From 6dbf29a0c4cdb9f54d9a01abfcca9289db33afdb Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Wed, 20 Mar 2019 15:37:31 +0100 Subject: [PATCH 1/9] New solution structure to fit the array of gvl paramaters structure AXES()creates the FB and associates the stAxisStruct structure of the gvl MAIN has new varibales to fit the gvl array New FB and new Strucutres under DUT Still developing in the tc_mca_std_lib --- solution.sln | 32 +- solution/solution.tsproj | 2606 ++++++++++++++--- solution/tc_project_app/POUs/MAIN.TcPOU | 1779 +---------- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 22 + 5 files changed, 2264 insertions(+), 2177 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 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 From c1930b89fddad7fc9a7c3fa899261c6bc3223e93 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Wed, 27 Mar 2019 11:57:24 +0100 Subject: [PATCH 2/9] Some Homing sequences implmentation Limit switch and direct homing are implemneted, the same with homing to a home snesor Missing referencing to encoder index or external signal. --- solution/solution.tsproj | 41 +++++++++-------- solution/tc_project_app/POUs/MAIN.TcPOU | 45 ++----------------- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 5 ++- 4 files changed, 30 insertions(+), 63 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 6ff48ec..f9b50c8 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1330,7 +1330,7 @@ External Setpoint Generation: - ARRAY [0..3] OF BIT + ARRAY [0..3] OF BIT 4 BIT @@ -1339,7 +1339,7 @@ External Setpoint Generation: - ARRAY [0..5] OF BIT + ARRAY [0..5] OF BIT 6 BIT @@ -1357,7 +1357,7 @@ External Setpoint Generation: - ARRAY [0..1] OF BIT + ARRAY [0..1] OF BIT 2 BIT @@ -1366,7 +1366,7 @@ External Setpoint Generation: - ARRAY [0..0] OF BIT + ARRAY [0..0] OF BIT 1 BIT @@ -1375,7 +1375,7 @@ External Setpoint Generation: - ARRAY [0..2] OF BIT + ARRAY [0..2] OF BIT 3 BIT @@ -1384,7 +1384,7 @@ External Setpoint Generation: - ARRAY [0..8] OF BIT + ARRAY [0..8] OF BIT 9 BIT @@ -1393,7 +1393,7 @@ External Setpoint Generation: - ARRAY [0..11] OF BIT + ARRAY [0..11] OF BIT 12 BIT @@ -1402,7 +1402,7 @@ External Setpoint Generation: - ARRAY [0..13] OF BIT + ARRAY [0..13] OF BIT 14 BIT @@ -1411,7 +1411,7 @@ External Setpoint Generation: - ARRAY [0..12] OF BIT + ARRAY [0..12] OF BIT 13 BIT @@ -1464,7 +1464,7 @@ External Setpoint Generation: Axis 1 - + @@ -1472,9 +1472,9 @@ External Setpoint Generation: - - - + + + Inputs @@ -1488,6 +1488,9 @@ External Setpoint Generation: nDataIn2 + + nState1 + nState4 @@ -2052,10 +2055,10 @@ bHomeSensor8 AT %I*: BOOL; #x1a00 #x1a01 #x1a02 - + BIT - + BIT @@ -2082,13 +2085,13 @@ bHomeSensor8 AT %I*: BOOL; BIT - + BIT BIT - + BIT @@ -2232,10 +2235,10 @@ bHomeSensor8 AT %I*: BOOL; #x1603 #x1600 #x1601 - + BIT - + BIT diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 2becb66..fb53fe5 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -71,7 +71,6 @@ VAR (******Error Handling********) fbErrorList: FB_ErrorList; - fbHome: MC_Home; //fbEL3214: EL3214; //fbEL1808: EL1808; //fbEL2819: EL2819; @@ -92,7 +91,7 @@ ERROR();]]> - - - - - - - "" - "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 - - - - - @@ -188,7 +148,8 @@ fbEL1808( - + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 6c44546..37f4971 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 6c44546e8261df4a969514197259453428e53d35 +Subproject commit 37f49718089ec4ca8296b2bf4d4203e87980f549 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 4db64da..cdbc8b6 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -22,7 +22,7 @@ Code - + Code @@ -154,6 +154,9 @@ Code + + Code + Code From e5ba869ae8afe37e699818e97e38b9333706c1a2 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Fri, 29 Mar 2019 14:02:34 +0100 Subject: [PATCH 3/9] Homing sequence to a enconder index signal --- solution.sln | 32 +++---- solution/TrialLicense.tclrs | 2 + solution/solution.tsproj | 119 +++++++++++++----------- solution/tc_project_app/POUs/MAIN.TcPOU | 14 ++- solution/tc_project_app/tc_mca_std_lib | 2 +- 5 files changed, 95 insertions(+), 74 deletions(-) create mode 100644 solution/TrialLicense.tclrs 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/TrialLicense.tclrs b/solution/TrialLicense.tclrs new file mode 100644 index 0000000..3b78bf8 --- /dev/null +++ b/solution/TrialLicense.tclrs @@ -0,0 +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 diff --git a/solution/solution.tsproj b/solution/solution.tsproj index f9b50c8..2656642 