Merge branch 'mbp-78/homing-of-v2-to-fb_DriveVirtual-v1'
Merge of mbp-78/homing-of-v2-to-fb_DriveVirtual-v1 features to master branch. This provides the starting point for our base code solution.
This commit is contained in:
Simon-Cooper
Binary file not shown.
@@ -0,0 +1,2 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcLicenseInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2011/11/TcLicenseInfo"><LicenseInfo><SystemId>{647C6958-3A0C-73AB-3631-FCA93A32D91D}</SystemId><IssueTime>2019-03-28T10:01:00</IssueTime><ExpireTime>2019-04-05T00:00:00</ExpireTime><LicenseKey>c5d3cb1031fe69b92637f818532268e150e73209fbcde806d6a45fa5c587430d79f2c1228179d00673ab0c897cec2974facbbdea6732800f514190342df993e6cf6c8900d81c6168e82abc6419353caaa16eae89c3652b99dc5724bd894c9688d636d924d65f9bd2be9c76a54d9389d9c2e80b95ac96243e653e4af19badfbdfa010ba61245f038ad5eef223906c4cade2def8629cdbed3a49da1c64a666625c6c23b0d87507ee78907eaf7e2d8bf7b2ce4fd5d511ecc80ae9058fbc8fabd02bf239827c8abad467f34390374768fe2427b583c8af5c86ee51c2f4bbadd341b0daccb1e0c5625b4894babedd35d3cb816a514aab66bc4fcaa5762164e6e078da</LicenseKey><License><LicenseId>{4C256767-E6E6-4AF5-BD68-9F7ABAD0C200}</LicenseId><Name>TC3 ADS</Name><OrderNo>TC1000</OrderNo></License><License><LicenseId>{3FF18E97-7754-401B-93FB-70544DE28A13}</LicenseId><Name>TC3 IO</Name><OrderNo>TC1100</OrderNo></License><License><LicenseId>{66689887-CCBD-452C-AC9A-039D997C6E66}</LicenseId><Name>TC3 PLC</Name><OrderNo>TC1200</OrderNo></License><License><LicenseId>{A19036CF-A53B-4E3A-99FF-023EF5C4798B}</LicenseId><Name>TC3 NC PTP Axis</Name><Instances>10</Instances></License><License><LicenseId>{520DE751-9DB6-47CB-8240-BD5C466E7E64}</LicenseId><Name>TC3 NC PTP</Name><OrderNo>TF5000</OrderNo></License><License><LicenseId>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</LicenseId><Name>TC3 TCP/IP</Name><OrderNo>TF6310</OrderNo></License></LicenseInfo></TcLicenseInfo>
|
||||
+41
-256
@@ -881,6 +881,11 @@ External Setpoint Generation:
|
||||
</DataTypes>
|
||||
<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
|
||||
<System>
|
||||
<Licenses>
|
||||
<Target>
|
||||
<ManualSelect>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</ManualSelect>
|
||||
</Target>
|
||||
</Licenses>
|
||||
<Tasks>
|
||||
<Task Id="2" Priority="26" CycleTime="10000" AmsPort="350" AdtTasks="true">
|
||||
<Name>PlcTaskCom</Name>
|
||||
@@ -890,6 +895,25 @@ External Setpoint Generation:
|
||||
</Task>
|
||||
</Tasks>
|
||||
</System>
|
||||
<Motion>
|
||||
<NC>
|
||||
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
|
||||
<Name>NC-Task 1 SAF</Name>
|
||||
<Vars VarGrpType="1" InsertType="1">
|
||||
<Name>Inputs</Name>
|
||||
</Vars>
|
||||
<Vars VarGrpType="2" InsertType="1">
|
||||
<Name>Outputs</Name>
|
||||
</Vars>
|
||||
<Image Id="3" AddrType="1" ImageType="1">
|
||||
<Name>Image</Name>
|
||||
</Image>
|
||||
</SafTask>
|
||||
<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
|
||||
<Name>NC-Task 1 SVB</Name>
|
||||
</SvbTask>
|
||||
</NC>
|
||||
</Motion>
|
||||
<Plc>
|
||||
<Project GUID="{F935F1DE-0753-4702-B418-1DC0ED040A4D}" Name="tc_epicscommodule" PrjFilePath="tc_epicscommodule\tc_epicscommodule.plcproj" TmcFilePath="tc_epicscommodule\tc_epicscommodule.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
|
||||
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_epicscommodule\tc_epicscommodule.tmc">
|
||||
@@ -907,40 +931,35 @@ External Setpoint Generation:
|
||||
<Vars VarGrpType="1">
|
||||
<Name>PlcTask Inputs</Name>
|
||||
<Var>
|
||||
<Name>MAIN.bLimitFwd1</Name>
|
||||
<Name>GVL.axes[1].bLimitFwd</Name>
|
||||
<Comment>
|
||||
<![CDATA[M3:FB_DriveVirtual;
|
||||
M4:FB_DriveVirtual;
|
||||
M5:FB_DriveVirtual;
|
||||
M6:FB_DriveVirtual;
|
||||
M7:FB_DriveVirtual;
|
||||
M8:FB_DriveVirtual;
|
||||
*****Inputs (Limit switches and Home Sensors*******]]>
|
||||
<![CDATA[////Axis Inputs///////]]>
|
||||
</Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.bLimitBwd1</Name>
|
||||
<Name>GVL.axes[1].bLimitBwd</Name>
|
||||
<Comment>
|
||||
<![CDATA[Backward limit switch]]>
|
||||
</Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.bHomeSensor1</Name>
|
||||
<Name>GVL.axes[1].bHomeSensor</Name>
|
||||
<Comment>
|
||||
<![CDATA[Reference siganl for homing]]>
|
||||
</Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.bLimitFwd2</Name>
|
||||
<Name>GVL.axes[1].bEncLAtch</Name>
|
||||
<Comment>
|
||||
<![CDATA[Reference index signal from inc. enconder]]>
|
||||
</Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.bLimitBwd2</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.bHomeSensor2</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M1Link.Axis.NcToPlc</Name>
