Test suite and examples for tc_mca_std_lib solution
This commit is contained in:
aaronlong
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solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
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solution/_Config/CNC/Axes/tcUNIT_virtual_axis.xti
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<?xml version="1.0"?>
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<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4023.119" ClassName="CIsgAxisDef" SubType="4">
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<Axis Id="1" AxisPara="4" DefaultIndex="-1">
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<Name>__FILENAME__</Name>
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<ImageId>171</ImageId>
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<Vars VarGrpType="1">
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<Name>Inputs</Name>
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</Vars>
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<Vars VarGrpType="2">
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<Name>Outputs</Name>
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</Vars>
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<Data Name="Parameter" Offset="4"><![CDATA[# ****************************************
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#
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#TC_AXIS_DESC: Axis Parameter
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#
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# ****************************************
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#
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kopf.achs_nr 1
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kopf.mds_ident 1 ( P-AXIS-00110 : Identification of axis data
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kopf.log_achs_name tcUNIT_virtual_axis
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antr.addroffs.input 0
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antr.addroffs.output 0
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#
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kenngr.nocken_laenge 0 ( P-AXIS-00133 : Cam length , not used
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kenngr.virtuel_rad 0 ( P-AXIS-00222 : Virtual radius , not used
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kenngr.swe_toleranz 100 ( P-AXIS-00179 : Tolerance range for software limit switch
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kenngr.swe_pos 15000000 ( P-AXIS-00178 : [0.1um] or [10-4degree] Positive software limit switch
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kenngr.swe_neg -10000000 ( P-AXIS-00177 : [0.1um] or [10-4degree] Negative software limit switch
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kenngr.max_vb_override 1000 ( P-AXIS-00109 : [0.1%] Maximum permissible velocity override
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kenngr.vb_prozent 10 ( P-AXIS-00217 : [0.1%] Tolerance band, factor for signal "speed-value attained"
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kenngr.getriebe_stufe 1 ( P-AXIS-00079 : Default gear step number (Default-Getriebestufe
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kenngr.achs_mode 0x1 ( P-AXIS-00015 : Operating mode of an axis ; mode 1=linear , mode 4=modulo
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kenngr.achs_typ 1 ( P-AXIS-00018 : Axis type 1=linear axis, 2=rotatary axis, 4=spindle/single axis
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# ---------------------------------------------------- measurement
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kenngr.hub_messtaster 20000 ( P-AXIS-00086 : [0.1um] or [10-4degree] Max. excursion of probe (deceleration distance)
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kenngr.vb_messen 20000 ( P-AXIS-00215 : [um/s] or [degree/s] Measurement speed, if not defined with Fxxx
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kenngr.mess_offset 100 ( P-AXIS-00114 : [0.1um] or [10-4degree] Measurement travel offset behind the target position
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kenngr.messachse 0 ( P-AXIS-00118 : Axis engaged in measurement travel
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kenngr.mess_signal_achs_steuer 1 ( P-AXIS-00115 : Measurement signal via axis specific control bit mask
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kenngr.mess_signal_taster 0 ( P-AXIS-00117 : Measurement signal from hardware-interface
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kenngr.kasto_achse 0 ( P-AXIS-00098 : Measurement with edge banding
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kenngr.mess_signal_sercos 0 ( P-AXIS-00116 : Measurement with SERCOS-drives
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kenngr.mess_neg_flanke 0 ( P-AXIS-00113 : Edge of measurement signal 0=pos 1=neg
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kenngr.echtzeit_bit_nr 0 ( P-AXIS-00060 : SERCOS-status/control bit for measurement
