Add test program for implementing slit set, add hardware for testing slit set implementation. Update solution to point at new tc_mca_Std_lib files
This commit is contained in:
SCooper
+195
-13
@@ -1360,16 +1360,16 @@ External Setpoint Generation:
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<Axis Id="1" CreateSymbols="true" AxisType="1">
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<Name>bladeNeg</Name>
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<AxisPara>
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<Dynamic AccelerationMaximum="500" DecelerationMaximum="500" Acceleration="100" Deceleration="100" Jerk="500" OverrideType="4"/>
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<Dynamic AccelerationMaximum="5000" DecelerationMaximum="5000" Acceleration="2000" Deceleration="2000" Jerk="4000" OverrideType="4"/>
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<Velo RefSearch="2" RefSync="2" SlowManual="2.5" FastManual="5" Maximum="100"/>
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<PositionAreaControl Range="0.05"/>
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<TargetPosControl Range="0.05" Time="0.5"/>
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<TargetPosControl Range="0.05" Time="1"/>
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<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="1" PulseDistanceNeg="1"/>
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</AxisPara>
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<Encoder Name="Enc" EncType="5">
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<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="4096" Offset="245686.8164" Inverse="true" ReferenceSystem="1">
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<FilterTime TPos="0.02" TVelo="0.04"/>
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<ActPosCorrection Time="0.02"/>
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<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="4096" Offset="491416.844806819" Inverse="true" MaxCount="#x01ffffff" ReferenceSystem="1">
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<FilterTime TPos="0.04" TVelo="0.16" TAcc="0.5"/>
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<ActPosCorrection Enable="true" Time="0.02"/>
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</EncPara>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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@@ -1503,10 +1503,10 @@ External Setpoint Generation:
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</Var>
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</Vars>
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</Drive>
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<Controller Name="Ctrl" CtrType="3">
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<Controller Name="Ctrl" CtrType="1">
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<CtrPara PriorControlFactor="1">
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<PosDiffControl Enable="false" Range="0.5" Time="0.5"/>
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<PID PosKp="10" PosTn="1" PosTv="1" PosTd="1" DeadBandPosition="0.1"/>
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<PID PosKp="2" PosTn="1" PosTv="1" PosTd="1" DeadBandPosition="0.1"/>
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<Observer BandWidth="20"/>
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</CtrPara>
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</Controller>
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@@ -1528,14 +1528,17 @@ External Setpoint Generation:
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<Axis Id="2" CreateSymbols="true" AxisType="1">
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<Name>bladePos</Name>
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<AxisPara>
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<Dynamic AccelerationMaximum="500" DecelerationMaximum="500" Acceleration="384" Deceleration="384" Jerk="1602.78"/>
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<Dynamic AccelerationMaximum="5000" DecelerationMaximum="5000" Acceleration="2000" Deceleration="2000" Jerk="4000"/>
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<Velo RefSearch="2" RefSync="2" SlowManual="2.5" FastManual="5" Maximum="100"/>
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<PositionAreaControl Range="0.2"/>
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<TargetPosControl Range="0.2" Time="0.5"/>
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<TargetPosControl Range="0.2" Time="1"/>
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<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="1" PulseDistanceNeg="1"/>
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</AxisPara>
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<Encoder Name="Enc" EncType="5">
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<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="4096" Offset="-245743.330078125" ReferenceSystem="1"/>
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<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="4096" Offset="-491450.023514721" MaxCount="#x01ffffff" ReferenceSystem="1">
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<FilterTime TPos="0.04" TVelo="0.16" TAcc="0.5"/>
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<ActPosCorrection Enable="true" Time="0.02"/>
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</EncPara>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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<Var>
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@@ -1671,7 +1674,7 @@ External Setpoint Generation:
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<Controller Name="Ctrl" CtrType="1">
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<CtrPara PriorControlFactor="1">
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<PosDiffControl Range="0.5" Time="0.5"/>
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<PID PosKp="10"/>
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<PID PosKp="2"/>
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<Observer BandWidth="20"/>
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</CtrPara>
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</Controller>
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@@ -1695,9 +1698,16 @@ External Setpoint Generation:
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<Axis Id="3" CreateSymbols="true" AxisType="1">
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<Name>gapSize</Name>
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<AxisPara>
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<Velo SlowManual="15" FastManual="30"/>
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<PositionAreaControl Range="0.1"/>
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<TargetPosControl Range="0.05" Time="0.2"/>
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<OtherSettings AllowMotionCmdToSlave="true"/>
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</AxisPara>
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<Encoder Name="Enc" EncType="1">
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<Encoder Name="Enc" EncType="16">
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<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="10000" MaxCount="#x0000ffff">
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<FilterTime TPos="0.04" TVelo="0.16" TAcc="0.5"/>
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<ActPosCorrection Time="0.2"/>
