,7 @@ END_FOR]]>
if busy then continue with PLC cycle and check again next time
- // If fbReadEncRefSys not started then go back a step
+ // 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 any axes result in an error the code will get stuck here, this happens if gvl_app.axisNum is not set correctly
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF fbReadEncRefSys[i].Busy = TRUE THEN
// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
RETURN;
ELSE
- // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
- // If the code gets here it means .valid=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.
+ // Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge. If the code gets here it means
+ // .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
+ // Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
bExecuteReadEncRefSys:=FALSE;
eStartUp:=eStartUp-1;
iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
@@ -238,7 +246,7 @@ IF bPositionRestoreDone = FALSE THEN
CheckRestore:
// Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
// 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
+ // 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 THEN
CASE gvl.axes[i].config.eRestorePosition OF
@@ -271,6 +279,7 @@ END_IF]]>
+
@@ -305,13 +314,18 @@ END_IF]]>
-
+
+
+
+
+
+
@@ -339,13 +353,15 @@ END_IF]]>
+
-
+
+
From 10ef1a594d2cfaef8c914ff97d553ef595628af2 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 15:02:11 +0100
Subject: [PATCH 107/169] Remove MAIN.SHUTDOWN from ordinary PLC cycle
This created a problem in that MAIN.STARTUP wasn't working correctly
because it takes a couple of cycles to complete and MAIN.SHUTDOWN
was overriding the values stored after a power loss. Thus the restore won't work
for a user cold reset. It can be catered for by adding it back into the ordinary PLC
cycle but only executing if bPositionRestoreDone is set.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 10 ++++------
1 file changed, 4 insertions(+), 6 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 0485dbc..ac81a90 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -69,13 +69,12 @@ END_IF
STARTUP();
PROG();
AXES();
-ERROR();
-SHUTDOWN();]]>
+ERROR();]]>
-
-
From a9d5e51ac0274ee638857f9b01cd62e0ff9d3289 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 15:17:59 +0100
Subject: [PATCH 108/169] Added saving of position values throughout the normal
PLC cycle
Added a check in MAIN.SHUTDOWN that makes sure the restore has been
done first before starting to save values again.
Probably should change the name from MAIN.SHUTDOWN to MAIN.SAVEVALUES or something.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 41 +++++++++++++------------
1 file changed, 21 insertions(+), 20 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index ac81a90..d460284 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -69,19 +69,17 @@ END_IF
STARTUP();
PROG();
AXES();
-ERROR();]]>
+ERROR();
+SHUTDOWN();]]>
-
+END_FOR]]>
@@ -134,15 +132,17 @@ fbEL1808(
- 0 THEN
- bMovingAtShutdown[i]:=TRUE;
- ELSE
- bMovingAtShutdown[i]:=FALSE;
- END_IF
- bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
-END_FOR]]>
+ 0 THEN
+ bMovingAtShutdown[i]:=TRUE;
+ ELSE
+ bMovingAtShutdown[i]:=FALSE;
+ END_IF
+ bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
+ END_FOR
+END_IF]]>
@@ -278,6 +278,7 @@ END_IF]]>
+
@@ -285,9 +286,6 @@ END_IF]]>
-
-
-
@@ -312,12 +310,15 @@ END_IF]]>
-
+
+
+
+
From 3b633b1487cc34083a8713826f67280e3317e55c Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 15:22:36 +0100
Subject: [PATCH 109/169] Changes in tc_mca_std_lib
No changes in tc_general_struct in this commit
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index c2d649c..3f32143 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit c2d649c2b1e35e4b6d38fc9d179bfce10568d1ae
+Subproject commit 3f321432524300a35e0c00298b7d5758799bba0b
From f2d73d013f423eb385fa3e1b294d196e9c46b7e0 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 11 Dec 2019 15:24:00 +0100
Subject: [PATCH 110/169] Fix whitespace damage
No code changes
---
solution/tc_project_app/POUs/MAIN.TcPOU | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index d460284..e3f3ab0 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -133,15 +133,15 @@ fbEL1808(
0 THEN
- bMovingAtShutdown[i]:=TRUE;
- ELSE
- bMovingAtShutdown[i]:=FALSE;
- END_IF
- bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
- END_FOR
+ FOR i:=1 TO gvl_app.axisNum DO
+ iPositionAtShutdown[i]:=gvl.axes[i].Axis.NcToPlc.ActPos;
+ IF gvl.axes[i].Axis.NcToPlc.ActVelo <> 0 THEN
+ bMovingAtShutdown[i]:=TRUE;
+ ELSE
+ bMovingAtShutdown[i]:=FALSE;
+ END_IF
+ bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
+ END_FOR
END_IF]]>
From f1063b56d74029e815841f9600d26eca5b1116f0 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Fri, 13 Dec 2019 13:41:25 +0100
Subject: [PATCH 111/169] Change names of MAIN.STARTUP and MAIN.SHUTDOWN
Change to MAIN.RESTORE_POSITIONS and MAIN.STORE_PERSISTENT
Bug fix: add check in MAIN.RESTORE_POSITIONS to check whether
an axis was moving at shutdown.
Variable name changes to acommodate moving the persistent variables
from MAIN to a DUT in the generic structure.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 76 ++++++++++++-------------
1 file changed, 36 insertions(+), 40 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index e3f3ab0..32e029d 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -48,10 +48,6 @@ VAR
eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
-END_VAR
-VAR PERSISTENT
- iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
- bMovingAtShutdown : ARRAY [1..gvl_app.axisNum] OF BOOL;
END_VAR]]>
IF eGlobalSUpsState = eSUPS_PowerFailure THEN
(* first cycle of powerfailure *)
(* execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter *)
- SHUTDOWN();
+ STORE_PERSISTENT();
ELSIF eGlobalSUpsState > eSUPS_PowerFailure THEN
(* next cycles of powerfailure *)
(* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
RETURN;
END_IF
-STARTUP();
+RESTORE_POSITIONS();
PROG();
AXES();
ERROR();
-SHUTDOWN();]]>
+STORE_PERSISTENT();]]>
@@ -130,22 +126,7 @@ fbEL1808(
//]]>
-
-
- 0 THEN
- bMovingAtShutdown[i]:=TRUE;
- ELSE
- bMovingAtShutdown[i]:=FALSE;
- END_IF
- bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
- END_FOR
-END_IF]]>
-
-
-
+
+
+
+
+
+ 0 THEN
+ axesPersistent[i].bMovingAtShutdown:=TRUE;
+ ELSE
+ axesPersistent[i].bMovingAtShutdown:=FALSE;
+ END_IF
+ axesPersistent[i].bMovingAtShutdown:=axesPersistent[i].bMovingAtShutdown OR gvl.axes[i].Axis.Status.Moving;
+ END_FOR
END_IF]]>
@@ -309,18 +305,7 @@ END_IF]]>
-
-
-
-
-
-
-
-
-
-
-
-
+
@@ -390,5 +375,16 @@ END_IF]]>
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
From 5570b03fad57547f80b09d1e079efe336e92fd9f Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Fri, 13 Dec 2019 13:44:16 +0100
Subject: [PATCH 112/169] Changes inside tc_mca_std_lib
Moved persistent variables from MAIN to a new struct in the generic_structure
called ST_AxisPersistent
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 3f32143..38d1c94 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 3f321432524300a35e0c00298b7d5758799bba0b
+Subproject commit 38d1c94f93c33fa7a955ff805fab8cbc4e4af79a
From e000543a7f51bb17c7902d9656dd7618fef9855f Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Fri, 13 Dec 2019 13:45:50 +0100
Subject: [PATCH 113/169] Add ST_AxisPersistent.TcDUT to generic structure
---
solution/tc_project_app/tc_project_app.plcproj | 3 +++
1 file changed, 3 insertions(+)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 10ff279..b81a859 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -45,6 +45,9 @@
Code
+
+ Code
+
Code
From 3e28bfd79a00437bba3d581d9eafd5bdf404b5e6 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Fri, 13 Dec 2019 13:55:04 +0100
Subject: [PATCH 114/169] Not sure what is changed
Maybe carriage return
---
solution.sln | 32 ++++++++++++++++----------------
1 file changed, 16 insertions(+), 16 deletions(-)
diff --git a/solution.sln b/solution.sln
index 1bff69d..976e55d 100644
--- a/solution.sln
+++ b/solution.sln
@@ -33,22 +33,6 @@ Global
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
- {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
@@ -65,6 +49,22 @@ Global
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+ {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
From c68218106e15cde4c8ee741a93b2fe4aae34a61d Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 13 Dec 2019 14:35:31 +0100
Subject: [PATCH 115/169] Delete the NC folder under _Config folder
There was some Axis infomation and this branch should not have HW. I delete the folder and the content
Delete _Config/NC
---
solution/_Config/NC/1.xml | 2 --
solution/tc_epicscommodule | 2 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
3 files changed, 2 insertions(+), 4 deletions(-)
delete mode 100644 solution/_Config/NC/1.xml
diff --git a/solution/_Config/NC/1.xml b/solution/_Config/NC/1.xml
deleted file mode 100644
index 7447a9f..0000000
--- a/solution/_Config/NC/1.xml
+++ /dev/null
@@ -1,2 +0,0 @@
-
-1mm15001500225015000150000130000000303010060020002000true5false0.1false100true2falsefalse000false10.010truefalsefalse5510.0001103600false21677721500.010.1false0false0false000falsetrue0false0false0104857500false005false1-1165535#x000000000.1002200101100000000.01211100001361291330false110111true5false010000.10.1false0.10.50.10000.10.100.50000false0.010112010.001
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
index e746bc4..3794bb7 160000
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
@@ -1 +1 @@
-Subproject commit e746bc4b801554a2af3cc5432f9374ffc9fbd82b
+Subproject commit 3794bb7a9801d08901fe8efcf3e103582b5d7e2c
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index f6f8849..c74a21a 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit f6f8849393a463e2ce1bca7548e916838ebc4a82
+Subproject commit c74a21a99d2749be86a12e4406bbfcfbb3618841
From 29f11a6db0e52d675679ee143ba5ff8c6b890380 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 13 Dec 2019 14:45:20 +0100
Subject: [PATCH 116/169] Rebuild solution after deletting the NC folder and
content
---
solution/solution.tsproj | 2 +-
.../tc_project_app/tc_project_app.plcproj | 38 +++++++++----------
2 files changed, 20 insertions(+), 20 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index c28cc38..2804539 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,4 +1,4 @@
-
+
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index ac7a216..da0625a 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -255,43 +255,43 @@
- VisuElemMeter, 3.5.10.0 (System)
+ VisuElemMeter, 3.5.13.0 (System)
VisuElemMeter
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElems, 3.5.10.20 (System)
+ VisuElems, 3.5.13.21 (System)
VisuElems
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElemsSpecialControls, 3.5.10.0 (System)
+ VisuElemsSpecialControls, 3.5.13.0 (System)
VisuElemsSpecialControls
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElemsWinControls, 3.5.10.20 (System)
+ VisuElemsWinControls, 3.5.13.20 (System)
VisuElemsWinControls
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuElemTextEditor, 3.5.10.10 (System)
+ VisuElemTextEditor, 3.5.13.0 (System)
VisuElemTextEditor
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- visuinputs, 3.5.10.0 (system)
+ visuinputs, 3.5.13.0 (system)
visuinputs
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
- VisuNativeControl, 3.5.10.0 (System)
+ VisuNativeControl, 3.5.13.0 (System)
VisuNativeControl
true
2717eb6a-dd07-4c66-8d8d-cacebd7b18ae
@@ -337,8 +337,8 @@
-
-
+
+
"<ProjectRoot>"
{192FAD59-8248-4824-A8DE-9177C94C195A}
@@ -383,21 +383,21 @@
ActiveVisuExtensionsLength
0
ActiveVisuProfile
- "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"
+ "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"
-
-
- System.Boolean
- System.Collections.Hashtable
- System.Int32
- {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
- System.String
-
-
+
+
+ System.Boolean
+ System.Collections.Hashtable
+ System.Int32
+ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
+ System.String
+
+
\ No newline at end of file
From 094480f0406dc4252209e82bf7e91e8ab271c9e3 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Fri, 13 Dec 2019 15:21:12 +0100
Subject: [PATCH 117/169] Update submodules to latest versions to pass the
white space test
---
solution/tc_epicscommodule | 2 +-
solution/tc_project_app/tc_mca_std_lib | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
index 3794bb7..a13d6bb 160000
--- a/solution/tc_epicscommodule
+++ b/solution/tc_epicscommodule
@@ -1 +1 @@
-Subproject commit 3794bb7a9801d08901fe8efcf3e103582b5d7e2c
+Subproject commit a13d6bb6221ab2fbe8fa8f7f2345ca8cd791f8d1
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index c74a21a..f6f8849 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit c74a21a99d2749be86a12e4406bbfcfbb3618841
+Subproject commit f6f8849393a463e2ce1bca7548e916838ebc4a82
From 5743a135132d18b1de846e5bc9a1c964f0899dff Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 17 Dec 2019 10:27:25 +0100
Subject: [PATCH 118/169] Remove mode 2 from iRestoreCode
Issues found regarding overiding of .config params in the axis struct.