|
||||
<Name>GVL.axes[1].Axis.NcToPlc</Name>
|
||||
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
||||
<SubVar>
|
||||
<Name>AxisState</Name>
|
||||
@@ -988,254 +1007,20 @@ External Setpoint Generation:
|
||||
</Comment>
|
||||
</SubVar>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M1Link.InfoData_State</Name>
|
||||
<Type>UINT</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M2Link.Axis.NcToPlc</Name>
|
||||
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
||||
<SubVar>
|
||||
<Name>AxisState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Present State Of The Axis Movement (continuous axis):
|
||||
0 = INACTIVE: axis has no job
|
||||
1 = RUNNING: axis is executing a motion job
|
||||
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
|
||||
3 = PHASE_VELOCONST: axis is moving at constant velocity
|
||||
4 = PHASE_ACCPOS: axis is accelerating
|
||||
5 = PHASE_ACCNEG: axis is decelerating
|
||||
Slaves only:
|
||||
11 = PREPHASE: slave axis is in a motion pre-phase
|
||||
12 = SYNCHRONIZING: slave axis is synchronizing
|
||||
13 = SYNCHRONOUS: slave axis is moving synchronously
|
||||
External Setpoint Generation:
|
||||
41 = EXTSETGEN_MODE1: external setpoint generation active
|
||||
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
<SubVar>
|
||||
<Name>HomingState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Axis Homing Status:
|
||||
0: idle
|
||||
1: start homing
|
||||
2: searching home switch
|
||||
3: stopping on home switch
|
||||
4: moving off home switch
|
||||
5: searching sync pulse
|
||||
6: stopping after homing
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
<SubVar>
|
||||
<Name>CoupleState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Axis Coupling Status:
|
||||
0: axis is a single axis (not coupled)
|
||||
1: axis is a master axis
|
||||
2: axis is master and slave
|
||||
3: axis is a slave axis
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M2Link.InfoData_State</Name>
|
||||
<Type>UINT</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M1.MasterAxis.NcToPlc</Name>
|
||||
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
||||
<SubVar>
|
||||
<Name>AxisState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Present State Of The Axis Movement (continuous axis):
|
||||
0 = INACTIVE: axis has no job
|
||||
1 = RUNNING: axis is executing a motion job
|
||||
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
|
||||
3 = PHASE_VELOCONST: axis is moving at constant velocity
|
||||
4 = PHASE_ACCPOS: axis is accelerating
|
||||
5 = PHASE_ACCNEG: axis is decelerating
|
||||
Slaves only:
|
||||
11 = PREPHASE: slave axis is in a motion pre-phase
|
||||
12 = SYNCHRONIZING: slave axis is synchronizing
|
||||
13 = SYNCHRONOUS: slave axis is moving synchronously
|
||||
External Setpoint Generation:
|
||||
41 = EXTSETGEN_MODE1: external setpoint generation active
|
||||
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
<SubVar>
|
||||
<Name>HomingState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Axis Homing Status:
|
||||
0: idle
|
||||
1: start homing
|
||||
2: searching home switch
|
||||
3: stopping on home switch
|
||||
4: moving off home switch
|
||||
5: searching sync pulse
|
||||
6: stopping after homing
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
<SubVar>
|
||||
<Name>CoupleState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Axis Coupling Status:
|
||||
0: axis is a single axis (not coupled)
|
||||
1: axis is a master axis
|
||||
2: axis is master and slave
|
||||
3: axis is a slave axis
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M2.MasterAxis.NcToPlc</Name>
|
||||
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
|
||||
<SubVar>
|
||||
<Name>AxisState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Present State Of The Axis Movement (continuous axis):
|
||||
0 = INACTIVE: axis has no job
|
||||
1 = RUNNING: axis is executing a motion job
|
||||
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
|
||||
3 = PHASE_VELOCONST: axis is moving at constant velocity
|
||||
4 = PHASE_ACCPOS: axis is accelerating
|
||||
5 = PHASE_ACCNEG: axis is decelerating
|
||||
Slaves only:
|
||||
11 = PREPHASE: slave axis is in a motion pre-phase
|
||||
12 = SYNCHRONIZING: slave axis is synchronizing
|
||||
13 = SYNCHRONOUS: slave axis is moving synchronously
|
||||
External Setpoint Generation:
|
||||
41 = EXTSETGEN_MODE1: external setpoint generation active
|
||||
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
<SubVar>