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</EncPara>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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<Var>
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@@ -1759,6 +1769,7 @@ External Setpoint Generation:
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<Drive Name="Drive" DrvType="5">
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<DrvPara>
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<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
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<TimeComp TaskDelayCycles="1"/>
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</DrvPara>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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@@ -1831,6 +1842,8 @@ External Setpoint Generation:
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</Drive>
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<Controller Name="Ctrl" CtrType="1">
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<CtrPara PriorControlFactor="1">
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<PosDiffControl Enable="false"/>
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<PID PosKp="10"/>
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<Observer BandWidth="20"/>
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</CtrPara>
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</Controller>
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@@ -1854,9 +1867,16 @@ External Setpoint Generation:
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<Axis Id="4" CreateSymbols="true" AxisType="1">
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<Name>gapCentre</Name>
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<AxisPara>
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<Velo SlowManual="10" FastManual="15"/>
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<PositionAreaControl Range="0.1"/>
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<TargetPosControl Range="0.05" Time="0.2"/>
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<OtherSettings AllowMotionCmdToSlave="true"/>
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</AxisPara>
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<Encoder Name="Enc" EncType="1">
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<Encoder Name="Enc" EncType="16">
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<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="10000" MaxCount="#x0000ffff">
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<FilterTime TPos="0.04" TVelo="0.16" TAcc="0.5"/>
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<ActPosCorrection Time="0.2"/>
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</EncPara>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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<Var>
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@@ -1918,6 +1938,7 @@ External Setpoint Generation:
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<Drive Name="Drive" DrvType="5">
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<DrvPara>
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<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
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<TimeComp TaskDelayCycles="1"/>
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</DrvPara>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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@@ -1990,6 +2011,8 @@ External Setpoint Generation:
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</Drive>
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<Controller Name="Ctrl" CtrType="1">
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<CtrPara PriorControlFactor="1">
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<PosDiffControl Enable="false"/>
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<PID PosKp="10"/>
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<Observer BandWidth="20"/>
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</CtrPara>
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</Controller>
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@@ -2010,6 +2033,165 @@ External Setpoint Generation:
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</Var>
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</Vars>
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</Axis>
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<Axis Id="5" CreateSymbols="true" AxisType="1">
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<Name>Axis 5</Name>
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<AxisPara>
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<OtherSettings AllowMotionCmdToSlave="true"/>
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</AxisPara>
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<Encoder Name="Enc" EncType="1">
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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<Var>
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<Name>In</Name>
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<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
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<BitOffs>7680</BitOffs>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn1</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn2</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn3</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn4</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn5</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn6</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn7</Name>
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<Comment><![CDATA[Drive Velocity Actual Value
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]]></Comment>
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</SubVar>
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</Var>
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</Vars>
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<Vars VarGrpType="2">
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<Name>Outputs</Name>
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<Var>
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<Name>Out</Name>
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<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
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<BitOffs>12800</BitOffs>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut1</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut2</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut3</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut4</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut5</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut6</Name>
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</SubVar>
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</Var>
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</Vars>
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</Encoder>
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<Drive Name="Drive" DrvType="5">
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<DrvPara>
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<Analog TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
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</DrvPara>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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<Var>
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<Name>In</Name>