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# ---------------------------------------------------- Gantry functionality ( only configured in slave axis)
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kenngr.gantry_ax_nr 0 ( P-AXIS-00070 : Axis number of master axis
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kenngr.gantry_max_diff_resetable 0 ( P-AXIS-00072 : [0.1um] or [10-4degree] Resetable maximal path distance
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kenngr.gantry_max_diff_reset_locked 0 ( P-AXIS-00071 : [0.1um] or [10-4degree] Not resetable maximal path distance
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kenngr.gantry_offset 0 ( P-AXIS-00073 : [0.1um] or [10-4degree] Static offset between master and slave axis
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kenngr.gantry_vb_korr 1000 ( P-AXIS-00075 : [um/s] or [10-3degree/s] Velocity of correction
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# ---------------------------------------------------- Tracking mode
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kenngr.diff_pos_tracking 10000 ( P-AXIS-00056 : [0.1um] or [10-4degree] Maximum difference after deactivation ( limit of tracking)
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kenngr.vb_corr_tracking 1000 ( P-AXIS-00208 : [um/s] or [degree/s] Velocity of tracking
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kenngr.max_diff_soll_ist 10000 ( P-AXIS-00108 : [0.1um] or [10-4degree] Max. permissible position difference when enabling drive controller
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# ---------------------------------------------------- Collision monitoring
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kenngr.coll_check_ax_nr 0 ( P-AXIS-00043 : Logical axis number of the axis to be monitored
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kenngr.coll_offset 0 ( P-AXIS-00045 : [0.1um] or [10-4degree] Security distance (Offset of the collision axes)
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kenngr.coll_decelerate_chan 1 ( P-AXIS-00044 : Stopping in all channels (If a collision is detected with this axis the corresponding channel shall be stopped)
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kenngr.paar_ax_nr 0 ( P-AXIS-00143 : Physical number of axis pair - not used
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kenngr.paar_achse 0 ( P-AXIS-00142 : Axis pair present - not used
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kenngr.paar_ref_richt 0 ( P-AXIS-00144 : Homing direction for axis pair - not used
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kenngr.anzeige 1 ( P-AXIS-00023 : Activation of display function ( number of calls for updates)
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# ---------------------------------------------------- CNC controlled referencing
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kenngr.ref_richt 1 ( P-AXIS-00158 : Preferred direction of axis for homing (driving direction of the axis during homing when cam is not activated. 1=positive, 0=negative)
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kenngr.homing_without_zero_pulse 1 ( P-AXIS-00084 : Homing only with cam (without zero pulse)
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kenngr.fast_from_cam 1 ( P-AXIS-00064 : Slow / fast movement away from cam. 1=yes, 0=no
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kenngr.ref_ohne_nocken 0 ( P-AXIS-00156 : Homing without cam (only with zero pulse)
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kenngr.vorz_richtung 0 ( P-AXIS-00224 : Restriction of direction of rotation(only in one direction) 1=yes, 0=no
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kenngr.beweg_richt 0 ( P-AXIS-00031 : Definition of preferred direction of rotation , 1=positive, 0=negative (direction of rotation with restrictions)
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kenngr.ref_ohne_rev 0 ( P-AXIS-00157 : Homing without reverting with recognized cam
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kenngr.set_refpos_mode ABSOLUT ( P-AXIS-00278 : Modes for setting the homing position (ABSOLUT / OFFSET / PLC / PLC_OFFSET)
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kenngr.set_refpos_offset 0 ( P-AXIS-00279 : [0.1um] or [10-4degree] Offset to the homing position
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kenngr.homing_type CNC_CONTROLLED ( P-AXIS-00299 : Homing type (CNC_CONTROLLED / DRIVE_CONTROLLED )
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kenngr.homing_overflow_evaluation 0 ( P-AXIS-00294 : Selection of the homing method , 0=no evaluation (default), 1=evaluation
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kenngr.ref_cam_is_limit_switch 0 ( P-AXIS-00329 : Use of hardware limit switch as reference switch, 1=use a hardware switch, 0=no use of hardware switch
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kenngr.prog_move_requires_homing 0 ( P-AXIS-00277 : 0=Moving of the axis is possible without preceding homing, 1=Before a programmed movement the axis has to be homed.
