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 5a083bc..6ff48ec 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 @@ -701,186 +1321,120 @@ 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..8] OF BIT + 9 + BIT + + 0 + 9 + + + + 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 + - + + 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+ + + + + {3EBB9639-5FF3-42B6-8847-35C70DC013C8} + + PlcTaskCom @@ -890,6 +1444,262 @@ 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 + + + + + + + + + @@ -906,10 +1716,61 @@ External Setpoint Generation: {08500001-0000-0000-F000-000000000064} PlcTask Inputs + + GVL.axes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + AxisState + + + + + + HomingState + + + + + + CoupleState + + + + + MAIN.bLimitFwd1 - BOOL - MAIN.bLimitFwd2 - BOOL - - - MAIN.bLimitBwd2 - BOOL - - - MAIN.bHomeSensor2 - BOOL - - - MAIN.M1Link.Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - - - HomingState - - - - - - CoupleState - - - - - - - MAIN.M1Link.InfoData_State - UINT - - - MAIN.M2Link.Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - - - HomingState - - - - - - CoupleState - - - - - - - MAIN.M2Link.InfoData_State - UINT - - - MAIN.M1.MasterAxis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - - - HomingState - - - - - - CoupleState - - - - - - - MAIN.M2.MasterAxis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - - - HomingState - - - - - - CoupleState - - - - - - - MAIN.fbEL1808.Channel_1_Input - BOOL - - - MAIN.fbEL1808.Channel_2_Input - BOOL - - - MAIN.fbEL1808.Channel_3_Input - BOOL - - - MAIN.fbEL1808.Channel_4_Input - BOOL - - - MAIN.fbEL1808.Channel_5_Input - BOOL - - - MAIN.fbEL1808.Channel_6_Input - BOOL - - - MAIN.fbEL1808.Channel_7_Input - BOOL - - - MAIN.fbEL1808.Channel_8_Input - BOOL - - - MAIN.fbEL1808.WcState_WcState - BOOL - - - MAIN.fbEL1808.InfoData_State + MAIN.aFBAxes[1].fbDriveVirtual.InfoData_State UINT PlcTask Outputs + + GVL.axes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + MAIN.bOutput1 - BOOL - MAIN.M1Link.Axis.PlcToNc - PLCTONC_AXIS_REF + MAIN.bOutput2 + BOOL - MAIN.M2Link.Axis.PlcToNc - PLCTONC_AXIS_REF - - - MAIN.M1.MasterAxis.PlcToNc - PLCTONC_AXIS_REF - - - MAIN.M2.MasterAxis.PlcToNc - PLCTONC_AXIS_REF - - - MAIN.bOutput5 - - - + MAIN.bOutput3 BOOL @@ -1243,5 +1842,1110 @@ bOutput4 AT %Q*: BOOL:= TRUE;]]> + + + Device 1 (EtherCAT) + + +
-801112064
+ 131072 + 8192 + 0 + 3 + 0 + 5612 + 20480 + +
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[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 (EL9011) + 1005 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index ccf7cfd..2becb66 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -1,11 +1,11 @@  - + @@ -85,1704 +88,15 @@ END_VAR AXES(); ERROR();]]> - + - - - - - "" - "Fbd" - - - false - false - false - - "" - "" - "" - false - - - "FB_NcAxis" - - "M1Link" - "FB_NcAxis" - "" - "" - "" - - 0 - false - false - - false - false - true - 3L - - - - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 5L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 6L - - - - - 0 - true - false - - - - - - "true" - "BOOL" - "" - "" - "" - - 0 - false - false - - false - false - false - 8L - - 7L - - - - - En - - - BOOL - - - - - EnO - bError - Status - - - BOOL - BOOL - ST_AxisStatus - - - FunctionBlock - false - false - - false - false - 4L - - - - 2L - - - false - false - false - - "" - "" - "" - false - - - "FB_DriveVirtual" - - "m1" - "FB_DriveVirtual" - "" - "" - "" - - 0 - false - false - - false - false - true - 67L - - - - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 11L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 12L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 13L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 14L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 15L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 16L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 17L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 18L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 19L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 20L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 69L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 70L - - - - - 0 - true - false - - - - - - "true" - "BOOL" - "" - "" - "" - - 0 - false - false - - false - false - false - 22L - - 21L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 24L - - 23L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 26L - - 25L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 28L - - 27L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 30L - - 29L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 32L - - 31L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 34L - - 33L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 36L - - 35L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 38L - - 37L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 40L - - 39L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 42L - - 41L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 44L - - 43L - - - - "bLimitFwd1" - "BOOL" - "" - "" - "%I*" - - 0 - false - false - - false - false - false - 46L - - 45L - - - - "bLimitBwd1" - "BOOL" - "" - "" - "%I*" - - 0 - false - false - - false - false - false - 48L - - 47L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 50L - - 49L - - - - "bHomeSensor1" - "BOOL" - "" - "" - "" - - 0 - false - false - - false - false - false - 52L - - 51L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 54L - - 53L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 56L - - 55L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 58L - - 57L - - - - "M1Link.Axis" - "AXIS_REF" - "" - "" - "%I*" - - 0 - false - false - - false - false - false - 60L - - 59L - - - - - En - bEnable - bReset - bExecute - nCommand - nCmdData - fVelocity - fPosition - fAcceleration - fDeceleration - bJogFwd - bJogBwd - bLimitFwd - bLimitBwd - fOverride - bHomeSensor - fHomePosition - nHomeRevOffset - MasterAxis - Axis - - - BOOL - BOOL - BOOL - BOOL - UINT - UINT - LREAL - LREAL - LREAL - LREAL - BOOL - BOOL - BOOL - BOOL - LREAL - BOOL - LREAL - UINT - AXIS_REF - AXIS_REF[REF] - - - - - EnO - bEnabled - bBusy - bDone - bError - bHomed - nErrorId - nMotionAxisID - Status - fActVelocity - fActPosition - fActDiff - sErrorMessage - - - BOOL - BOOL - BOOL - BOOL - BOOL - BOOL - UDINT - UDINT - ST_AxisStatus - LREAL - LREAL - LREAL - STRING - - - FunctionBlock - false - false - - false - false - 68L - - - - 1L - - - false - false - false - - "" - "" - "" - false - - - "FB_NcAxis" - - "M2Link" - "FB_NcAxis" - "" - "" - "" - - 0 - false - false - - false - false - true - 88L - - - - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 90L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 91L - - - - - 0 - true - false - - - - - - "true" - "BOOL" - "" - "" - "" - - 0 - false - false - - false - false - false - 93L - - 92L - - - - - En - - - BOOL - - - - - EnO - bError - Status - - - BOOL - BOOL - ST_AxisStatus - - - FunctionBlock - false - false - - false - false - 89L - - - - 87L - - - false - false - false - - "" - "" - "" - false - - - "FB_DriveVirtual" - - "m2" - "FB_DriveVirtual" - "" - "" - "" - - 0 - false - false - - false - false - true - 95L - - - - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 97L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 98L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 99L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 100L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 101L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 102L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 103L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 104L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 105L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 106L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 107L - - - "" - - "" - "" - "" - - 0 - false - false - - true - false - false - 108L - - - - - 0 - true - false - - - - - - "true" - "BOOL" - "" - "" - "" - - 0 - false - false - - false - false - false - 110L - - 109L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 112L - - 111L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 114L - - 113L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 116L - - 115L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 118L - - 117L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 120L - - 119L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 122L - - 121L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 124L - - 123L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 126L - - 125L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 128L - - 127L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 130L - - 129L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 132L - - 131L - - - - "bLimitFwd2" - "BOOL" - "" - "" - "%I*" - - 0 - false - false - - false - false - false - 134L - - 133L - - - - "bLimitBwd2" - "BOOL" - "" - "" - "%I*" - - 0 - false - false - - false - false - false - 136L - - 135L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 138L - - 137L - - - - "bHomeSensor2" - "BOOL" - "" - "" - "" - - 0 - false - false - - false - false - false - 140L - - 139L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 142L - - 141L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 144L - - 143L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 146L - - 145L - - - - "M2Link.Axis" - "AXIS_REF" - "" - "" - "%I*" - - 0 - false - false - - false - false - false - 148L - - 147L - - - - - En - bEnable - bReset - bExecute - nCommand - nCmdData - fVelocity - fPosition - fAcceleration - fDeceleration - bJogFwd - bJogBwd - bLimitFwd - bLimitBwd - fOverride - bHomeSensor - fHomePosition - nHomeRevOffset - MasterAxis - Axis - - - BOOL - BOOL - BOOL - BOOL - UINT - UINT - LREAL - LREAL - LREAL - LREAL - BOOL - BOOL - BOOL - BOOL - LREAL - BOOL - LREAL - UINT - AXIS_REF - AXIS_REF[REF] - - - - - EnO - bEnabled - bBusy - bDone - bError - bHomed - nErrorId - nMotionAxisID - Status - fActVelocity - fActPosition - fActDiff - sErrorMessage - - - BOOL - BOOL - BOOL - BOOL - BOOL - BOOL - UDINT - UDINT - ST_AxisStatus - LREAL - LREAL - LREAL - STRING - - - FunctionBlock - false - false - - false - false - 96L - - - - 94L - - - false - false - false - - "" - "" - "" - false - - - 86L - - - 0 - true - - - - System.Boolean - {acfc6f68-8e3a-4af5-bf81-3dd512095a46} - {9de7f100-1b87-424c-a62e-45b0cfc85ed2} - {668066f2-6069-46b3-8962-8db8d13d7db2} - System.Int32 - System.Int64 - {d9a99d73-b633-47db-b876-a752acb25871} - {25e509de-33d4-4447-93f8-c9e4ea381c8b} - {c9b2f165-48a2-4a45-8326-3952d8a3d708} - {bffb3c53-f105-4e85-aba2-e30df579d75f} - {f40d3e09-c02c-4522-a88c-dac23558cfc4} - {71496971-9e0c-4677-a832-b9583b571130} - System.String - - - + @@ -1828,10 +142,57 @@ fbEL1808( //]]> + + + + + + + "" + "Fbd" + + + false + false + false + + "" + "" + "" + false + + + 1L + + + 1 + true + + + + System.Boolean + System.Int32 + System.Int64 + {d9a99d73-b633-47db-b876-a752acb25871} + {25e509de-33d4-4447-93f8-c9e4ea381c8b} + System.String + + + + + + + + + + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 0271fd0..6c44546 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 0271fd01569c98d435bb722917eebf35ae550c3b +Subproject commit 6c44546e8261df4a969514197259453428e53d35 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 42f51c4..4db64da 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -22,9 +22,18 @@ Code + + Code + + + Code + Code + + Code + Code @@ -58,6 +67,12 @@ Code + + Code + + + Code + Code @@ -136,6 +151,9 @@ Code + + Code + Code @@ -265,6 +283,10 @@ Tc2_Utilities, * (Beckhoff Automation GmbH) Tc2_Utilities + + Tc3_MC2_AdvancedHoming, * (Beckhoff Automation GmbH) + Tc3_MC2_AdvancedHoming + Tc3_Module, * (Beckhoff Automation GmbH) Tc3_Module