Also doubts about whether it would actually be used.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 68 +++++++------------------
1 file changed, 18 insertions(+), 50 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 32e029d..9bb1040 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -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();]]>
-
@@ -129,14 +126,13 @@ fbEL1808(
-
-
@@ -311,9 +284,8 @@ END_IF]]>
-
-
-
+
+
@@ -354,23 +326,19 @@ END_IF]]>
-
-
-
-
-
-
-
-
-
+
+
+
-
+
+
+
From 5d5ee5f4adb149353336f7d5de52eb966b91319c Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 17 Dec 2019 10:33:57 +0100
Subject: [PATCH 119/169] Add latest commit for tc_mca_std_lib
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 38d1c94..015b771 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 38d1c94f93c33fa7a955ff805fab8cbc4e4af79a
+Subproject commit 015b77129b1568a44172f723835a3a939592854d
From e36d4bcab30d2d30211cf545709e452df694ebb5 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 17 Dec 2019 10:37:24 +0100
Subject: [PATCH 120/169] Change comment
---
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 9bb1040..add0d67 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -169,7 +169,7 @@ IF bPositionRestoreDone = FALSE THEN
END_IF
ReadAxisFeedbackType:
- // Exectute the FUNCTION blocks to read the encoder reference system (0=inc OR 1=ABS)
+ // Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
From 1c9d8f3b6b0097a77f59d88b8b89ea609670bee3 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 17 Dec 2019 14:46:55 +0100
Subject: [PATCH 121/169] Remove mode 2 from position restore
It was decided in a code review that mode 2 wasn't doing exactly as we wanted
and that it probably wasn't required, at least for now.
Changes to logic so that the position restore is only done after a power cycle and
not a download, reset cold or reset origin.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 93 ++++++++++++++++---------
1 file changed, 59 insertions(+), 34 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index add0d67..de4615c 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -39,15 +39,20 @@ VAR
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
- eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, ExecuteRestore, CheckRestore, FinishRestore);
- bPositionRestoreDone : BOOL := FALSE;
- bExecuteReadEncRefSys : BOOL := TRUE;
- iRetry : INT;
- fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
fbUPS : FB_S_UPS_CX51x0;
eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
+ eStartUp: (ColdStart, ReadAxisFeedbackType, CheckReadDone, ExecuteRestore, CheckRestore, FinishRestore);
+ bPositionRestoreDone : BOOL := FALSE;
+ bRestoreExecute : BOOL := FALSE;
+ bExecuteReadEncRefSys : BOOL := FALSE;
+ iRetry : INT;
+ fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
+END_VAR
+
+VAR PERSISTENT
+ bRestoreOnStartup : BOOL;
END_VAR]]>
IF eGlobalSUpsState = eSUPS_PowerFailure THEN
(* first cycle of powerfailure *)
(* execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter *)
+ bRestoreOnStartup:=TRUE;
STORE_PERSISTENT();
+ RETURN;
ELSIF eGlobalSUpsState > eSUPS_PowerFailure THEN
(* next cycles of powerfailure *)
(* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
@@ -65,12 +72,12 @@ END_IF
RESTORE_POSITIONS();
PROG();
AXES();
-ERROR();
-STORE_PERSISTENT();]]>
+ERROR();]]>
-
@@ -130,15 +137,22 @@ fbEL1808(
// 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.
+// This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
+// A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
// 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.
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
+IF bRestoreOnStartup THEN
+ bRestoreOnStartup:=FALSE;
+ bRestoreExecute:=TRUE;
+END_IF
+
// Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
-IF bPositionRestoreDone = FALSE THEN
+IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
@@ -152,7 +166,6 @@ IF bPositionRestoreDone = FALSE THEN
END_FOR
// Cycle through set position function blocks for each axis
- // Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
@@ -200,7 +213,9 @@ IF bPositionRestoreDone = FALSE THEN
// 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
- fbRestorePosition[i].Execute:=TRUE;
+ IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
+ fbRestorePosition[i].Execute:=TRUE;
+ END_IF
END_IF
END_FOR
eStartUp:=eStartUp+1;
@@ -211,47 +226,49 @@ IF bPositionRestoreDone = FALSE THEN
// 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
- IF NOT fbRestorePosition[i].Done THEN
+ IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
+ IF NOT fbRestorePosition[i].Done THEN
RETURN;
+ END_IF
END_IF
END_IF
END_FOR
eStartUp:=eStartUp+1;
- FinishRestore: // Remove execute = TRUE for fbRestorePosition
+ FinishRestore:
+ // Remove execute = TRUE for fbRestorePosition
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
bPositionRestoreDone:=TRUE;
+ bRestoreExecute:=FALSE;
END_CASE
END_IF]]>
- 0 THEN
- axesPersistent[i].bMovingAtShutdown:=TRUE;
- ELSE
- axesPersistent[i].bMovingAtShutdown:=FALSE;
- END_IF
- axesPersistent[i].bMovingAtShutdown:=axesPersistent[i].bMovingAtShutdown OR gvl.axes[i].Axis.Status.Moving;
- END_FOR
-END_IF]]>
+ 0 THEN
+ axesPersistent[i].bMovingAtShutdown:=TRUE;
+ ELSE
+ axesPersistent[i].bMovingAtShutdown:=FALSE;
+ END_IF
+ axesPersistent[i].bMovingAtShutdown:=axesPersistent[i].bMovingAtShutdown OR gvl.axes[i].Axis.Status.Moving;
+END_FOR]]>
-
+
-
+
@@ -283,11 +300,16 @@ END_IF]]>
-
+
+
+
+
+
+
@@ -295,9 +317,7 @@ END_IF]]>
-
-
-
+
@@ -330,21 +350,27 @@ END_IF]]>
-
+
+
+
+
-
+
+
+
+
+
-
@@ -352,7 +378,6 @@ END_IF]]>
-
\ No newline at end of file
From 4a59909ff173ce8fbd280c6bb3f323056475abdd Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 17 Dec 2019 14:49:07 +0100
Subject: [PATCH 122/169] Update to latest commit in tc_mca_std_lib
Commented out mode 2 in position restore
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 015b771..6cc8df2 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 015b77129b1568a44172f723835a3a939592854d
+Subproject commit 6cc8df2396955e4daa5ebbeb58e8551e0dda1b21
From b61bf93b529b96128b112fff030b0057833c7846 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Tue, 17 Dec 2019 14:54:20 +0100
Subject: [PATCH 123/169] Remove hardware and rebuild
Change axisNum to 2
---
solution/_Config/NC/1.xml | 2 -
solution/solution.tsproj | 3327 +-------------------
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +-
solution/tc_project_app/POUs/MAIN.TcPOU | 14 +-
4 files changed, 181 insertions(+), 3164 deletions(-)
delete mode 100644 solution/_Config/NC/1.xml
diff --git a/solution/_Config/NC/1.xml b/solution/_Config/NC/1.xml
deleted file mode 100644
index 02118c9..0000000
--- a/solution/_Config/NC/1.xml
+++ /dev/null
@@ -1,2 +0,0 @@
-
-1mm15001500225015000150000130000000303010060020002000true5false0.1false100true2falsefalse000false10.010truefalsefalse5510.0001103600false21677721500.010.1false0false0false000falsetrue0false0false0104857500false005false1-1165535#x000000000.1002200101100000000.01211100001361291330false110111true5false010000.10.1false0.10.50.10000.10.100.50000false0.010112010.001
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index b3bdc09..c43bbbd 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,622 +1,6 @@
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
- UINTARR2
- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
NCTOPLC_AXIS_REF_STATE
32
@@ -1311,104 +695,184 @@ External Setpoint Generation:
- ARRAY [0..0] OF BYTE
- 8
- BYTE
-
- 0
- 1
-
+ 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
+
- ARRAY [0..3] OF BIT
- 4
- BIT
-
- 0
- 4
-
-
-
- ARRAY [0..5] OF BIT
- 6
- BIT
-
- 0
- 6
-
-
-
- ARRAY [0..1] OF BYTE
- 16
- BYTE
-
- 0
- 2
-
-
-
- ARRAY [0..1] OF BIT
- 2
- BIT
-
- 0
- 2
-
-
-
- ARRAY [0..0] OF BIT
- 1
- BIT
-
- 0
- 1
-
-
-
- ARRAY [0..2] OF BIT
- 3
- BIT
-
- 0
- 3
-
-
-
- ARRAY [0..11] OF BIT
- 12
- BIT
-
- 0
- 12
-
-
-
- ARRAY [0..13] OF BIT
- 14
- BIT
-
- 0
- 14
-
-
-
- ARRAY [0..12] OF BIT
- 13
- BIT
-
- 0
- 13
-
+ 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
+
+
-
- 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
- 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000120b0000120b00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
- 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000000000ff00ffff00ffff00ff000000ff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ff000000ff00ff000000ff00ff000000ff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff000000000000ff00ff000000000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
- 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff
- 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080
- 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ff
-
@@ -1425,467 +889,6 @@ External Setpoint Generation:
-
-
-
- NC-Task 1 SAF
-
- Inputs
-
-
- Outputs
-
-
- Image
-
-
-
- NC-Task 1 SVB
-
-
- Axis 1
-
-
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 1024
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 2048
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 1344
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 2368
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
- nCtrl3
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
-
-
- Axis 2
-
-
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 2688
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 4736
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 3008
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 5056
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
- nCtrl3
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
- 1664
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
- 2688
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
-
-
-
@@ -2025,69 +1028,6 @@ External Setpoint Generation:
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
-]]>
-
-
-
- GVL.axes[3].inputs.bLimitFwd
-
- BOOL
-
-
- GVL.axes[3].inputs.bLimitBwd
-
- BOOL
-
-
- GVL.axes[3].inputs.bHomeSensor
-
- BOOL
-
-
- GVL.axes[3].inputs.bEncLAtch
-
- BOOL
-
-
- GVL.axes[3].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
@@ -2099,27 +1039,6 @@ External Setpoint Generation:
BOOL
-
- MAIN.bOutput2
- BOOL
-
-
- MAIN.bOutput3
- BOOL
-
-
- MAIN.bOutput5
-
- BOOL
-
-
- MAIN.bOutput6
- BOOL
-
-
- MAIN.bOutput7
- BOOL
-
GVL.axes[1].Axis.PlcToNc
PLCTONC_AXIS_REF
@@ -2128,10 +1047,6 @@ External Setpoint Generation:
GVL.axes[2].Axis.PlcToNc
PLCTONC_AXIS_REF
-
- GVL.axes[3].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
@@ -2139,1899 +1054,5 @@ External Setpoint Generation:
-
-
- Device 1 (EtherCAT)
-
-
- -801112064
- 131072
- 8192
- 0
- 3
- 0
- 5612
- 20480
-
- 0
- 4096
- 256
- 2
- 0
- 1
-
-
- 498694182
- 1
- 256
-
-
-
-
- Image
-
-
- Image-2
-
-
- Term 1 (EK1200)
- 1000
-
-
- Term 2 (EL1018)
- 7
-
- 001001000000010004000000000000000100001000010000
- 0000000000000000001000010100000002000000000000000000000000000000
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
-
- Term 3 (EL2808)
- 1001
-
- 000f01004400010003000000010001000100000f44090000
- 0000000000000000000f00020100000001000000000000000000000000000000
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
- BIT
-
-
-
-
-
- Term 4 (EL5101)
- 1002
-
- 001830002600010001000000300030003000001826010000
- 801830002200010002000000300030003000801822010000
- 001004002400010003000000000000000300001024010000
- 001106002000010004000000000000000500001120010000
- 0000000000000000001000020100000001000000000000000000000000000000
- 0000000000000000001100010100000002000000000000000000000000000000
- 00000000000000000d0800010100000003000000000000000000000000000000
- 0010f400f410f400
- 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
- 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000020030100000000000000000000000000000000000000000000000000000000000000
- 4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000020030100000000000000000001000000000000000000000000000000000000000000
-
- #x1a01
- #x1a03
- #x1a04
- #x1a05
- #x1a06
- #x1a07
- #x1a08
-
- USINT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a00
- #x1a03
- #x1a04
- #x1a05
- #x1a06
- #x1a07
- #x1a08
-
- USINT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a03
- #x1a04
- #x1a05
- #x1a06
- #x1a07
- #x1a08
-
- UDINT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a04
- #x1a00
- #x1a01
- #x1a02
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a03
- #x1a00
- #x1a01
- #x1a02
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- UDINT
-
-
- UDINT
-
-
-
- #x1a00
- #x1a01
- #x1a02
- #x1a06
-
- UDINT
-
-
-
- #x1a00
- #x1a01
- #x1a02
- #x1a05
-
- UDINT
-
-
-
- #x1a08
- #x1a00
- #x1a01
- #x1a02
-
- ULINT
-
-
-
- #x1a07
- #x1a00
- #x1a01
- #x1a02
-
- UDINT
-
-
-
- #x1601
- #x1602
- #x1603
-
- USINT
-
-
- UINT
-
-
-
- #x1600
- #x1602
- #x1603
-
- USINT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UINT
-
-
-
- #x1603
- #x1600
- #x1601
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..3] OF BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UINT
-
-
-
- #x1602
- #x1600
- #x1601
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..3] OF BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UDINT
-
-
-
-
-
-
-
- Term 5 (EL5101)
- 1002
-
- 001830002600010001000000300030003000001826010000
- 801830002200010002000000300030003000801822010000
- 001004002400010003000000000000000300001024010000
- 001106002000010004000000000000000500001120010000
- 0000000000000000001000020100000001000000000000000000000000000000
- 0000000000000000001100010100000002000000000000000000000000000000
- 00000000000000000d0800010100000003000000000000000000000000000000
- 0010f400f410f400
- 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