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<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
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<BitOffs>8000</BitOffs>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn1</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn2</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn3</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn4</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn5</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataIn6</Name>
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</SubVar>
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</Var>
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</Vars>
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<Vars VarGrpType="2">
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<Name>Outputs</Name>
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<Var>
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<Name>Out</Name>
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<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
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<BitOffs>13120</BitOffs>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut1</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut2</Name>
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</SubVar>
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<SubVar>
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<Name>nCtrl2</Name>
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<Comment><![CDATA[Digital Outputs Setpoint Generator:
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0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
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0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
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0x80 (1000 0000) = Stop
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]]></Comment>
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</SubVar>
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<SubVar>
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<Name>nCtrl3</Name>
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<Comment><![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
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0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
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0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
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0x80 (1000 0000) = Stop
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]]></Comment>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut3</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut4</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut5</Name>
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</SubVar>
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<SubVar TypeFormatIndex="2">
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<Name>nDataOut6</Name>
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</SubVar>
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</Var>
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</Vars>
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</Drive>
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<Controller Name="Ctrl" CtrType="1">
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<CtrPara PriorControlFactor="1">
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<Observer BandWidth="20"/>
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</CtrPara>
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</Controller>
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<Vars VarGrpType="1" InsertType="1">
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<Name>Inputs</Name>
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<Var>
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<Name>FromPlc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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<BitOffs>6656</BitOffs>
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</Var>
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</Vars>
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<Vars VarGrpType="2" InsertType="1">
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<Name>Outputs</Name>
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<Var>
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<Name>ToPlc</Name>
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<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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<BitOffs>10752</BitOffs>
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</Var>
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</Vars>
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</Axis>
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</NC>
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<Mappings>
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<OwnerA Name="Axes^bladeNeg">
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@@ -905,6 +905,10 @@ External Setpoint Generation:
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<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
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<Vars VarGrpType="1">
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<Name>PlcTask Inputs</Name>
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<Var>
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<Name>MAIN.axisBladeNeg.NcToPlc</Name>
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<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>GVL.astAxes[1].stInputs.bLimitFwd</Name>
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<Type>BOOL</Type>
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@@ -973,6 +977,14 @@ External Setpoint Generation:
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<Name>GVL.astAxes[4].Axis.NcToPlc</Name>
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<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>MAIN.axisBladePos.NcToPlc</Name>
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<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>MAIN.axisGap.NcToPlc</Name>
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<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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</Var>
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</Vars>
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<Vars VarGrpType="2" AreaNo="1">
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<Name>PlcTask Outputs</Name>
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@@ -997,6 +1009,10 @@ External Setpoint Generation:
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<Name>limitsPower.bEnableAxis2Enc</Name>
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<Type>BOOL</Type>
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</Var>
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<Var>
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<Name>MAIN.axisBladeNeg.PlcToNc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>GVL.astAxes[1].Axis.PlcToNc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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@@ -1013,6 +1029,22 @@ External Setpoint Generation:
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<Name>GVL.astAxes[4].Axis.PlcToNc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>testProg.myFirstSlits.iGapSizePosition</Name>
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<Type>UDINT</Type>
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</Var>
