berti_r/Motion_test
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Implement comments of ISIS on 2019-04-09

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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
This commit is contained in:
Federico Rojas
2019-04-25 11:38:40 +02:00
parent d8555784b5
commit 702d8fed92
4 changed files with 202 additions and 2189 deletions
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2317
solution/solution.tsproj
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69
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -4,61 +4,13 @@
<Declaration><![CDATA[PROGRAM MAIN
VAR
sVersion: STRING:='1.0.0';
(*(******FB_NcAxis Motor Links********)
M1Link:FB_NcAxis;
M2Link:FB_NcAxis;
//M3Link:FB_NcAxis;
//M4Link:FB_NcAxis;
//M5Link:FB_NcAxis;
//M6Link:FB_NcAxis;
//M7Link:FB_NcAxis;
//M8Link:FB_NcAxis;*)
(******FB_DriveVirtual Motors function blocks********)
aFBAxes: ARRAY [1..axisNum] OF FB_Axis;
//M1:FB_DriveVirtual;
//M2:FB_DriveVirtual;
//M3:FB_DriveVirtual;
//M4:FB_DriveVirtual;
//M5:FB_DriveVirtual;
//M6:FB_DriveVirtual;
//M7:FB_DriveVirtual;
//M8:FB_DriveVirtual;
(******Inputs (Limit switches and Home Sensors********)
bLimitFwd1 AT %I*: BOOL;
bLimitBwd1 AT %I*: BOOL;
bHomeSensor1 AT %I*: BOOL;
//bLimitFwd2 AT %I*: BOOL;
//bLimitBwd2 AT %I*: BOOL;
//bHomeSensor2 AT %I*: BOOL;
//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;
bEncLAtch AT %I*: BOOL;
i : UINT; //index variable for AXES()
aFbAxes: ARRAY [1..gvl.axisNum] OF FB_Axis;
(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)
bOutput1 AT %Q*: BOOL:= TRUE;
bOutput2 AT %Q*: BOOL:= TRUE;
bOutput3 AT %Q*: BOOL:= TRUE;
//bOutput2 AT %Q*: BOOL:= TRUE;
//bOutput3 AT %Q*: BOOL:= TRUE;
//bOutput4 AT %Q*: BOOL:= TRUE;
//bOutput5 AT %Q*: BOOL:= TRUE;
//bOutput6 AT %Q*: BOOL:= TRUE;
@@ -78,9 +30,6 @@ VAR
//fbEL2819: EL2819;
//fbEL9410: EL9410;
(*******New and specific application variables*********)
eCommState : CommStates;
i: UINT;
END_VAR
]]></Declaration>
@@ -93,13 +42,9 @@ ERROR();]]></ST>
<Implementation>
<ST><![CDATA[
FOR i:=1 TO gvl.axisNum DO
aFBAxes[i](En:= TRUE, stAxisStruct:=gvl.axes[i]);
aFBAxes[i](stAxisStruct:=gvl.axes[i]);
END_FOR
gvl.axes[1].bLimitFwd:=bLimitFwd1;
gvl.axes[1].bLimitBwd:=bLimitBwd1;
gvl.axes[1].bHomeSensor:=bHomeSensor1;
gvl.axes[1].bEncLAtch:=bEncLatch;
]]></ST>
</Implementation>
@@ -157,10 +102,6 @@ fbEL1808(
<LineId Id="4" Count="0" />
<LineId Id="10" Count="0" />
<LineId Id="7" Count="0" />
<LineId Id="9" Count="0" />
<LineId Id="8" Count="0" />
<LineId Id="18" Count="0" />
<LineId Id="17" Count="0" />
<LineId Id="16" Count="0" />
<LineId Id="11" Count="0" />
</LineIds>

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: d0c85c1acb...c0472aee0f

3
solution/tc_project_app/tc_project_app.plcproj
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@@ -172,6 +172,9 @@
<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>