- 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000020030100000000000000000000000000000000000000000000000000000000000000
- 4443494e00000000000000000000000044432d53796e6368726f6e2028696e7075742062617365642900000000000000000000000000000000000000000020030100000000000000000001000000000000000000000000000000000000000000
-
- #x1a01
- #x1a03
- #x1a04
- #x1a05
- #x1a06
- #x1a07
- #x1a08
-
- USINT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a00
- #x1a03
- #x1a04
- #x1a05
- #x1a06
- #x1a07
- #x1a08
-
- USINT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a03
- #x1a04
- #x1a05
- #x1a06
- #x1a07
- #x1a08
-
- UDINT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a04
- #x1a00
- #x1a01
- #x1a02
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a03
- #x1a00
- #x1a01
- #x1a02
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- UDINT
-
-
- UDINT
-
-
-
- #x1a00
- #x1a01
- #x1a02
- #x1a06
-
- UDINT
-
-
-
- #x1a00
- #x1a01
- #x1a02
- #x1a05
-
- UDINT
-
-
-
- #x1a08
- #x1a00
- #x1a01
- #x1a02
-
- ULINT
-
-
-
- #x1a07
- #x1a00
- #x1a01
- #x1a02
-
- UDINT
-
-
-
- #x1601
- #x1602
- #x1603
-
- USINT
-
-
- UINT
-
-
-
- #x1600
- #x1602
- #x1603
-
- USINT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UINT
-
-
-
- #x1603
- #x1600
- #x1601
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..3] OF BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UINT
-
-
-
- #x1602
- #x1600
- #x1601
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..3] OF BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UDINT
-
-
-
-
-
-
-
- Term 6 (EL9505)
- 1003
-
- 001001000000010004000000000000000000001000000000
- 0000000000000000001000010100000002000000000000000000000000000000
-
-
- BIT
-
-
- BIT
-
-
-
-
-
- Term 7 (EL1252-0050)
- 7
-
- 001001002000010004000000000000000100001022010000
- ae0922000000000004000000000000000000ae0900040000
- 100900000000000004000000000000000000100900040000
- 0000000000000000001000010100000002000000060000000000000000000000
- 0000000000000000ae0900010100000002000000060000000100000000000000
- 0000000000000000100900010000000002000000060000000200000000000000
- 0001000000000000000000000000000000000000000000000000000000000000
- 44634c617463680000000000000000004443204c617463682053657474696e6773000000000000000000000000000000000000000000000000000000000000010000000000000000000000000000000000000000000000000000000000000000
-
-
- BIT
-
-
-
-
- BIT
-
-
- ARRAY [0..5] OF BIT
-
-
-
-
- #x1a11
- #x1a12
- #x1a13
- #x1a16
-
- USINT
-
-
- USINT
-
-
-
- #x1a10
- #x1a12
- #x1a13
- #x1a16
-
- USINT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UDINT
-
-
-
- #x1a10
- #x1a11
- #x1a13
- #x1a16
-
- USINT
-
-
- ARRAY [0..0] OF BYTE
-
-
- ULINT
-
-
- ULINT
-
-
-
- #x1a10
- #x1a11
- #x1a12
- #x1a16
-
- USINT
-
-
- USINT
-
-
- ULINT
-
-
- ULINT
-
-
- ULINT
-
-
- ULINT
-
-
-
- #x1a15
-
- UDINT
-
-
-
- #x1a14
-
- ULINT
-
-
-
- #x1a10
- #x1a11
- #x1a12
- #x1a13
-
- ARRAY [0..1] OF BYTE
-
-
- ULINT
-
-
- ULINT
-
-
- ULINT
-
-
- ULINT
-
-
-
-
-
-
-
- Term 8 (EL7037)
- 1004
-
- 001080002600010001000000400080008000001026010000
- 801080002200010002000000400080008000801022010000
- 001108002400010003000000000000000800001124010000
- 801108002000010004000000000000000800801120010000
- 0000000000000000001100020100000001000000000000000000000000000000
- 0000000000000000801100010100000002000000000000000000000000000000
- 00000000000000000d0800010100000003000000000000000000000000000000
- 0010f400f410f400
- 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
- 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000
- 004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000130000
- 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000
-
- #x1a01
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..1] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a00
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..1] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- UDINT
-
-
- UDINT
-
-
-
-
- UDINT
-
-
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..2] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
-
-
- UINT
-
-
- UINT
-
-
-
-
- INT
-
-
-
- #x1a07
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
-
- #x1a06
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UDINT
-
-
- INT
-
-
- UDINT
-
-
-
-
- UDINT
-
-
-
-
- UDINT
-
-
-
-
- DINT
-
-
-
- #x1601
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..11] OF BIT
-
-
- UINT
-
-
-
- #x1600
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..11] OF BIT
-
-
- UDINT
-
-
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- BIT
-
-
- ARRAY [0..3] OF BIT
-
-
-
- #x1604
- #x1605
- #x1606
-
- UDINT
-
-
-
- #x1603
- #x1605
- #x1606
-
- INT
-
-
-
- #x1603
- #x1604
- #x1606
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..13] OF BIT
-
-
- UDINT
-
-
-
- #x1603
- #x1604
- #x1605
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..13] OF BIT
-
-
- UDINT
-
-
- INT
-
-
- UINT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1603
- #x1604
- #x1605
-
- ARRAY [0..1] OF BIT
-
-
- BIT
-
-
- ARRAY [0..12] OF BIT
-
-
- UDINT
-
-
- INT
-
-
- UINT
-
-
- UINT
-
-
- UINT
-
-
-
-
-
-
-
-
- Term 9 (EL7037)
- 1004
-
- 001080002600010001000000400080008000001026010000
- 801080002200010002000000400080008000801022010000
- 001108002400010003000000000000000800001124010000
- 801108002000010004000000000000000800801120010000
- 0000000000000000001100020100000001000000000000000000000000000000
- 0000000000000000801100010100000002000000000000000000000000000000
- 00000000000000000d0800010100000003000000000000000000000000000000
- 0010f400f410f400
- 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
- 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000
- 004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000130000
- 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000
-
- #x1a01
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..1] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1a00
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..1] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
- UDINT
-
-
- UDINT
-
-
-
-
- UDINT
-
-
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..2] OF BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BIT
-
-
- BIT
-
-
-
-
- UINT
-
-
- UINT
-
-
-
-
- INT
-
-
-
- #x1a07
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
-
- #x1a06
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- UDINT
-
-
- INT
-
-
- UDINT
-
-
-
-
- UDINT
-
-
-
-
- UDINT
-
-
-
-
- DINT
-
-
-
- #x1601
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..11] OF BIT
-
-
- UINT
-
-
-
- #x1600
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..11] OF BIT
-
-
- UDINT
-
-
-
-
- BIT
-
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..0] OF BYTE
-
-
- BIT
-
-
- ARRAY [0..3] OF BIT
-
-
-
- #x1604
- #x1605
- #x1606
-
- UDINT
-
-
-
- #x1603
- #x1605
- #x1606
-
- INT
-
-
-
- #x1603
- #x1604
- #x1606
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..13] OF BIT
-
-
- UDINT
-
-
-
- #x1603
- #x1604
- #x1605
-
- BIT
-
-
- BIT
-
-
- ARRAY [0..13] OF BIT
-
-
- UDINT
-
-
- INT
-
-
- UINT
-
-
- UINT
-
-
- UINT
-
-
-
- #x1603
- #x1604
- #x1605
-
- ARRAY [0..1] OF BIT
-
-
- BIT
-
-
- ARRAY [0..12] OF BIT
-
-
- UDINT
-
-
- INT
-
-
- UINT
-
-
- UINT
-
-
- UINT
-
-
-
-
-
-
-
-
- Term 10 (EL9011)
- 1005
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index a846a85..e4fc2d1 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
- axisNum : UINT:=3;
+ axisNum : UINT:=2;
//axisCoupleMax : UINT:=4;
END_VAR]]>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index de4615c..9ce3259 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -11,12 +11,12 @@ VAR
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
bOutput1 AT %Q*: BOOL:= TRUE;
- bOutput2 AT %Q*: BOOL:= TRUE;
- bOutput3 AT %Q*: BOOL:= TRUE;
+ //bOutput2 AT %Q*: BOOL:= TRUE;
+ //bOutput3 AT %Q*: BOOL:= TRUE;
//bOutput4 AT %Q*: BOOL:= TRUE;
- bOutput5 AT %Q*: BOOL:= TRUE;
- bOutput6 AT %Q*: BOOL:= TRUE;
- bOutput7 AT %Q*: BOOL:= TRUE;
+ //bOutput5 AT %Q*: BOOL:= TRUE;
+ //bOutput6 AT %Q*: BOOL:= TRUE;
+ //bOutput7 AT %Q*: BOOL:= TRUE;
//bOutput8 AT %Q*: BOOL:= TRUE;
//bOutput9 AT %Q*: BOOL:= TRUE;
//bOutput13 AT %Q*: BOOL:= TRUE;
@@ -76,8 +76,7 @@ ERROR();]]>
-
@@ -268,7 +267,6 @@ END_FOR]]>
-
From 646085d03ba59d60f401d85a827edf30503dfdb6 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 18 Dec 2019 10:57:49 +0100
Subject: [PATCH 124/169] Update tc_mca_std_lib to latest version
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 6cc8df2..bb5b855 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 6cc8df2396955e4daa5ebbeb58e8551e0dda1b21
+Subproject commit bb5b8551125ca198a4b28e94bdcc250714e4dc43
From 200ff88e6f92b502082d80d7514fdca7d0df77f2 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 18 Dec 2019 15:26:33 +0100
Subject: [PATCH 125/169] Update to latest commit of tc_mca_std_lib
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index bb5b855..ec2882f 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit bb5b8551125ca198a4b28e94bdcc250714e4dc43
+Subproject commit ec2882fe47273a9d10aebf779aea3fe360b7c7e8
From 4af4094855829f2e76c96f2eb5463ec3e2027634 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Mon, 16 Dec 2019 16:18:12 +0100
Subject: [PATCH 126/169] Change PLC cycle time to 10ms
---
solution/tc_project_app/PlcTask.TcTTO | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 0763afe..3a043d2 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -2,8 +2,8 @@
- 1000
- 20
+ 10000
+ 4
MAIN
From f360d382a178a02655d378a38916e49381d19467 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 18 Dec 2019 16:33:53 +0100
Subject: [PATCH 127/169] Update to latest commit of tc_mca_std_lib
Remove variable fHomePosition which was defined twice
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index ec2882f..852ea37 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit ec2882fe47273a9d10aebf779aea3fe360b7c7e8
+Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492
From 91b18c6e734620a3d99b7abede557b28a4880d64 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 18 Dec 2019 16:44:53 +0100
Subject: [PATCH 128/169] Change TC2_MC library version to 3.3.28
No jogging error with this library version
---
solution/tc_project_app/tc_project_app.plcproj | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index d9d9c93..b5d34ae 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -6,7 +6,7 @@
{fb261665-fd20-4bf2-97f8-2854c82b752d}
True
tc_project_app
- 3.1.4022.6
+ 3.1.4023.0
{047dee04-c246-47b2-8ccc-a15e36987c43}
{ae4eb5ee-6030-47a6-bf35-5a6afd9efeeb}
{5ef19bd0-aca2-493f-b2a1-89e363647697}
@@ -14,7 +14,6 @@
{26d08e27-a705-49a9-95de-a3a0b6ea049c}
{577f21c4-8eb2-4f2c-a24e-4c3f62ca96d2}
true
- false
@@ -345,6 +344,11 @@
Content
+
+
+ Tc2_MC2, 3.3.28.0 (Beckhoff Automation GmbH)
+
+
From 0532cb9214476394890d8cbda7c7a4b878838fd1 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 18 Dec 2019 17:16:49 +0100
Subject: [PATCH 129/169] Remove PLCTask1 from solution
---
solution/tc_project_app/PlcTask.TcTTO | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 3a043d2..0763afe 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -2,8 +2,8 @@
- 10000
- 4
+ 1000
+ 20
MAIN
From 6e0735106d0df0d01dc8406967b8a80d9adbbf0e Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 18 Dec 2019 17:19:00 +0100
Subject: [PATCH 130/169] Change PLCtask cycle time to 10ms
---
solution/solution.tsproj | 2 +-
solution/tc_project_app/PlcTask.TcTTO | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 3d1f5a3..f74cba4 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -884,7 +884,7 @@ External Setpoint Generation:
PlcTaskCom
-
+
PlcTask
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 0763afe..b5badec 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -2,7 +2,7 @@
- 1000
+ 10000
20
MAIN
From 7ee4fae5ada51cdfb0ec1792ce69955057643f4f Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Tue, 24 Dec 2019 10:08:59 +0000
Subject: [PATCH 131/169] Added tcUNIT, including helper functions and app test
folder, to generic structure
---
.../tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU | 20 ++
.../tcUNIT/common/FB_tcUNIT_common.TcPOU | 187 ++++++++++++++++++
.../tcUNIT/common/tcUNIT_GVL.TcGVL | 28 +++
.../tc_project_app/tc_project_app.tmcRefac | 15 ++
4 files changed, 250 insertions(+)
create mode 100644 solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
create mode 100644 solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
create mode 100644 solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
create mode 100644 solution/tc_project_app/tc_project_app.tmcRefac
diff --git a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
new file mode 100644
index 0000000..ccb726d
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
new file mode 100644
index 0000000..e59f78a
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
@@ -0,0 +1,187 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
new file mode 100644
index 0000000..3b89d11
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
@@ -0,0 +1,28 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac
new file mode 100644
index 0000000..d6415b5
--- /dev/null
+++ b/solution/tc_project_app/tc_project_app.tmcRefac
@@ -0,0 +1,15 @@
+
+
+
+
+ TCUNIT_RUN
+ tcUNIT_STD_LIB_1
+ tcUNIT_APP_RUN
+
+
+ PrepareMove
+ motionStrategy
+ eMotionStrategy
+
+
+
\ No newline at end of file
From 13dc7a0ba1748a71c2067f1f92547cf5849a235a Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Tue, 24 Dec 2019 10:11:14 +0000
Subject: [PATCH 132/169] Revert "Added tcUNIT, including helper functions and
app test folder, to generic structure"
This reverts commit 7ee4fae5ada51cdfb0ec1792ce69955057643f4f.
