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Change to coding standards all variables in MAIN and their references

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This commit is contained in:
Federico Rojas
2020-03-11 13:30:47 +01:00
parent 456f791f56
commit 6c9885ee54
3 changed files with 44 additions and 53 deletions
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solution/solution.tsproj
+1 -1
View File
@@ -26,7 +26,7 @@
<Name>PlcTask Outputs</Name>
<Var>
<Name>MAIN.bOutput1</Name>
<Comment><![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]></Comment>
<Comment><![CDATA[Outputs: Power for Limit switches and Home Sensors (every 4th output)]]></Comment>
<Type>BOOL</Type>
</Var>
</Vars>
solution/tc_project_app/POUs/MAIN.TcPOU
+42 -51
View File
@@ -3,45 +3,36 @@
<POU Name="MAIN" Id="{33eb6f49-7781-4211-a70b-87ada6d80cb7}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM MAIN
VAR
sVersion: STRING:='1.0.0';
i : UINT; //index variable for AXES()
sVersion: STRING := '1.0.0';
i: UINT; //index variable for the FOR cycle in action AXES()
aFbAxes: ARRAY [1..gvl_app.nAXIS_NUM] OF FB_Axis;
hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes
hmiAxisSelection : INT:=1; //Not possible to use local hmi variables for array indexes
(******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;
//bOutput4 AT %Q*: BOOL:= TRUE;
//Outputs: Power for Limit switches and Home Sensors (every 4th output)
bOutput1 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;
//bOutput17 AT %Q*: BOOL:= TRUE;
//bOutput21 AT %Q*: BOOL:= TRUE;
//bOutput24 AT %Q*: BOOL:= TRUE;
//bOutput28 AT %Q*: BOOL:= TRUE;
(******Startup, Shutdown and UPS********)
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.nAXIS_NUM] OF MC_ReadParameter;
fbRestorePosition : ARRAY [1..GVL_app.nAXIS_NUM] OF MC_SetPosition;
fbGetDeviceIdentification : FB_GetDeviceIdentification;
//Startup, Shutdown and UPS
fbUPS: FB_S_UPS_CX51x0;
eUpsMode: E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
eStartUp: (eColdStart, eReadAxisFeedbackType, eCheckReadDone, eExecuteRestore, eCheckRestore, FinishRestore);
bPositionRestoreDone: BOOL := FALSE;
bRestoreExecute: BOOL := FALSE;
bExecuteReadEncRefSys: BOOL := FALSE;
nRetry: INT;
aFbReadEncRefSys: ARRAY [1..gvl_app.nAXIS_NUM] OF MC_ReadParameter;
aFbRestorePosition: ARRAY [1..GVL_app.nAXIS_NUM] OF MC_SetPosition;
fbGetDeviceIdentification: FB_GetDeviceIdentification;
END_VAR
VAR PERSISTENT
bRestoreOnStartup : BOOL;
bRestoreOnStartup: BOOL;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[POSITION_RECOVERY();
@@ -116,7 +107,7 @@ 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
FOR i:=1 TO gvl_app.nAXIS_NUM DO
fbReadEncRefSys[i](
aFbReadEncRefSys[i](
Axis:= gvl.axes[i].Axis,
Enable:= bExecuteReadEncRefSys,
ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
@@ -126,67 +117,67 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Cycle through set position function blocks for each axis
FOR i:=1 TO gvl_app.nAXIS_NUM DO
fbRestorePosition[i](
aFbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
Execute:= ,
Position:= axesPersistent[i].iPositionAtShutdown);
END_FOR
CASE eStartUp OF
ColdStart:
eColdStart:
// First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bPositionRestoreDone THEN
eStartUp:= ReadAxisFeedbackType;
iRetry:=0;
eStartUp:= eReadAxisFeedbackType;
nRetry:=0;
END_IF
ReadAxisFeedbackType:
eReadAxisFeedbackType:
// Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=CheckReadDone;
eStartUp:=eCheckReadDone;
CheckReadDone:
eCheckReadDone:
// 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 aFbReadEncRefSys 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.nAXIS_NUM is not set correctly
FOR i:=1 TO gvl_app.nAXIS_NUM DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF fbReadEncRefSys[i].Busy = TRUE THEN
IF aFbReadEncRefSys[i].Valid = FALSE THEN
IF aFbReadEncRefSys[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
// Sometimes the code gets here and the aFbReadEncRefSys[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:=ReadAxisFeedbackType;
iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
eStartUp:=eReadAxisFeedbackType;
nRetry:=nRetry+1; // counter used for troubleshooting to see how many cycles it takes before aFbReadEncRefSys 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:= ExecuteRestore;
eStartUp:= eExecuteRestore;
ExecuteRestore:
// Execute position restore by setting fbRestorePosition.execute = TRUE
eExecuteRestore:
// Execute position restore by setting aFbRestorePosition.execute = TRUE
FOR i:=1 TO gvl_app.nAXIS_NUM DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF aFbReadEncRefSys[i].Valid = TRUE AND aFbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
fbRestorePosition[i].Execute:=TRUE;
aFbRestorePosition[i].Execute:=TRUE;
END_IF
END_IF
END_FOR
eStartUp:= CheckRestore;
eStartUp:= eCheckRestore;
CheckRestore:
eCheckRestore:
// Check the set position fbs are finished
// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
// bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR i:=1 TO gvl_app.nAXIS_NUM DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF aFbReadEncRefSys[i].Valid = TRUE AND aFbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
IF NOT fbRestorePosition[i].Done THEN
IF NOT aFbRestorePosition[i].Done THEN
RETURN;
END_IF
END_IF
@@ -195,9 +186,9 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
eStartUp:= FinishRestore;
FinishRestore:
// Remove execute = TRUE for fbRestorePosition
// Remove execute = TRUE for aFbRestorePosition
FOR i:=1 TO gvl_app.nAXIS_NUM DO
fbRestorePosition[i].Execute:=FALSE;
aFbRestorePosition[i].Execute:=FALSE;
END_FOR
bPositionRestoreDone:=TRUE;
bRestoreExecute:=FALSE;
solution/tc_project_app/tc_mca_std_lib
+1 -1
Submodule solution/tc_project_app/tc_mca_std_lib updated: de9fc973bc...1b8def1012