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,5 +1,5 @@ - + UINTARR2 @@ -1719,6 +1719,56 @@ External Setpoint Generation: {08500001-0000-0000-F000-000000000064} PlcTask Inputs + + MAIN.bLimitFwd1 + + + + BOOL + + + MAIN.bLimitBwd1 + BOOL + + + MAIN.bHomeSensor1 + BOOL + + + MAIN.bEncLAtch + + + + BOOL + GVL.axes[1].Axis.NcToPlc NCTOPLC_AXIS_REF @@ -1768,29 +1818,6 @@ External Setpoint Generation: - - MAIN.bLimitFwd1 - - - - BOOL - - - MAIN.bLimitBwd1 - BOOL - - - MAIN.bHomeSensor1 - BOOL - MAIN.aFBAxes[1].fbDriveVirtual.InfoData_State UINT @@ -1798,35 +1825,10 @@ M8:FB_DriveVirtual; PlcTask Outputs - - GVL.axes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - MAIN.bOutput1 - + BOOL @@ -1838,6 +1840,10 @@ bHomeSensor8 AT %I*: BOOL; MAIN.bOutput3 BOOL + + GVL.axes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + @@ -2082,13 +2088,13 @@ bHomeSensor8 AT %I*: BOOL; BIT - + BIT BIT - + BIT @@ -2881,9 +2887,10 @@ bHomeSensor8 AT %I*: BOOL; - + + - + @@ -2899,7 +2906,6 @@ bHomeSensor8 AT %I*: BOOL; - @@ -2945,6 +2951,9 @@ bHomeSensor8 AT %I*: BOOL; + + + diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index fb53fe5..c2ebf72 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -1,5 +1,5 @@  - + +gvl.axes[1].bLimitBwd:=bLimitBwd1; +gvl.axes[1].bHomeSensor:=bHomeSensor1; +gvl.axes[1].bEncLAtch:=bEncLatch; + +]]> @@ -153,6 +159,10 @@ fbEL1808( + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 37f4971..8211cc0 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 37f49718089ec4ca8296b2bf4d4203e87980f549 +Subproject commit 8211cc0b78cb01e45dfaae717748079952ab36aa From d8555784b50dc44bd41a1c9150dc0dc35fdd574f Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Fri, 5 Apr 2019 13:22:53 +0200 Subject: [PATCH 4/9] Add homing of FB_DriveVirtual V2 into FB_DriveVirtual V1 Homing sequences of FB_DriveVirtual V2 put into FB_Axis FB_DriveVirtual change name to FB_Axis Add enum for motion commands in the ST_AxisStruct Add Case statement for the some motion functions Delete FB_NcAxis, FB_Communication, FB_DriveVirtual_V2, ST_CommStates, DUT_AxisStatus --- solution/solution.tsproj | 2 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 29 +++++-------------- 3 files changed, 9 insertions(+), 24 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 2656642..0d8c1f5 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1819,7 +1819,7 @@ External Setpoint Generation: - MAIN.aFBAxes[1].fbDriveVirtual.InfoData_State + MAIN.aFBAxes[1].InfoData_State UINT diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 8211cc0..d0c85c1 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 8211cc0b78cb01e45dfaae717748079952ab36aa +Subproject commit d0c85c1acbfebe98bf20602945a9e6e55a46dbce diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index cdbc8b6..557f1a1 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -22,18 +22,18 @@ Code + + Code + + + Code + Code Code - - Code - - - Code - Code @@ -67,12 +67,6 @@ Code - - Code - - - Code - Code @@ -148,16 +142,7 @@ Code - - Code - - - Code - - - Code - - + Code From 702d8fed92880aa9b9d2f8aac6f5a7c0f0fc96dd Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 25 Apr 2019 11:38:40 +0200 Subject: [PATCH 5/9] Implement comments of ISIS on 2019-04-09 Changes to make it work in any setup instead of the ESS test crates. for further details check the commit of tc_mca_std_lib --- solution/solution.tsproj | 2317 ++--------------- solution/tc_project_app/POUs/MAIN.TcPOU | 69 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 3 + 4 files changed, 202 insertions(+), 2189 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 0d8c1f5..313b9a2 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 @@ -1321,114 +701,185 @@ 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..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 - + 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 + + - - 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- - + @@ -1461,246 +912,6 @@ External Setpoint Generation: NC-Task 1 SVB - - Axis 1 - - - - - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 1024 - - nDataIn1 - - - nDataIn2 - - - nState1 - - - 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 - - - - - - - @@ -1720,52 +931,30 @@ External Setpoint Generation: PlcTask Inputs - MAIN.bLimitFwd1 + GVL.axes[1].bLimitFwd - + BOOL - MAIN.bLimitBwd1 - BOOL - - - MAIN.bHomeSensor1 - BOOL - - - MAIN.bEncLAtch + GVL.axes[1].bLimitBwd - + + + BOOL + + + GVL.axes[1].bHomeSensor + + + + BOOL + + + GVL.axes[1].bEncLAtch + + BOOL @@ -1818,10 +1007,6 @@ External Setpoint Generation: - - MAIN.aFBAxes[1].InfoData_State - UINT - PlcTask Outputs @@ -1832,14 +1017,6 @@ External Setpoint Generation: BOOL - - MAIN.bOutput2 - BOOL - - - MAIN.bOutput3 - BOOL - GVL.axes[1].Axis.PlcToNc PLCTONC_AXIS_REF @@ -1851,1113 +1028,5 @@ 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 - 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#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 (EL9505) - 1003 - - 001001000000010004000000000000000000001000000000 - 0000000000000000001000010100000002000000000000000000000000000000 - - - BIT - - - BIT - - - - - - Term 6 (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 7 (EL9410) - 1003 - - 001001000000010004000000000000000000001000000000 - 0000000000000000001000010100000002000000000000000000000000000000 - - - BIT - - - - - BIT - - - - - - Term 8 (EL7037) - 1004 - - 001080002600010001000000400080008000001026010000 - 801080002200010002000000400080008000801022010000 - 001108002400010003000000000000000800001124010000 - 801108002000010004000000000000000800801120010000 - 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- 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 - - - ARRAY [0..8] OF BIT - - - - #x1a06 - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..8] OF BIT - - - UDINT - - - INT - - - UDINT - - - - - UDINT - - - - - UDINT - - - - #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 (EL9011) - 1005 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index c2ebf72..639c474 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -4,61 +4,13 @@ @@ -93,13 +42,9 @@ ERROR();]]> @@ -157,10 +102,6 @@ fbEL1808( - - - - diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index d0c85c1..c0472ae 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit d0c85c1acbfebe98bf20602945a9e6e55a46dbce +Subproject commit c0472aee0fd2e675f3d27158486952bd980253d0 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 557f1a1..39795ba 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -172,6 +172,9 @@ Code + + Code + Code Visualization Manager.TcVMO From 6c491186e700128b7297c0c02da9aee40192869f Mon Sep 17 00:00:00 2001 From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com> Date: Tue, 30 Apr 2019 13:59:15 +0100 Subject: [PATCH 6/9] updated tc_mca_std_lib 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 c0472ae..d9fcda1 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit c0472aee0fd2e675f3d27158486952bd980253d0 +Subproject commit d9fcda1f17d3ae838f95bbaa69aa2f0c1bf1a9ed From fc50b5241188427581afa2162f5c74ed0cc74473 Mon Sep 17 00:00:00 2001 From: Simon-Cooper <39404307+Simon-Cooper@users.noreply.github.com> Date: Tue, 30 Apr 2019 14:32:02 +0100 Subject: [PATCH 7/9] Revert "updated tc_mca_std_lib submodule" This reverts commit 6c491186e700128b7297c0c02da9aee40192869f. --- 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 d9fcda1..c0472ae 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 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ztp4J0#XS7e|6>VfAD@W&@dzmCKPSg4FHboydCciZDe0@<9@ix6*-Q+vnD^v0x;RCX z{+x{?MC)1O_oJ=0^Nqy@dHI{fG{hF7^X-20ZFE-eNiA1S%|UNHYfF$Xy}yXybF8wC3g*o3;0)`Z}Lde5!ywke70 zAP;({q@K84Wqmp5h*h4Kl5jYdJ<)RK~~-~Eo1dtG%9uV zAw9{V?bK36=f32yKGnYs$y{JQ#Md2@a#%h4X0O+LEQdCN}KQBG{`uVN<)VtnONoW5&c6tYia;837)Xtvd$ZY3h zd_Q=L%O}QjJLxedAxIXhv)Xxg%r=|NzRe zof%D2QnXX{=n}rz+dagsFjw{Tr);5iRyQwMUP|)u)b?P=Ww%2?>yA%R0X--r{4bof1f;K literal 0 HcmV?d00001 diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index c0472ae..100fc7f 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit c0472aee0fd2e675f3d27158486952bd980253d0 +Subproject commit 100fc7f74698f88bd4ee279868040a3b3bfca4e1 From 755b3db4710fafda216f2b7ad8972220dc6f549c Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Fri, 3 May 2019 13:36:19 +0200 Subject: [PATCH 9/9] Change tc_mca_std_lib to comments of mbp-78 Removes all of the VAR_INPUTS and VAR_OUTPUTS and instead sets the FB_AXIS variables to their structure variables --- solution/tc_project_app/tc_mca_std_lib | 2 +- solution/tc_project_app/tc_project_app.plcproj | 6 ------ 2 files changed, 1 insertion(+), 7 deletions(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index c0472ae..936ed0e 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit c0472aee0fd2e675f3d27158486952bd980253d0 +Subproject commit 936ed0e9d0f34f876c91cf857ee389ed8ea4eb61 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 39795ba..325287e 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -22,18 +22,12 @@ Code - - Code - Code Code - - Code - Code