Should have been pushed to a branch for review first
---
.../tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU | 20 --
.../tcUNIT/common/FB_tcUNIT_common.TcPOU | 187 ------------------
.../tcUNIT/common/tcUNIT_GVL.TcGVL | 28 ---
.../tc_project_app/tc_project_app.tmcRefac | 15 --
4 files changed, 250 deletions(-)
delete mode 100644 solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
delete mode 100644 solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
delete mode 100644 solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
delete mode 100644 solution/tc_project_app/tc_project_app.tmcRefac
diff --git a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
deleted file mode 100644
index ccb726d..0000000
--- a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
+++ /dev/null
@@ -1,20 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
deleted file mode 100644
index e59f78a..0000000
--- a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
+++ /dev/null
@@ -1,187 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
deleted file mode 100644
index 3b89d11..0000000
--- a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
+++ /dev/null
@@ -1,28 +0,0 @@
-
-
-
-
-
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac
deleted file mode 100644
index d6415b5..0000000
--- a/solution/tc_project_app/tc_project_app.tmcRefac
+++ /dev/null
@@ -1,15 +0,0 @@
-
-
-
-
- TCUNIT_RUN
- tcUNIT_STD_LIB_1
- tcUNIT_APP_RUN
-
-
- PrepareMove
- motionStrategy
- eMotionStrategy
-
-
-
\ No newline at end of file
From 3257c21d12bc5c8b26b7b8cab45797a857669250 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Tue, 24 Dec 2019 10:29:00 +0000
Subject: [PATCH 133/169] Added tcUNIT, including helper functions and app test
folder, to generic structure
---
.../tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU | 22 ++
.../tcUNIT/common/FB_tcUNIT_common.TcPOU | 193 ++++++++++++++++++
.../tcUNIT/common/tcUNIT_GVL.TcGVL | 28 +++
.../tc_project_app/tc_project_app.tmcRefac | 20 ++
4 files changed, 263 insertions(+)
create mode 100644 solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
create mode 100644 solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
create mode 100644 solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
create mode 100644 solution/tc_project_app/tc_project_app.tmcRefac
diff --git a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
new file mode 100644
index 0000000..b4bdf8c
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -0,0 +1,22 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
new file mode 100644
index 0000000..3a5cc14
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
@@ -0,0 +1,193 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
new file mode 100644
index 0000000..3b89d11
--- /dev/null
+++ b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
@@ -0,0 +1,28 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac
new file mode 100644
index 0000000..595f28a
--- /dev/null
+++ b/solution/tc_project_app/tc_project_app.tmcRefac
@@ -0,0 +1,20 @@
+
+
+
+
+ TCUNIT_RUN
+ tcUNIT_STD_LIB_1
+ tcUNIT_APP_RUN
+
+
+ PrepareMove
+ motionStrategy
+ eMotionStrategy
+
+
+ TCUNIT_STD_LIB_1
+ tcUNIT_STD_LIB_1
+ tcUNIT_APP_RUN
+
+
+
\ No newline at end of file
From 7c1c9eadcf82af4f54a58cfbac3adf57caec1214 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Tue, 24 Dec 2019 10:37:06 +0000
Subject: [PATCH 134/169] Removed trailing CR
---
.../tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU | 7 +---
.../tcUNIT/common/FB_tcUNIT_common.TcPOU | 39 ++++++-------------
.../tcUNIT/common/tcUNIT_GVL.TcGVL | 3 +-
3 files changed, 15 insertions(+), 34 deletions(-)
diff --git a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
index b4bdf8c..bfdf84b 100644
--- a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
+++ b/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -8,15 +8,12 @@ PROGRAM tcUNIT_APP_RUN
VAR
(* Declare standard library POU tests to be run
E.g. fbMoveNonLinearSlits: FB_MoveNonLinearSlits_Test; *)
-END_VAR
-]]>
+END_VAR]]>
-
+
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
index 3a5cc14..844227f 100644
--- a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
@@ -5,8 +5,7 @@
FUNCTION_BLOCK FB_tcUNIT_common
VAR
-END_VAR
-]]>
+END_VAR]]>
@@ -18,26 +17,22 @@ END_VAR
VAR
i: INT := 0;
-END_VAR
-]]>
+END_VAR]]>
+END_WHILE]]>
+END_VAR]]>
+Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]>
@@ -48,8 +43,7 @@ END_VAR
VAR_INPUT
MotionStrategy: MotionFunctions; // The motion strategy to be used in the move
-END_VAR
-]]>
+END_VAR]]>
+Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]>
@@ -86,8 +79,7 @@ VAR_INPUT
fTargetDeceleration: LREAL;
fTargetPosition: LREAL;
eMotionStrategy: MotionFunctions;
-END_VAR
-]]>
+END_VAR]]>
+Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]>
+END_VAR]]>
+Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]>
@@ -144,13 +133,12 @@ Cycle(1); // Cycle the PLC to ensure the values have been set and results can
-
+
-
@@ -163,14 +151,12 @@ Cycle(1); // Cycle the PLC to ensure the values have been set and results can
-
-
@@ -187,7 +173,6 @@ Cycle(1); // Cycle the PLC to ensure the values have been set and results can
-
\ No newline at end of file
diff --git a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
index 3b89d11..ed05340 100644
--- a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
+++ b/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
@@ -22,7 +22,6 @@ END_VAR
VAR_GLOBAL
iAxis: INT;
-END_VAR
-]]>
+END_VAR]]>
\ No newline at end of file
From 30c80940c724060b4073e6a9406412a53bdaa600 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Tue, 24 Dec 2019 11:07:12 +0000
Subject: [PATCH 135/169] Renamed tcUNIT folder to Test
---
.../{tcUNIT => Test}/app_tests/tcUNIT_APP_RUN.TcPOU | 0
.../tc_project_app/{tcUNIT => Test}/common/FB_tcUNIT_common.TcPOU | 0
solution/tc_project_app/{tcUNIT => Test}/common/tcUNIT_GVL.TcGVL | 0
3 files changed, 0 insertions(+), 0 deletions(-)
rename solution/tc_project_app/{tcUNIT => Test}/app_tests/tcUNIT_APP_RUN.TcPOU (100%)
rename solution/tc_project_app/{tcUNIT => Test}/common/FB_tcUNIT_common.TcPOU (100%)
rename solution/tc_project_app/{tcUNIT => Test}/common/tcUNIT_GVL.TcGVL (100%)
diff --git a/solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
similarity index 100%
rename from solution/tc_project_app/tcUNIT/app_tests/tcUNIT_APP_RUN.TcPOU
rename to solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
diff --git a/solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
similarity index 100%
rename from solution/tc_project_app/tcUNIT/common/FB_tcUNIT_common.TcPOU
rename to solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
diff --git a/solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
similarity index 100%
rename from solution/tc_project_app/tcUNIT/common/tcUNIT_GVL.TcGVL
rename to solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
From f0037bcaba4689ae1588f83b9b47414c478d20b9 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Tue, 24 Dec 2019 11:36:25 +0000
Subject: [PATCH 136/169] Added std_lib unit tests
---
.../_Config/NC/Axes/tcUNIT_virtual_axis.xti | 1525 +++++++++++++++++
solution/_Config/NC/NC.xti | 21 +
solution/solution.tsproj | 5 +-
solution/tc_project_app/PlcTask.TcTTO | 3 +
.../standard_library_tests/FB_Axis_TEST.TcPOU | 230 +++
.../tcUNIT_STD_LIB_RUN.TcPOU | 17 +
.../tc_project_app/tc_project_app.plcproj | 25 +-
.../tc_project_app/tc_project_app.tmcRefac | 20 -
8 files changed, 1824 insertions(+), 22 deletions(-)
create mode 100644 solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti
create mode 100644 solution/_Config/NC/NC.xti
create mode 100644 solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
create mode 100644 solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU
delete mode 100644 solution/tc_project_app/tc_project_app.tmcRefac
diff --git a/solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti b/solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti
new file mode 100644
index 0000000..87ec62b
--- /dev/null
+++ b/solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti
@@ -0,0 +1,1525 @@
+
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ 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
+
+
+
+
+ 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
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ __FILENAME__
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 1024
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 2048
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 1344
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 2368
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+ nCtrl3
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
new file mode 100644
index 0000000..2c8f8d7
--- /dev/null
+++ b/solution/_Config/NC/NC.xti
@@ -0,0 +1,21 @@
+
+
+
+
+ NC-Task 1 SAF
+
+ Inputs
+
+
+ Outputs
+
+
+ Image
+
+
+
+ NC-Task 1 SVB
+
+
+
+
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index f74cba4..8c3ec91 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -873,7 +873,7 @@ External Setpoint Generation:
-
+
@@ -889,6 +889,9 @@ External Setpoint Generation:
+
+
+
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index b5badec..3be8aea 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -7,6 +7,9 @@
MAIN
+
+ tcUNIT_STD_LIB_RUN
+
{26d89752-95b4-4b52-80c0-c79242bc34d7}
{137c4fd1-c794-4dee-a041-b4fea1d22866}
{2478772d-357b-433f-886f-15340bef9bdf}
diff --git a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
new file mode 100644
index 0000000..59ff389
--- /dev/null
+++ b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
@@ -0,0 +1,230 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU b/solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU
new file mode 100644
index 0000000..e7cb079
--- /dev/null
+++ b/solution/tc_project_app/Test/standard_library_tests/tcUNIT_STD_LIB_RUN.TcPOU
@@ -0,0 +1,17 @@