|
||||
<Name>HomingState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Axis Homing Status:
|
||||
0: idle
|
||||
1: start homing
|
||||
2: searching home switch
|
||||
3: stopping on home switch
|
||||
4: moving off home switch
|
||||
5: searching sync pulse
|
||||
6: stopping after homing
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
<SubVar>
|
||||
<Name>CoupleState</Name>
|
||||
<Comment>
|
||||
<![CDATA[Axis Coupling Status:
|
||||
0: axis is a single axis (not coupled)
|
||||
1: axis is a master axis
|
||||
2: axis is master and slave
|
||||
3: axis is a slave axis
|
||||
]]>
|
||||
</Comment>
|
||||
</SubVar>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_1_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_2_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_3_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_4_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_5_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_6_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_7_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.Channel_8_Input</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.WcState_WcState</Name>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.fbEL1808.InfoData_State</Name>
|
||||
<Type>UINT</Type>
|
||||
</Var>
|
||||
</Vars>
|
||||
<Vars VarGrpType="2">
|
||||
<Name>PlcTask Outputs</Name>
|
||||
<Var>
|
||||
<Name>MAIN.bOutput1</Name>
|
||||
<Comment>
|
||||
<![CDATA[bLimitFwd3 AT %I*: BOOL;
|
||||
bLimitBwd3 AT %I*: BOOL;
|
||||
bHomeSensor3 AT %I*: BOOL;
|
||||
bLimitFwd4 AT %I*: BOOL;
|
||||
bLimitBwd4 AT %I*: BOOL;
|
||||
bHomeSensor4 AT %I*: BOOL;
|
||||
bLimitFwd5 AT %I*: BOOL;
|
||||
bLimitBwd5 AT %I*: BOOL;
|
||||
bHomeSensor5 AT %I*: BOOL;
|
||||
bLimitFwd6 AT %I*: BOOL;
|
||||
bLimitBwd6 AT %I*: BOOL;
|
||||
bHomeSensor6 AT %I*: BOOL;
|
||||
bLimitFwd7 AT %I*: BOOL;
|
||||
bLimitBwd7 AT %I*: BOOL;
|
||||
bHomeSensor7 AT %I*: BOOL;
|
||||
bLimitFwd8 AT %I*: BOOL;
|
||||
bLimitBwd8 AT %I*: BOOL;
|
||||
bHomeSensor8 AT %I*: BOOL;
|
||||
*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]>
|
||||
<![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]>
|
||||
</Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M1Link.Axis.PlcToNc</Name>
|
||||
<Name>GVL.axes[1].Axis.PlcToNc</Name>
|
||||
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M2Link.Axis.PlcToNc</Name>
|
||||
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M1.MasterAxis.PlcToNc</Name>
|
||||
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.M2.MasterAxis.PlcToNc</Name>
|
||||
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>MAIN.bOutput5</Name>
|
||||
<Comment>
|
||||
<![CDATA[bOutput2 AT %Q*: BOOL:= TRUE;
|
||||
bOutput3 AT %Q*: BOOL:= TRUE;
|
||||
bOutput4 AT %Q*: BOOL:= TRUE;]]>
|
||||
</Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
</Vars>
|
||||
<TaskPouOids>
|
||||
<TaskPouOid Prio="20" OTCID="#x08502041"/>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -22,7 +22,10 @@
|
||||
<Compile Include="POUs\MAIN.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\DUTs\DUT_AxisStatus_v0_01.TcDUT">
|
||||
<Compile Include="tc_mca_std_lib\DUTs\MotionFunctions.TcDUT">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisStruct.TcDUT">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\GVLs\GVL.TcGVL">
|
||||
@@ -133,10 +136,7 @@
|
||||
<Compile Include="tc_mca_std_lib\POUs\Hardware\Other\EK1200.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_DriveVirtual.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_NcAxis.TcPOU">
|
||||
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeDirect.TcPOU">
|
||||
@@ -166,6 +166,9 @@
|
||||
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_HomeWriteSoftLimEnable.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
|
||||
<SubType>Code</SubType>
|
||||
</Compile>
|
||||
<Compile Include="tc_mca_std_lib\VISUs\FbDriveVisual.TcVIS">
|
||||
<SubType>Code</SubType>
|
||||
<DependentUpon>Visualization Manager.TcVMO</DependentUpon>
|
||||
@@ -265,6 +268,10 @@
|
||||
<DefaultResolution>Tc2_Utilities, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc2_Utilities</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc3_MC2_AdvancedHoming">
|
||||
<DefaultResolution>Tc3_MC2_AdvancedHoming, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc3_MC2_AdvancedHoming</Namespace>
|
||||
</PlaceholderReference>
|
||||
<PlaceholderReference Include="Tc3_Module">
|
||||
<DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
|
||||
<Namespace>Tc3_Module</Namespace>
|
||||
|
||||
Reference in New Issue
Block a user