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kenngr.mod_rechng 0 ( P-AXIS-00121 : Activation of modulo calculation - not used
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kenngr.tendenz_pruef 0 ( P-AXIS-00189 : Tendency test of motion, 1=yes , 0=no
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kenngr.in_add_interface 1 ( P-AXIS-00091 : Activation of (additional) interface for loading application-specific command values 1=enable, 0=disable
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kenngr.out_add_interface 0 ( P-AXIS-00141 : Activation of (additional) interface for loading of command and actual values , not used
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kenngr.antr_typ 4
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kenngr.def_cax_gear_st 1 ( P-AXIS-00052 : Default gear step number for C-axis mode
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kenngr.feininterpolation 1 ( P-AXIS-00066 : Selection of fine interpolation - not used
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kenngr.abs_pos_gueltig 0 ( P-AXIS-00014 : Identification code for absolute path measurement system
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# --------------------------------------------------- Gearing data
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getriebe[0].nummer 1 ( P-AXIS-00135 : Gear step number
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# --------------------------------------------------- Parameter non-linear nichlineares velocity profile
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getriebe[0].slope_profil.a_beschl 1000 ( P-AXIS-00001 : [mm/s2] or [degree/s2] Acceleration at machining feed G1,G2,G3
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getriebe[0].slope_profil.a_brems 1000 ( P-AXIS-00002 : [mm/s2] or [degree/s2] Deceleration at machining feed G1,G2,G3
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getriebe[0].slope_profil.a_grenz 2000 ( P-AXIS-00004 : [mm/s2] or [degree/s2] Acceleration at rapid movement G0
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getriebe[0].slope_profil.tr_beschl_zu 300000 ( P-AXIS-00196 : [us] Ramp time for acceleration up-gradation at machining feed G1,G2,G3
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getriebe[0].slope_profil.tr_beschl_ab 300000 ( P-AXIS-00195 : [us] Ramp time for acceleration down-gradation at machining feed G1,G2,G3
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getriebe[0].slope_profil.tr_brems_zu 300000 ( P-AXIS-00198 : [us] Ramp time for deceleration up-gradation at machining feed G1,G2,G3
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getriebe[0].slope_profil.tr_brems_ab 300000 ( P-AXIS-00197 : [us] Ramp time for deceleration down-gradation at machining feed G1,G2,G3
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getriebe[0].slope_profil.tr_grenz 300000 ( P-AXIS-00200 : [us] Ramp time at rapid movement G0
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getriebe[0].dynamik.tr_min 5000 ( P-AXIS-00201 : [us] Minimum permissible ramp time
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getriebe[0].dynamik.tr_geom 300000 ( P-AXIS-00199 : [us] Geometric ramp time (ramp time of geometric contours)
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# --------------------------------------------------- Parameter linear velocity profile
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getriebe[0].lslope_profil.a_stufe_1 1000 ( P-AXIS-00011 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 1 at machining feed G1,G2,G3
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getriebe[0].lslope_profil.a_stufe_2 1000 ( P-AXIS-00012 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 2 at machining feed G1,G2,G3
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getriebe[0].lslope_profil.vb_stufe_1_2 100000 ( P-AXIS-00221 : [um/s] or [10-3degree/s] Changeover speed between step 1 and 2 at machining feed G1,G2,G3
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getriebe[0].lslope_profil.a_grenz_stufe_1 1000 ( P-AXIS-00005 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 1 in rapid mode G0
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getriebe[0].lslope_profil.a_grenz_stufe_2 1000 ( P-AXIS-00006 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 2 in rapid mode G0
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getriebe[0].lslope_profil.vb_grenz_stufe_1_2 100000 ( P-AXIS-00211 : [um/s] or [10-3degree/s] Changeover speed between ramp 1 and ramp2 in rapid mode G0