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index b5d34ae..d880255 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -29,6 +29,15 @@
Code
+
+ Code
+
+
+ Code
+
+
+ Code
+
Code
@@ -229,6 +238,12 @@
Code
+
+ Code
+
+
+ Code
+
Code
@@ -236,6 +251,9 @@
+
+
+
@@ -256,6 +274,7 @@
+
@@ -334,6 +353,10 @@
Tc3_Module, * (Beckhoff Automation GmbH)
Tc3_Module
+
+ TcUnit, * (www.tcunit.org)
+ TcUnit
+
VisuDialogs, * (System)
VisuDialogs
@@ -346,7 +369,7 @@
- Tc2_MC2, 3.3.28.0 (Beckhoff Automation GmbH)
+ Tc2_MC2, * (Beckhoff Automation GmbH)
diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac
deleted file mode 100644
index 595f28a..0000000
--- a/solution/tc_project_app/tc_project_app.tmcRefac
+++ /dev/null
@@ -1,20 +0,0 @@
-
-
-
-
- TCUNIT_RUN
- tcUNIT_STD_LIB_1
- tcUNIT_APP_RUN
-
-
- PrepareMove
- motionStrategy
- eMotionStrategy
-
-
- TCUNIT_STD_LIB_1
- tcUNIT_STD_LIB_1
- tcUNIT_APP_RUN
-
-
-
\ No newline at end of file
From 1079229ffb7948f452ddd2b3b5515f9300a066db Mon Sep 17 00:00:00 2001
From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com>
Date: Fri, 7 Feb 2020 10:17:46 +0000
Subject: [PATCH 137/169] ALLOW LOCAL SIMULATIONS TO BYBASS UPS CHECK
Add CHECK_UPS action to house monitoring of the UPS global status
Modify RESTORE_POSITIONS state machine to remove numerical enumeration
usage
Add device identity functionblock to check whether local simulation or
CX
Add POSITION RECOVERY action to check device type and determine whether
to run
position restore and ups checking
Add solution/_Config/ folder to gitignore to remove NC and IO
---
.gitignore | 1 +
solution/solution.tsproj | 129 ++++++++----------------
solution/tc_project_app/POUs/MAIN.TcPOU | 73 +++++++++-----
3 files changed, 91 insertions(+), 112 deletions(-)
diff --git a/.gitignore b/.gitignore
index 8f8c117..cab1dc8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -17,3 +17,4 @@ logs.0*
solution/TrialLicense.tclrs
tools/linux/ADS/
tools/linux/getADSState/getADSState.bin
+_Config/
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index f74cba4..5dd70ed 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,8 +1,8 @@
-
+
- NCTOPLC_AXIS_REF_STATE
+ NCTOPLC_AXIS_REF_STATE
32
Operational
@@ -112,6 +112,12 @@
1
17
+
+ IsDriveLimitActive
+ BIT
+ 1
+ 18
+
ContinuousMotion
BIT
@@ -199,6 +205,11 @@
16#%08X
+
+
+ {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}
+
+
NCTOPLC_AXIS_REF_OPMODE
@@ -394,11 +405,11 @@
- NCTOPLC_AXIS_REF
+ NCTOPLC_AXIS_REF
2048
StateDWord
- NCTOPLC_AXIS_REF_STATE
+ NCTOPLC_AXIS_REF_STATE
32
0
@@ -646,6 +657,18 @@ External Setpoint Generation:
64
1600
+
+ AbsPhasingPos
+ LREAL
+ 64
+ 1664
+
+
+ TorqueOffset
+ LREAL
+ 64
+ 1728
+
ActPosWithoutPosCorrection
LREAL
@@ -692,6 +715,9 @@ External Setpoint Generation:
+
+
+
@@ -873,7 +899,7 @@ External Setpoint Generation:
-
+
@@ -889,6 +915,9 @@ External Setpoint Generation:
+
+
+
@@ -927,46 +956,7 @@ External Setpoint Generation:
GVL.axes[1].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
+ NCTOPLC_AXIS_REF
GVL.axes[2].inputs.bLimitFwd
@@ -990,46 +980,7 @@ External Setpoint Generation:
GVL.axes[2].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
+ NCTOPLC_AXIS_REF
@@ -1055,4 +1006,12 @@ External Setpoint Generation:
+
+
+
+
+
+
+
+
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index f81cabd..5eebc02 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
-
+
+
+
+
+
+
+
+
+
+ eSUPS_PowerFailure THEN
+ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
(* next cycles of powerfailure *)
(* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
RETURN;
-END_IF
-
-RESTORE_POSITIONS();
-PROG();
-AXES();
-ERROR();]]>
-
-
-
-
+END_IF]]>
@@ -121,6 +126,15 @@ fbEL1808(
]]>
+
+
+ '0') THEN
+ CHECK_UPS();
+ RESTORE_POSITIONS();
+END_IF]]>
+
+
-
+
if busy then continue with PLC cycle and check again next time.
@@ -199,14 +213,14 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
// Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
bExecuteReadEncRefSys:=FALSE;
- eStartUp:=eStartUp-1;
+ eStartUp:=ReadAxisFeedbackType;
iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
RETURN;
END_IF
END_IF
END_FOR
// If the code gets here all axes either have .valid=TRUE for all axes
- eStartUp:=eStartUp+1;
+ eStartUp:= ExecuteRestore;
ExecuteRestore:
// Execute position restore by setting fbRestorePosition.execute = TRUE
@@ -217,7 +231,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF
END_IF
END_FOR
- eStartUp:=eStartUp+1;
+ eStartUp:= CheckRestore;
CheckRestore:
// Check the set position fbs are finished
@@ -232,7 +246,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF
END_IF
END_FOR
- eStartUp:=eStartUp+1;
+ eStartUp:= FinishRestore;
FinishRestore:
// Remove execute = TRUE for fbRestorePosition
@@ -245,7 +259,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF]]>
-
+
-
-
-
-
+
@@ -271,6 +282,10 @@ END_FOR]]>
+
+
+
+
@@ -287,6 +302,10 @@ END_FOR]]>
+
+
+
+
From bcbc791fe1c96ad5e5ee7d3f89ff0542c5c17f36 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 10 Feb 2020 10:39:51 +0100
Subject: [PATCH 138/169] Add solution/_Config/NC/NC.xti
The NC.xti file is needed for the PLC NC task.
So we re-add it here.
---
solution/_Config/NC/NC.xti | 20 ++++++++++++++++++++
1 file changed, 20 insertions(+)
create mode 100644 solution/_Config/NC/NC.xti
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
new file mode 100644
index 0000000..759c7a3
--- /dev/null
+++ b/solution/_Config/NC/NC.xti
@@ -0,0 +1,20 @@
+
+
+
+
+ NC-Task 1 SAF
+
+ Inputs
+
+
+ Outputs
+
+
+ Image
+
+
+
+ NC-Task 1 SVB
+
+
+
From 5c19425abcf8d9d6fa746d0f03b297f059ff987c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 10 Feb 2020 10:42:26 +0100
Subject: [PATCH 139/169] Partly ignore solution/_Config/
We need NC/nc.xti to be able to run the NC PLC task.
So don't ignore it.
But ignore all IO and Axes.
---
.gitignore | 3 ++-
1 file changed, 2 insertions(+), 1 deletion(-)
diff --git a/.gitignore b/.gitignore
index cab1dc8..63a08bd 100644
--- a/.gitignore
+++ b/.gitignore
@@ -17,4 +17,5 @@ logs.0*
solution/TrialLicense.tclrs
tools/linux/ADS/
tools/linux/getADSState/getADSState.bin
-_Config/
+_Config/NC/Axes
+_Config/IO
From b522fe177e0bbc8d54d67fe57e5bc5ff55bef52d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 10 Feb 2020 10:44:25 +0100
Subject: [PATCH 140/169] fix whitespace damage
---
solution/tc_project_app/POUs/MAIN.TcPOU | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 5eebc02..2c922e6 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -48,7 +48,7 @@ VAR
iRetry : INT;
fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
- fbGetDeviceIdentification : FB_GetDeviceIdentification;
+ fbGetDeviceIdentification : FB_GetDeviceIdentification;
END_VAR
@@ -130,8 +130,8 @@ fbEL1808(
'0') THEN
- CHECK_UPS();
- RESTORE_POSITIONS();
+ CHECK_UPS();
+ RESTORE_POSITIONS();
END_IF]]>
From b914a2f62ad9b004ad7c9cfb6d2b2e09a4038c33 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 10 Feb 2020 10:51:12 +0100
Subject: [PATCH 141/169] Initial number of axes is 0
Change axisNum in GVL_APP to 0
---
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index 9e800ab..e125049 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
- axisNum : UINT:=2;
+ axisNum : UINT:=0;
//axisCoupleMax : UINT:=4;
END_VAR]]>
From de53c24b1569826149def478bde4d7da1290cafb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 10 Feb 2020 10:53:57 +0100
Subject: [PATCH 142/169] solution.tsproj: Remove the 2 axes, commit with TC
3.1.4024.0
---
solution/solution.tsproj | 968 +--------------------------------------
1 file changed, 1 insertion(+), 967 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 5dd70ed..36de82a 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,904 +1,5 @@
-
-
-
- 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
-
-
- IsDriveLimitActive
- BIT
- 1
- 18
-
-
- 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
-
-
-
- {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}
-
-
-
-
- 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
-
-
- AbsPhasingPos
- LREAL
- 64
- 1664
-
-
- TorqueOffset
- LREAL
- 64
- 1728
-
-
- 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
-
-
-
-
+
@@ -932,57 +33,6 @@ External Setpoint Generation:
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
-
- PlcTask Inputs
-
- GVL.axes[1].inputs.bLimitFwd
-
- BOOL
-
-
- GVL.axes[1].inputs.bLimitBwd
-
- BOOL
-
-
- GVL.axes[1].inputs.bHomeSensor
-
- BOOL
-
-
- GVL.axes[1].inputs.bEncLAtch
-
- BOOL
-
-
- GVL.axes[1].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
-
- GVL.axes[2].inputs.bLimitFwd
-
- BOOL
-
-
- GVL.axes[2].inputs.bLimitBwd
-
- BOOL
-
-
- GVL.axes[2].inputs.bHomeSensor
-
- BOOL
-
-
- GVL.axes[2].inputs.bEncLAtch
-
- BOOL
-
-
- GVL.axes[2].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
-
PlcTask Outputs
@@ -990,14 +40,6 @@ External Setpoint Generation:
BOOL
-
- GVL.axes[1].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
-
- GVL.axes[2].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
@@ -1006,12 +48,4 @@ External Setpoint Generation:
-
-
-
-
-
-
-
-
From 06fff58f08fd4e15b51daa0dfad5858785921398 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?=
Date: Mon, 10 Feb 2020 10:58:35 +0100
Subject: [PATCH 143/169] MAIN.TcPOU: Save with TC version 3.1.4024.0
---
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 2c922e6..458ca9d 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -1,5 +1,5 @@
-
+
Date: Wed, 12 Feb 2020 11:56:26 +0100
Subject: [PATCH 144/169] Add check in MAIN.RESTOR_POSITIONS
Add check when resetting bRestoreOnStartup flag to only reset
if the UPS is OK. Otherwise during a power loss it is set and then reset before
getting to the end of the PLC cycle.
This was a result of moving some code that was previously in MAIN to an ACT
and the RETURN command does not work the same. I believe it only returns
from the current act and not the whole code. Originally it was supposed to
prevent the rest of the code from executing in the event of a power failure but
this is no longer the case.