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<Var>
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<Name>testProg.myFirstSlits.iGapCentrePosition</Name>
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<Type>UDINT</Type>
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</Var>
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<Var>
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<Name>MAIN.axisBladePos.PlcToNc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>MAIN.axisGap.PlcToNc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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</Vars>
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<Contexts>
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<Context>
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@@ -1048,6 +1080,10 @@ External Setpoint Generation:
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<Link VarA="PlcTask Outputs^limitsPower.bEnableAxis1Enc" VarB="DIG Outputs^Channel 1^Output" Size="1"/>
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<Link VarA="PlcTask Outputs^limitsPower.bEnableAxis2Enc" VarB="DIG Outputs^Channel 2^Output" Size="1"/>
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</OwnerB>
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 5">
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<Link VarA="PlcTask Inputs^MAIN.axisGap.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^MAIN.axisGap.PlcToNc" VarB="Inputs^FromPlc"/>
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</OwnerB>
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^bladeNeg">
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<Link VarA="PlcTask Inputs^GVL.astAxes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^GVL.astAxes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
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@@ -1059,10 +1095,12 @@ External Setpoint Generation:
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^gapCentre">
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<Link VarA="PlcTask Inputs^GVL.astAxes[4].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^GVL.astAxes[4].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
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<Link VarA="PlcTask Outputs^testProg.myFirstSlits.iGapCentrePosition" VarB="Enc^Inputs^In^nDataIn1"/>
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</OwnerB>
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^gapSize">
|
||||
<Link VarA="PlcTask Inputs^GVL.astAxes[3].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
|
||||
<Link VarA="PlcTask Outputs^GVL.astAxes[3].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
|
||||
<Link VarA="PlcTask Outputs^testProg.myFirstSlits.iGapSizePosition" VarB="Enc^Inputs^In^nDataIn1"/>
|
||||
</OwnerB>
|
||||
</OwnerA>
|
||||
</Mappings>
|
||||
|
||||
@@ -11,7 +11,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
|
||||
<BitSize>9</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -20,7 +20,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
|
||||
<BitSize>1</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -29,7 +29,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
|
||||
<BitSize>3</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -47,7 +47,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000005}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..4] OF BIT</Name>
|
||||
<BitSize>5</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -56,7 +56,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000006}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..5] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000006}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..5] OF BIT</Name>
|
||||
<BitSize>6</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
@@ -65,7 +65,7 @@
|
||||
</ArrayInfo>
|
||||
</DataType>
|
||||
<DataType>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
|
||||
<BitSize>2</BitSize>
|
||||
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
|
||||
<ArrayInfo>
|
||||
|
||||
@@ -8,11 +8,12 @@ END_VAR
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[GVL.astAxes[1].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Bwd;
|
||||
GVL.astAxes[1].stConfig.fHomePosition:=30;
|
||||
GVL.astAxes[1].stConfig.fHomePosition:=-30;
|
||||
GVL.astAxes[2].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Fwd;
|
||||
GVL.astAxes[2].stConfig.fHomePosition:=-30;
|
||||
GVL.astAxes[2].stConfig.fHomePosition:=30;
|
||||
|
||||
myFirstSlits(iBladeNegative:=2,iBladePositive:=1, iGapSize:=3, iGapCentre:=4);]]></ST>
|
||||
myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4);
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
<LineIds Name="testProg">
|
||||
<LineId Id="10" Count="0" />
|
||||
@@ -20,6 +21,7 @@ myFirstSlits(iBladeNegative:=2,iBladePositive:=1, iGapSize:=3, iGapCentre:=4);]]
|
||||
<LineId Id="11" Count="0" />
|
||||
<LineId Id="13" Count="1" />
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="30" Count="0" />
|
||||
</LineIds>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
@@ -32,11 +32,48 @@ END_VAR
|
||||
|
||||
VAR PERSISTENT
|
||||
bRestoreOnStartup: BOOL;
|
||||
END_VAR
|
||||
|
||||
|
||||
VAR
|
||||
//all for testing
|
||||
|
||||
axisBladeNeg : AXIS_REF;
|
||||
axisBladePos : AXIS_REF;
|
||||
axisGap : AXIS_REF;
|
||||
powerBladeNeg : MC_POWER;
|
||||
powerBladePos : MC_POWER;
|
||||
powerAxisGap : MC_POWER;
|
||||
|
||||
mcGearIn : MC_GEARIN;
|
||||
mcGearInMulti : MC_GEARINMULTIMASTER;
|
||||
mcGearOut : MC_GEAROUT;
|
||||
|
||||
mcMoveAbs : MC_MOVEABSOLUTE;
|
||||
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[POSITION_RECOVERY();
|
||||
<ST><![CDATA[//POSITION_RECOVERY();
|
||||
AXES();
|
||||
PROG();]]></ST>
|
||||
PROG();
|
||||
|
||||
powerBladeNeg.Enable_Negative := GVL.astAxes[1].stInputs.bLimitBwd;
|
||||
powerBladeNeg.Enable_Positive := GVL.astAxes[1].stInputs.bLimitFwd;
|
||||
powerBladePos.Enable_Negative := GVL.astAxes[2].stInputs.bLimitBwd;
|
||||
powerBladePos.Enable_Positive := GVL.astAxes[2].stInputs.bLimitFwd;
|
||||
powerAxisGap.Enable_Negative:= TRUE;
|
||||
powerAxisGap.Enable_Positive:= TRUE;
|
||||
|
||||
powerBladeNeg(Axis:=axisBladeNeg);
|
||||
powerBladePos(Axis:=axisBladePos);
|
||||
powerAxisGap(Axis:=axisGap);
|
||||
mcGearIn(Slave:= axisBladeNeg, Master:=axisBladePos);
|
||||
mcGearInMulti(Master1:=axisBladePos,Master2:=axisGap,Slave:=axisBladeNeg);
|
||||
|
||||
mcGearOut(Slave:=axisBladeNeg);
|
||||
|
||||
mcMoveAbs(Axis:=axisBladeNeg);
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
|
||||
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
|
||||
@@ -211,6 +248,22 @@ END_FOR]]></ST>
|
||||
<LineId Id="505" Count="0" />
|
||||
<LineId Id="81" Count="0" />
|
||||
<LineId Id="538" Count="0" />
|
||||
<LineId Id="594" Count="0" />
|
||||
<LineId Id="592" Count="1" />
|
||||
<LineId Id="597" Count="0" />
|
||||
<LineId Id="595" Count="1" />
|
||||
<LineId Id="609" Count="0" />
|
||||
<LineId Id="577" Count="0" />
|
||||
<LineId Id="576" Count="0" />
|
||||
<LineId Id="588" Count="0" />
|
||||
<LineId Id="610" Count="0" />
|
||||
<LineId Id="589" Count="0" />
|
||||
<LineId Id="608" Count="0" />
|
||||
<LineId Id="607" Count="0" />
|
||||
<LineId Id="591" Count="0" />
|
||||
<LineId Id="602" Count="0" />
|
||||
<LineId Id="601" Count="0" />
|
||||
<LineId Id="590" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="MAIN.AXES">
|
||||
<LineId Id="11" Count="1" />
|
||||
|
||||
Submodule solution/tc_project_app/tc_mca_std_lib updated: 735c9fed01...2b22c8199b
Reference in New Issue
Block a user