---
solution/tc_project_app/POUs/MAIN.TcPOU | 5 +++--
1 file changed, 3 insertions(+), 2 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 458ca9d..b3bbcc1 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -6,6 +6,7 @@ VAR
sVersion: STRING:='1.0.0';
i : UINT; //index variable for AXES()
aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
+
hmiAxisSelection : INT:=1; //Not possible to use local hmi variables for array indexes
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
@@ -158,7 +159,7 @@ END_IF]]>
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
-IF bRestoreOnStartup THEN
+IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
bRestoreOnStartup:=FALSE;
bRestoreExecute:=TRUE;
END_IF
@@ -273,7 +274,7 @@ END_FOR]]>
-
+
From 51464ddd8716ac9c8924d2198343911e3c899072 Mon Sep 17 00:00:00 2001
From: Paul Barron
Date: Wed, 12 Feb 2020 12:12:10 +0100
Subject: [PATCH 145/169] Fix whitespace damage
---
solution/tc_project_app/POUs/MAIN.TcPOU | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index b3bbcc1..2621b5e 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -6,7 +6,7 @@ VAR
sVersion: STRING:='1.0.0';
i : UINT; //index variable for AXES()
aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
-
+
hmiAxisSelection : INT:=1; //Not possible to use local hmi variables for array indexes
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
From 741d03da8d35fb1fe2efd7faee2eb693af2c3292 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 19 Feb 2020 14:54:14 +0000
Subject: [PATCH 146/169] Test suite and examples for tc_mca_std_lib solution
---
.../_Config/CNC/Axes/tcUNIT_virtual_axis.xti | 302 ++++
solution/_Config/CNC/CNC.xti | 573 +++++++
.../_Config/NC/Axes/tcUNIT_simulated_axis.xti | 1526 +++++++++++++++++
solution/_Config/NC/NC.xti | 1 +
solution/solution.tsproj | 83 +-
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +-
solution/tc_project_app/POUs/MAIN.TcPOU | 2 -
.../Test/common/FB_tcUNIT_common.TcPOU | 224 ++-
.../Test/common/tcUNIT_GVL.TcGVL | 8 +-
.../standard_library_tests/FB_Axis_TEST.TcPOU | 295 ++--
.../tc_project_app/tc_project_app.plcproj | 24 +-
.../tc_project_app/tc_project_app.tmcRefac | 25 +
12 files changed, 2778 insertions(+), 287 deletions(-)
create mode 100644 solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
create mode 100644 solution/_Config/CNC/CNC.xti
create mode 100644 solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
create mode 100644 solution/tc_project_app/tc_project_app.tmcRefac
diff --git a/solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti b/solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
new file mode 100644
index 0000000..65dd9ce
--- /dev/null
+++ b/solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
@@ -0,0 +1,302 @@
+
+
+
+ __FILENAME__
+ 171
+
+ Inputs
+
+
+ Outputs
+
+
+
+
diff --git a/solution/_Config/CNC/CNC.xti b/solution/_Config/CNC/CNC.xti
new file mode 100644
index 0000000..8e99e26
--- /dev/null
+++ b/solution/_Config/CNC/CNC.xti
@@ -0,0 +1,573 @@
+
+
+
+ CNC
+
+ CNC-Task GEO
+
+
+ CNC-Task SDA
+
+
+ CNC-Task COM
+
+ ].prg[ ]
+#
+# prg -> Program path
+# log_nr -> logical program path number
+# typ -> Programmpfadtyp ( 0x01 Main program path )
+# ( 0x02 Sub program path )
+# ( 0x03 Main- and sub program path )
+#
+# prioritaet -> priority of the program path,
+# (if there are multible program paths with the same type)
+#
+# additional program path, customer
+pfad[0].prg[0] sub
+pfad[0].log_nr[0] 1 # logical path number
+pfad[0].typ[0] 0x07 # main- and subprogram path, MSG SAVE
+pfad[0].prioritaet[0] 1 # priority
+#
+# program path for sub programs
+pfad[0].prg[1] cycles
+pfad[0].log_nr[1] 2 # logical path number
+pfad[0].typ[1] 0x03 # main- and subprogram path
+pfad[0].prioritaet[1] 2 # priority
+#
+# program path for cycles
+pfad[0].prg[2] customer
+pfad[0].log_nr[2] 3 # logical path number
+pfad[0].typ[2] 0x03 # main- and subprogram path
+pfad[0].prioritaet[2] 3 # priority
+#
+# ------------------------------------------------------------------------------------------------------
+# Do not change data below this line!!!
+# Daten unterhalb dieser Zeile nicht aendern, teilweise werden durch
+# den Systemmanager Aenderungen automatisch durchgefuehrt!!!
+# ------------------------------------------------------------------------------------------------------
+#
+#
+kanal_anzahl 0
+ext_var_max 100
+#
+# ----------------------------------------
+# Lists for configuration data
+# ----------------------------------------
+listen ASCII
+#
+default_sda_mds tc_virtual_1\default_sda.lis
+#
+hand_mds tc_virtual_2\hand_mds.lis
+#
+konf_path .
+#
+default_achs_mds tc_virtual_3\default_mds.lis
+zahl_mds 1
+achs_mds[0] tc_virtual_4\achsmds1.lis
+#
+zahl_kw 0
+#
+Ende
+
+]]>
+
+
+
+
+
+
+
+
diff --git a/solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti b/solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
new file mode 100644
index 0000000..6036e30
--- /dev/null
+++ b/solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
@@ -0,0 +1,1526 @@
+
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ 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
+
+
+
+
+ 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
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ __FILENAME__
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+ 1024
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+ 2048
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+ 1344
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nState4
+
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+ 2368
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nCtrl2
+
+
+
+ nCtrl3
+
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index 759c7a3..0347cfe 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -16,5 +16,6 @@
NC-Task 1 SVB
+
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index bcc972e..c5894d3 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -875,6 +875,7 @@ External Setpoint Generation:
+
{3EBB9639-5FF3-42B6-8847-35C70DC013C8}
@@ -893,7 +894,7 @@ External Setpoint Generation:
-
+
tc_epicscommodule Instance
{08500001-0000-0000-F000-000000000064}
@@ -906,6 +907,72 @@ External Setpoint Generation:
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
+
+ PlcTask Inputs
+
+ GVL.axes[1].inputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.axes[1].inputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.axes[1].inputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.axes[1].inputs.bEncLAtch
+
+ BOOL
+
+
+ GVL.axes[1].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
PlcTask Outputs
@@ -913,6 +980,10 @@ External Setpoint Generation:
BOOL
+
+ GVL.axes[1].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
@@ -920,5 +991,15 @@ External Setpoint Generation:
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index e125049..ecb46e3 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
- axisNum : UINT:=0;
+ axisNum : UINT:=1;
//axisCoupleMax : UINT:=4;
END_VAR]]>
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 2621b5e..a07b19d 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -140,7 +140,6 @@ END_IF]]>
@@ -310,7 +309,6 @@ END_FOR]]>
-
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
index 844227f..2d569d3 100644
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -1,7 +1,7 @@
-
-
-
+
-
+
-
-
+
-
+
-
-
+
+ iAxisIndex: INT; // The idex of the axis to action the method on.
+END_VAR
+]]>
-
+GVL.axes[iAxisIndex].config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
+GVL.axes[iAxisIndex].config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
+GVL.axes[iAxisIndex].config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
+GVL.axes[iAxisIndex].config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
+GVL.axes[iAxisIndex].config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]>
-
-
+
-
+GVL.axes[iAxisIndex].config.fVelocity := fTargetVelocity;
+GVL.axes[iAxisIndex].config.fAcceleration := fTargetAcceleration;
+GVL.axes[iAxisIndex].config.fDeceleration := fTargetDeceleration;
+GVL.axes[iAxisIndex].config.fPosition := fTargetPosition;
+]]>
-
-
+
-
+GVL.axes[iAxisIndex].inputs.bLimitBwd := FALSE;
+GVL.axes[iAxisIndex].inputs.bLimitFwd := FALSE;
+GVL.axes[iAxisIndex].inputs.bEncLAtch := FALSE;
+GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;
+]]>
-
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
index ed05340..10cbe42 100644
--- a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
+++ b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
@@ -1,12 +1,10 @@
-
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
index 59ff389..e80efba 100644
--- a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
+++ b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
@@ -6,18 +6,83 @@
FUNCTION_BLOCK FB_Axis_TEST EXTENDS tcUnit.FB_TestSuite
VAR
fbCommon: FB_tcUNIT_common;
- Axis: POINTER TO ST_AxisStruct := ADR(GVL.axes[1]);
+ iTargetAxis: INT := 1; // The of the axis within GVL.axes[] to test against.
END_VAR]]>
+SetAxisControl_Enabled();
+CheckAxisStatus_Moving();
+SetAxisConfig_Acceleration();
+CheckAxisStatus_NewPosition();
+SetAxisControl_Velocity();
+SetAxisInputs_bLimitFwd();]]>
-
-
+
+
+ nMaxCycles OR ExpectedResult = Result THEN
+ AssertEquals(Expected := ExpectedResult,
+ Actual := Result,
+ Message := 'Axis is not moving.');
+ TEST_FINISHED();
+ELSE
+ nCycle := nCycle + 1;
+END_IF]]>
+
+
+
+
+
+ nCycleMax OR ExpectedResult = Result THEN
+ AssertEquals(Expected := ExpectedResult,
+ Actual := Result,
+ Message := 'fPosition of the axis is different.');
+ TEST_FINISHED();
+ELSE
+ nCycle := nCycle + 1;
+END_IF]]>
+
+
+
+
-
-
+
-
-
-
-
-
- nMaxCycles OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
Actual := Result,
- Message := 'Axis is not moving.');
+ Message := 'Axis is not enabled.');
+ TEST_FINISHED();
+ELSE
+ nCycle := nCycle + 1;
END_IF
-
-fbCommon.SetDefaults(GVL.Axes[1]);
-TEST_FINISHED();]]>
+]]>
-
-
-
-
-
-
-
-
+
+
+
+
+ nMaxCycles OR ExpectedResult = Result THEN
+ AssertEquals(Expected := ExpectedResult,
+ Actual := Result,
+ Message := 'Axis bLimitFwd is not enabled.');
+ TEST_FINISHED();
+ELSE
+ nCycle := nCycle + 1;
+END_IF]]>
+
+
+
-
+
+
+
+
+
+
+
+
-
+
-
-
-
+
-
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index d880255..e87ef80 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -369,14 +369,14 @@
- Tc2_MC2, * (Beckhoff Automation GmbH)
+ Tc2_MC2, 3.3.28.0 (Beckhoff Automation GmbH)
-
-
+
+
"<ProjectRoot>"
{192FAD59-8248-4824-A8DE-9177C94C195A}
@@ -427,15 +427,15 @@
-
-
- System.Boolean
- System.Collections.Hashtable
- System.Int32
- {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
- System.String
-
-
+
+
+ System.Boolean
+ System.Collections.Hashtable
+ System.Int32
+ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861}
+ System.String
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.tmcRefac b/solution/tc_project_app/tc_project_app.tmcRefac
new file mode 100644
index 0000000..58df39a
--- /dev/null
+++ b/solution/tc_project_app/tc_project_app.tmcRefac
@@ -0,0 +1,25 @@
+
+
+
+
+ SetAxisControl_Enabled
+ i
+ nCycle
+
+
+ SetAxisControl_Enabled
+ iMaxCount
+ nMaxCycles
+
+
+ CheckAxisStatus_NewPosition
+ iCount
+ nCycle
+
+
+ CheckAxisStatus_NewPosition
+ iMaxCount
+ nCycleMax
+
+
+
\ No newline at end of file
From 9c985be4ef82e87c40a52b5f5ff4946dd57deeb6 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 19 Feb 2020 14:58:39 +0000
Subject: [PATCH 147/169] Attempt to fix whitespace damage
---
.../Test/app_tests/tcUNIT_APP_RUN.TcPOU | 4 ++--
.../Test/common/FB_tcUNIT_common.TcPOU | 21 ++++++-------------
2 files changed, 8 insertions(+), 17 deletions(-)
diff --git a/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
index bfdf84b..102e424 100644
--- a/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
+++ b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -2,12 +2,12 @@
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
index 2d569d3..e8f604a 100644
--- a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -12,11 +12,10 @@ END_VAR]]>
-
+
@@ -25,8 +24,7 @@ VAR_INPUT
iAxisIndex: INT; // The idex of the axis to action the method on.
END_VAR]]>
-
+
@@ -34,8 +32,7 @@ END_VAR]]>
VAR_INPUT
iAxisIndex: INT; // The idex of the axis to action the method on.
-END_VAR
-]]>
+END_VAR]]>
+GVL.axes[iAxisIndex].config.fPosition := fTargetPosition;]]>
@@ -116,8 +112,7 @@ GVL.axes[iAxisIndex].config.nHomeSeq := 0;
GVL.axes[iAxisIndex].inputs.bLimitBwd := FALSE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := FALSE;
GVL.axes[iAxisIndex].inputs.bEncLAtch := FALSE;
-GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;
-]]>
+GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;]]>
@@ -125,11 +120,9 @@ GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;
-
-
@@ -141,7 +134,6 @@ GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;
-
@@ -152,7 +144,6 @@ GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;
-
\ No newline at end of file
From c6f051cc614b887fc428f9dc0286aacddae68878 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 19 Feb 2020 15:11:53 +0000
Subject: [PATCH 148/169] Used script to fix 'whitespace damage'
---
solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU | 2 +-
solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
index 102e424..7326c7d 100644
--- a/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
+++ b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -1,7 +1,7 @@
-
Date: Wed, 19 Feb 2020 15:46:14 +0000
Subject: [PATCH 149/169] Added test for LREAL assert using tcUNIT helper
methods
---
.../standard_library_tests/FB_Axis_TEST.TcPOU | 29 ++++++++++++-------
1 file changed, 19 insertions(+), 10 deletions(-)
diff --git a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
index e80efba..36cf024 100644
--- a/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
+++ b/solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
@@ -140,24 +140,26 @@ VAR
InitialValue: LREAL;
Result: LREAL;
ExpectedResult: LREAL;
+
+ fDelta: REAL := 0.01;
END_VAR]]>
+AssertEquals_LREAL(Expected := ExpectedResult,
+ Actual := Result,
+ Delta := fDelta,
+ Message := 'fVelocity of the axis is different.');
+ TEST_FINISHED();
+]]>
@@ -220,10 +222,17 @@ END_IF]]>
+
-
-
+
+
+
+
+
+
+
+
From b8c4e3ff3f19e6a296e4b92fb02c3375cd53aa19 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 19 Feb 2020 16:03:29 +0000
Subject: [PATCH 150/169] Added tcUNIT libarary 1.0.0 references to resources
and Test folder inc. app and common tests structure
---
.../Test/app_tests/tcUNIT_APP_RUN.TcPOU | 19 +++
.../Test/common/FB_tcUNIT_common.TcPOU | 149 ++++++++++++++++++
.../Test/common/tcUNIT_GVL.TcGVL | 23 +++
.../tc_project_app/tc_project_app.plcproj | 16 ++
4 files changed, 207 insertions(+)
create mode 100644 solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
create mode 100644 solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
create mode 100644 solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
diff --git a/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
new file mode 100644
index 0000000..7326c7d
--- /dev/null
+++ b/solution/tc_project_app/Test/app_tests/tcUNIT_APP_RUN.TcPOU
@@ -0,0 +1,19 @@
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
new file mode 100644
index 0000000..9fb8d47
--- /dev/null
+++ b/solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
@@ -0,0 +1,149 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
new file mode 100644
index 0000000..10cbe42
--- /dev/null
+++ b/solution/tc_project_app/Test/common/tcUNIT_GVL.TcGVL
@@ -0,0 +1,23 @@
+
+
+
+
+
+
\ No newline at end of file
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index b5d34ae..ff1f68e 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -229,6 +229,15 @@
Code
+
+ Code
+
+
+ Code
+
+
+ Code
+
Code
@@ -236,6 +245,7 @@
+
@@ -256,6 +266,8 @@
+
+
@@ -334,6 +346,10 @@
Tc3_Module, * (Beckhoff Automation GmbH)
Tc3_Module
+
+ TcUnit, * (www.tcunit.org)
+ TcUnit
+
VisuDialogs, * (System)
VisuDialogs
From a5fa02873593c2566cecde057cd4b1e401d0216a Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Mon, 2 Mar 2020 16:07:10 +0100
Subject: [PATCH 151/169] Delete all error handling from MAIN
Delete the action ERROR()
Delete all the variable section for Error Handling in MAIN
---
solution/tc_project_app/POUs/MAIN.TcPOU | 74 +------------------------
1 file changed, 2 insertions(+), 72 deletions(-)
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 2621b5e..3ff0212 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -26,19 +26,6 @@ VAR
//bOutput24 AT %Q*: BOOL:= TRUE;
//bOutput28 AT %Q*: BOOL:= TRUE;
-(******Error Handling********)
- fbErrorSystem: FB_ErrorSystem;
- aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;
-
- //fbEL1018 : EL1018;
- //fbEL2808 : EL2808;
- //fbEL5101 : EL5101;
- //fbEL9505 : EL9505;
- //fbEL1252 : EL1252;
- //fbEL9410 : EL9410;
- //fbEL7037 : EL7037;
- //fbEK1110 : EK1110;
-
(******Startup, Shutdown and UPS********)
fbUPS : FB_S_UPS_CX51x0;
eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
@@ -59,8 +46,7 @@ END_VAR]]>
+AXES();]]>
@@ -87,46 +73,6 @@ ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
END_IF]]>
-
-
- ,
- nSelectedError=> ,
- pErrorSystem=> );
-
-
-FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
- aFbAxesError[gvl.iAxis](EN:=TRUE,
- nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
- nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
- ErrorSystem:= fbErrorSystem.pErrorSystem);
-END_FOR
-
-
-
-(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
- add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
-the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
-fbEL1808(
- En:= TRUE,
- iTerminal_ID:= 01,
- ErrorSystem:= fbErorSystem.pErrorSystem,
- EnO=> ,
- bError=> );
- *)
-
-]]>
-
-
-
+
@@ -287,22 +233,6 @@ END_FOR]]>
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
From 9e3a609823c989ef2f88bda321821bdbacb6672e Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Mon, 2 Mar 2020 16:08:34 +0100
Subject: [PATCH 152/169] Add commits in tc_mca_std_lib for deleting all the
error handling files
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 852ea37..4f0c125 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492
+Subproject commit 4f0c125af07cc4cb5e593c32de2fbd66c9e9ebd4
From e29e5a6fd02abdca78e0c40f53f2eb4294aa2c7c Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Mon, 2 Mar 2020 16:16:30 +0100
Subject: [PATCH 153/169] Delete the directories with all the error handling
files. New tree structure
---
.../tc_project_app/tc_project_app.plcproj | 121 ------------------
1 file changed, 121 deletions(-)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index b5d34ae..f8a5867 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -71,117 +71,6 @@
Code
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
Code
@@ -242,18 +131,8 @@
-
-
-
-
-
-
-
-
-
-
From aaea8a67a33c074e14a25a03a8cc8a70603c5173 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Mon, 2 Mar 2020 16:29:07 +0000
Subject: [PATCH 154/169] Update submodule
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 852ea37..3897755 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492
+Subproject commit 3897755dd750917c8fbeafa3143ccdbdd35af823
From f42a22cbe0fe7af557107055d598d240ef8df7c4 Mon Sep 17 00:00:00 2001
From: kleines
Date: Mon, 2 Mar 2020 17:31:50 +0100
Subject: [PATCH 155/169] deleted uncommented code in GVL_APP
---
solution/tc_project_app/GVLs/GVL_APP.TcGVL | 1 -
1 file changed, 1 deletion(-)
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index e125049..c284299 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -8,7 +8,6 @@ END_VAR
VAR_GLOBAL CONSTANT
axisNum : UINT:=0;
- //axisCoupleMax : UINT:=4;
END_VAR]]>
\ No newline at end of file
From 597881796f656d8af937a9bc1828acf08627fea5 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Mon, 2 Mar 2020 16:35:29 +0000
Subject: [PATCH 156/169] Update submodule
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 3897755..50d6980 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 3897755dd750917c8fbeafa3143ccdbdd35af823
+Subproject commit 50d6980aa54ae96c813081b03ace04c3d82003f6
From 71da3cce157283895458fcd5ee84ed17d0e7c699 Mon Sep 17 00:00:00 2001
From: Dominic Oram
Date: Mon, 2 Mar 2020 17:12:31 +0000
Subject: [PATCH 157/169] Updated submodule
---
solution/tc_project_app/tc_mca_std_lib | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 50d6980..85f11c0 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 50d6980aa54ae96c813081b03ace04c3d82003f6
+Subproject commit 85f11c08bc807bda1e02aa5c635a789d355da20c
From bb7af4fcdf67173d458b7eed2174e216424ce4e7 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 4 Mar 2020 10:09:51 +0000
Subject: [PATCH 158/169] Updated after merge resolution
---
solution/solution.tsproj | 8 --------
solution/tc_project_app/PlcTask.TcTTO | 3 +++
2 files changed, 3 insertions(+), 8 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 36de82a..6f0e066 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -33,14 +33,6 @@
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
-
- PlcTask Outputs
-
- MAIN.bOutput1
-
- BOOL
-
-
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index b5badec..3118110 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -7,6 +7,9 @@
MAIN
+
+ tcUNIT_APP_RUN
+
{26d89752-95b4-4b52-80c0-c79242bc34d7}
{137c4fd1-c794-4dee-a041-b4fea1d22866}
{2478772d-357b-433f-886f-15340bef9bdf}
From c8602c8eb7524a9e59798250dc2cf8be8b16bd27 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 4 Mar 2020 11:05:47 +0000
Subject: [PATCH 159/169] Resolved merge conflicts
---
.../_Config/NC/Axes/tcUNIT_simulated_axis.xti | 1526 -----------------
solution/_Config/NC/NC.xti | 1 -
solution/solution.tsproj | 973 +----------
solution/tc_project_app/PlcTask.TcTTO | 3 -
4 files changed, 12 insertions(+), 2491 deletions(-)
delete mode 100644 solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
diff --git a/solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti b/solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
deleted file mode 100644
index 6036e30..0000000
--- a/solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
+++ /dev/null
@@ -1,1526 +0,0 @@
-
-
-
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
- UINTARR2
- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
-
- 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
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- __FILENAME__
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 1024
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 2048
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 1344
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 2368
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
- nCtrl3
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
-
-
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index 0347cfe..759c7a3 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -16,6 +16,5 @@
NC-Task 1 SVB
-
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index c5894d3..9083414 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,878 +1,5 @@
-
-
- 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
-
-
-
-
@@ -907,99 +34,23 @@ External Setpoint Generation:
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
-
- PlcTask Inputs
-
- GVL.axes[1].inputs.bLimitFwd
-
- BOOL
-
-
- GVL.axes[1].inputs.bLimitBwd
-
- BOOL
-
-
- GVL.axes[1].inputs.bHomeSensor
-
- BOOL
-
-
- GVL.axes[1].inputs.bEncLAtch
-
- BOOL
-
-
- GVL.axes[1].Axis.NcToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
-
- PlcTask Outputs
-
- MAIN.bOutput1
-
- BOOL
-
-
- GVL.axes[1].Axis.PlcToNc
- PLCTONC_AXIS_REF
-
-
+
+
+
+
+
+
+
+
+
+
+
+
-
-
-
-
-
-
-
-
-
-
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 3be8aea..b5badec 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -7,9 +7,6 @@
MAIN
-
- tcUNIT_STD_LIB_RUN
-
{26d89752-95b4-4b52-80c0-c79242bc34d7}
{137c4fd1-c794-4dee-a041-b4fea1d22866}
{2478772d-357b-433f-886f-15340bef9bdf}
From dcc427cab93b5770f91069d6e0a0ac8fcf06dca7 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 4 Mar 2020 11:12:07 +0000
Subject: [PATCH 160/169] Cleaned up axis files
---
.../_Config/CNC/Axes/tcUNIT_virtual_axis.xti | 302 ----
solution/_Config/CNC/CNC.xti | 573 -------
.../_Config/NC/Axes/tcUNIT_virtual_axis.xti | 1525 -----------------
3 files changed, 2400 deletions(-)
delete mode 100644 solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
delete mode 100644 solution/_Config/CNC/CNC.xti
delete mode 100644 solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti
diff --git a/solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti b/solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
deleted file mode 100644
index 65dd9ce..0000000
--- a/solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
+++ /dev/null
@@ -1,302 +0,0 @@
-
-
-
- __FILENAME__
- 171
-
- Inputs
-
-
- Outputs
-
-
-
-
diff --git a/solution/_Config/CNC/CNC.xti b/solution/_Config/CNC/CNC.xti
deleted file mode 100644
index 8e99e26..0000000
--- a/solution/_Config/CNC/CNC.xti
+++ /dev/null
@@ -1,573 +0,0 @@
-
-
-
- CNC
-
- CNC-Task GEO
-
-
- CNC-Task SDA
-
-
- CNC-Task COM
-
- ].prg[ ]
-#
-# prg -> Program path
-# log_nr -> logical program path number
-# typ -> Programmpfadtyp ( 0x01 Main program path )
-# ( 0x02 Sub program path )
-# ( 0x03 Main- and sub program path )
-#
-# prioritaet -> priority of the program path,
-# (if there are multible program paths with the same type)
-#
-# additional program path, customer
-pfad[0].prg[0] sub
-pfad[0].log_nr[0] 1 # logical path number
-pfad[0].typ[0] 0x07 # main- and subprogram path, MSG SAVE
-pfad[0].prioritaet[0] 1 # priority
-#
-# program path for sub programs
-pfad[0].prg[1] cycles
-pfad[0].log_nr[1] 2 # logical path number
-pfad[0].typ[1] 0x03 # main- and subprogram path
-pfad[0].prioritaet[1] 2 # priority
-#
-# program path for cycles
-pfad[0].prg[2] customer
-pfad[0].log_nr[2] 3 # logical path number
-pfad[0].typ[2] 0x03 # main- and subprogram path
-pfad[0].prioritaet[2] 3 # priority
-#
-# ------------------------------------------------------------------------------------------------------
-# Do not change data below this line!!!
-# Daten unterhalb dieser Zeile nicht aendern, teilweise werden durch
-# den Systemmanager Aenderungen automatisch durchgefuehrt!!!
-# ------------------------------------------------------------------------------------------------------
-#
-#
-kanal_anzahl 0
-ext_var_max 100
-#
-# ----------------------------------------
-# Lists for configuration data
-# ----------------------------------------
-listen ASCII
-#
-default_sda_mds tc_virtual_1\default_sda.lis
-#
-hand_mds tc_virtual_2\hand_mds.lis
-#
-konf_path .
-#
-default_achs_mds tc_virtual_3\default_mds.lis
-zahl_mds 1
-achs_mds[0] tc_virtual_4\achsmds1.lis
-#
-zahl_kw 0
-#
-Ende
-
-]]>
-
-
-
-
-
-
-
-
diff --git a/solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti b/solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti
deleted file mode 100644
index 87ec62b..0000000
--- a/solution/_Config/NC/Axes/tcUNIT_virtual_axis.xti
+++ /dev/null
@@ -1,1525 +0,0 @@
-
-
-
-
- UINTARR2
- 32
- UINT
-
- 0
- 2
-
-
- [%u, %u]
- [0]
- [1]
-
-
- 0x%08x [%u, %u]
- .
- [0]
- [1]
-
-
- 0x%08x (%u)
- .
- .
-
-
-
- NCENCODERSTRUCT_IN2B
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcInputTime
- DINT
- 32
- 256
-
-
- nDataIn7
- UINTARR2
- 32
- 288
-
-
-
- NCENCODERSTRUCT_IN
-
- 96
-
-
-
-
-
- NCENCODERSTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCENCODERSTRUCT_OUT
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_IN2
- 320
-
- nDataIn1
- UINTARR2
- 32
- 0
-
-
- nDataIn2
- UINTARR2
- 32
- 32
-
-
- nState1
- USINT
- 8
- 64
-
-
- nState2
- USINT
- 8
- 72
-
-
- nState3
- USINT
- 8
- 80
-
-
- nState4
- USINT
-
- 8
- 88
-
-
- nDataIn3
- UINTARR2
- 32
- 96
-
-
- nDataIn4
- UINTARR2
- 32
- 128
-
-
- nDataIn5
- UINTARR2
- 32
- 160
-
-
- nDataIn6
- UINTARR2
- 32
- 192
-
-
- nState5
- USINT
- 8
- 224
-
-
- nState6
- USINT
- 8
- 232
-
-
- nState7
- USINT
- 8
- 240
-
-
- nState8
- USINT
- 8
- 248
-
-
- nDcOutputTime
- DINT
- 32
- 256
-
-
-
- NCDRIVESTRUCT_IN
-
- 96
-
-
-
-
-
- NCDRIVESTRUCT_OUT2
- 320
-
- nDataOut1
- UINTARR2
- 32
- 0
-
-
- nDataOut2
- UINTARR2
- 32
- 32
-
-
- nCtrl1
- USINT
- 8
- 64
-
-
- nCtrl2
- USINT
- 8
- 72
-
-
- nCtrl3
- USINT
- 8
- 80
-
-
- nCtrl4
- USINT
- 8
- 88
-
-
- nDataOut3
- UINTARR2
- 32
- 96
-
-
- nDataOut4
- UINTARR2
- 32
- 128
-
-
- nDataOut5
- UINTARR2
- 32
- 160
-
-
- nDataOut6
- UINTARR2
- 32
- 192
-
-
- nCtrl5
- USINT
- 8
- 224
-
-
- nCtrl6
- USINT
- 8
- 232
-
-
- nCtrl7
- USINT
- 8
- 240
-
-
- nCtrl8
- USINT
- 8
- 248
-
-
-
- NCDRIVESTRUCT_OUT
-
- 96
-
-
-
-
-
- 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
-
-
-
-
- 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
-
-
-
-
-
-
-
-
-
-
-
-
-
-
- __FILENAME__
-
-
-
-
-
- Inputs
-
- In
- NCENCODERSTRUCT_IN2B
- 1024
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
- nDataIn7
-
-
-
-
- Outputs
-
- Out
- NCENCODERSTRUCT_OUT2
- 2048
-
- nDataOut1
-
-
- nDataOut2
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
- Inputs
-
- In
- NCDRIVESTRUCT_IN2
- 1344
-
- nDataIn1
-
-
- nDataIn2
-
-
- nState4
-
-
-
- nDataIn3
-
-
- nDataIn4
-
-
- nDataIn5
-
-
- nDataIn6
-
-
-
-
- Outputs
-
- Out
- NCDRIVESTRUCT_OUT2
- 2368
-
- nDataOut1
-
-
- nDataOut2
-
-
- nCtrl2
-
-
-
- nCtrl3
-
-
-
- nDataOut3
-
-
- nDataOut4
-
-
- nDataOut5
-
-
- nDataOut6
-
-
-
-
-
-
-
-
-
-
- Inputs
-
- FromPlc
- PLCTONC_AXIS_REF
-
-
-
- Outputs
-
- ToPlc
- NCTOPLC_AXIS_REF
-
- AxisState
-
-
-
- HomingState
-
-
-
- CoupleState
-
-
-
-
-
-
From e8e944b812f5773f1e4d6124299b5796db3ab7ba Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 4 Mar 2020 13:03:25 +0000
Subject: [PATCH 161/169] Removed incorrectly added PLC task
---
solution/tc_project_app/PlcTask.TcTTO | 3 ---
1 file changed, 3 deletions(-)
diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO
index 3118110..b5badec 100644
--- a/solution/tc_project_app/PlcTask.TcTTO
+++ b/solution/tc_project_app/PlcTask.TcTTO
@@ -7,9 +7,6 @@
MAIN
-
- tcUNIT_APP_RUN
-
{26d89752-95b4-4b52-80c0-c79242bc34d7}
{137c4fd1-c794-4dee-a041-b4fea1d22866}
{2478772d-357b-433f-886f-15340bef9bdf}
From ca85a0c07b7d2bbf4cbe8573e8defa24acf5c5f4 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 4 Mar 2020 13:28:51 +0000
Subject: [PATCH 162/169] Removed epicscommmodule from solution
---
solution/solution.tsproj | 955 ++++++++++++++++++++++++++++++++++++++-
1 file changed, 946 insertions(+), 9 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 6f0e066..62c7257 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1,5 +1,878 @@
+
+
+ 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
+
+
+
+
@@ -20,19 +893,83 @@
-
-
- tc_epicscommodule Instance
- {08500001-0000-0000-F000-000000000064}
-
-
-
-
-
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
+
+ PlcTask Inputs
+
+ GVL.axes[1].bLimitFwd
+
+ BOOL
+
+
+ GVL.axes[1].bLimitBwd
+
+ BOOL
+
+
+ GVL.axes[1].bHomeSensor
+
+ BOOL
+
+
+ GVL.axes[1].bEncLAtch
+
+ BOOL
+
+
+ GVL.axes[1].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
+ AxisState
+
+
+
+ HomingState
+
+
+
+ CoupleState
+
+
+
+
+
+ PlcTask Outputs
+
+ GVL.axes[1].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
+
From 345b0cf56bd472f6a70bfbdc345003b789b44313 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 4 Mar 2020 13:32:41 +0000
Subject: [PATCH 163/169] Removed submodule epicscommodule
---
.gitmodules | 3 ---
solution/tc_epicscommodule | 1 -
2 files changed, 4 deletions(-)
delete mode 160000 solution/tc_epicscommodule
diff --git a/.gitmodules b/.gitmodules
index 744093e..3eb7f73 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,3 @@
-[submodule "solution/tc_epicscommodule"]
- path = solution/tc_epicscommodule
- url = https://bitbucket.org/europeanspallationsource/tc_epicscommodule.git
[submodule "solution/tc_project_app/tc_mca_std_lib"]
path = solution/tc_project_app/tc_mca_std_lib
url = https://bitbucket.org/europeanspallationsource/tc_mca_std_lib.git
diff --git a/solution/tc_epicscommodule b/solution/tc_epicscommodule
deleted file mode 160000
index a13d6bb..0000000
--- a/solution/tc_epicscommodule
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit a13d6bb6221ab2fbe8fa8f7f2345ca8cd791f8d1
From f44a0283fd3a7b5135cf7f26fd0fdcafe2bf2297 Mon Sep 17 00:00:00 2001
From: Aaron James Long
Date: Wed, 4 Mar 2020 14:13:30 +0000
Subject: [PATCH 164/169] Fixed typo in tc_project_app.plcproj
---
solution/tc_project_app/tc_project_app.plcproj | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index dc80599..1df8677 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -1,4 +1,4 @@
-
+
1.0.0.0
@@ -131,6 +131,8 @@
Code
+ Code
+
Code
From 1f3a874736b119eba77bcb7fd75e48180a74b6c1 Mon Sep 17 00:00:00 2001
From: aaronlong
Date: Wed, 4 Mar 2020 14:38:46 +0000
Subject: [PATCH 165/169] Prepare branch for merging into master
---
solution/solution.tsproj | 9 +-
.../tc_project_app/tc_project_app.plcproj | 158 +++++++++++++++---
2 files changed, 139 insertions(+), 28 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 336b132..8e751aa 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -25,7 +25,14 @@
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
-
+
+ PlcTask Outputs
+
+ MAIN.bOutput1
+
+ BOOL
+
+
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 1df8677..aef526a 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -1,4 +1,4 @@
-
+
1.0.0.0
@@ -6,7 +6,7 @@
{fb261665-fd20-4bf2-97f8-2854c82b752d}
True
tc_project_app
- 3.1.4023.0
+ 3.1.4022.6
{047dee04-c246-47b2-8ccc-a15e36987c43}
{ae4eb5ee-6030-47a6-bf35-5a6afd9efeeb}
{5ef19bd0-aca2-493f-b2a1-89e363647697}
@@ -14,6 +14,7 @@
{26d08e27-a705-49a9-95de-a3a0b6ea049c}
{577f21c4-8eb2-4f2c-a24e-4c3f62ca96d2}
true
+ false
@@ -29,15 +30,6 @@
Code
-
- Code
-
-
- Code
-
-
- Code
-
Code
@@ -80,6 +72,117 @@
Code
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
+
+ Code
+
Code
@@ -127,12 +230,6 @@
Code
-
- Code
-
-
- Code
-
Code
@@ -142,6 +239,12 @@
Code
+
+ Code
+
+
+ Code
+
Code
@@ -156,13 +259,23 @@
+
+
+
+
+
+
+
+
+
+
-
+
@@ -241,10 +354,6 @@
Tc3_Module, * (Beckhoff Automation GmbH)
Tc3_Module
-
- TcUnit, * (www.tcunit.org)
- TcUnit
-
VisuDialogs, * (System)
VisuDialogs
@@ -255,11 +364,6 @@
Content
-
-
- Tc2_MC2, 3.3.28.0 (Beckhoff Automation GmbH)
-
-
From b03486cf6d90e17d4c0c3422924e8a2dc5da7e77 Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 4 Mar 2020 16:09:28 +0100
Subject: [PATCH 166/169] Delete Error Handling and Hardware directories from
the solution tree
---
.../tc_project_app/tc_project_app.plcproj | 121 ------------------
1 file changed, 121 deletions(-)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index aef526a..28aa8ca 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -72,117 +72,6 @@
Code
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
-
- Code
-
Code
@@ -259,18 +148,8 @@
-
-
-
-
-
-
-
-
-
-
From 6931409b83eb04f4146d60ee6380d7f41a859b7a Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 4 Mar 2020 16:18:21 +0100
Subject: [PATCH 167/169] Remove again Hardware directory from solution tree
---
solution/tc_project_app/tc_project_app.plcproj | 1 -
1 file changed, 1 deletion(-)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 28aa8ca..23772d4 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -147,7 +147,6 @@
-
From 663f983a015169bc05df51f65ee7d53f460ac13b Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 4 Mar 2020 16:28:10 +0100
Subject: [PATCH 168/169] Change TC2_MC version to 3.3.28.0 and added Reference
TcUnit
---
solution/tc_project_app/tc_project_app.plcproj | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 23772d4..c52eb62 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -148,7 +148,6 @@
-
@@ -232,6 +231,10 @@
Tc3_Module, * (Beckhoff Automation GmbH)
Tc3_Module
+
+ TcUnit, * (www.tcunit.org)
+ TcUnit
+
VisuDialogs, * (System)
VisuDialogs
@@ -242,6 +245,11 @@
Content
+
+
+ Tc2_MC2, 3.3.28.0 (Beckhoff Automation GmbH)
+
+
From ebe450b3a5df827d31e2ed8572c26c5704f0212f Mon Sep 17 00:00:00 2001
From: Federico Rojas
Date: Wed, 4 Mar 2020 16:35:32 +0100
Subject: [PATCH 169/169] Delete PlcTaskCom task from SYSTEM/TASKS
---
solution/solution.tsproj | 3 ---
1 file changed, 3 deletions(-)
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 8e751aa..9e5511d 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -9,9 +9,6 @@
-
- PlcTaskCom
-
PlcTask