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# --------------------------------------------------- Permitted axis dynamics
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getriebe[0].dynamik.vb_max 100000 ( P-AXIS-00212 : [um/s] or [10-3degree/s] Maximum permissible axis velocity
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getriebe[0].dynamik.a_max 2000 ( P-AXIS-00008 : [mm/s2] or [degree/s2] Maximum permissible axis acceleration
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getriebe[0].dynamik.a_emergency 1750 ( P-AXIS-00003 : [mm/s2] or [degree/s2] Deceleration for an emergency stop
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getriebe[0].dynamik.a_trans_weight 0 ( P-AXIS-00013 : [0.1%] Weighting of acceleration at motion block transition
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getriebe[0].dynamik.r_trans_weight 0 ( P-AXIS-00154 : [0.1%] Weighting of jerk at block transition
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# --------------------------------------------------- Characteristics acceleration (spindle)
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getriebe[0].beschl_kennlinie.n_grenz 0 ( P-AXIS-00130 : [10-3degree/s] Limit speed from which onwards the acceleration is specified in a polynomial form
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getriebe[0].beschl_kennlinie.a_konst 0 ( P-AXIS-00007 : [degree/s2] Constant acceleration in the range n<n_grenz
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getriebe[0].beschl_kennlinie.typ 0 ( P-AXIS-00202 : Type of the characteristic acceleration curve 0=not active, 1=hyperbola, 2=polynomial, 3=asynchronous drive
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getriebe[0].beschl_kennlinie.a_min 0 ( P-AXIS-00010 : [degree/s2] Minimum value of acceleration for high speed
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getriebe[0].beschl_kennlinie.b1 0 ( P-AXIS-00026 : [1/s] Parameter 1 of the a(n) polynomial
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getriebe[0].beschl_kennlinie.b2 0 ( P-AXIS-00027 : [1/degree] Parameter 2 of the a(n) polynomial
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getriebe[0].beschl_kennlinie.b3 0 ( P-AXIS-00028 : [1/degree2] Parameter 3 of the a(n) polynomial
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# --------------------------------------------------- Permitted axis velocities
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getriebe[0].vb_min_null 10 ( P-AXIS-00216 : [10-3degree/s] Limit for spindle speed "zero"
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getriebe[0].vb_eilgang 100000 ( P-AXIS-00209 : [um/s] or [10-3degree/s] Rapid mode velocity
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getriebe[0].vb_max_red 5000 ( P-AXIS-00214 : [um/s] or [10-3degree/s] Reduced maximum speed at active G01,G2,G3
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getriebe[0].rapid_speed_red 10000 ( P-AXIS-00155 : [um/s] or [10-3degree/s] Reduced maximum speed at active G00
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getriebe[0].vb_refmax 20000 ( P-AXIS-00219 : [um/s] or [10-3degree/s] Maximum homing velocity
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getriebe[0].vb_reflow 2000 ( P-AXIS-00218 : [um/s] or [10-3degree/s]Minimum homing velocity
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getriebe[0].vb_regelgrenze 3600000 ( P-AXIS-00220 : [um/s] or [10-3degree/s] Limiting velocity for the measuring system
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getriebe[0].kv 4000 ( P-AXIS-00099 : [0.01/s] Proportional factor kv for positional control in CNC
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getriebe[0].multi_gain_z 1800 ( P-AXIS-00129 : Manipulated variable of drive (numerator)
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getriebe[0].multi_gain_n 1 ( P-AXIS-00128 : Manipulated variable of drive (denominator)
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getriebe[0].wegaufz 1 ( P-AXIS-00234 : [Incr.] Path resolution of the measuring system (numerator)
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getriebe[0].wegaufn 1 ( P-AXIS-00233 : [0.1um] or [10-4degree]Path resolution of the measuring system (denominator)
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getriebe[0].window 100 ( P-AXIS-00236 : [0.1um] or [10-4degree] Control window at "Accuracy Stop" G60
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getriebe[0].pos_refpkt 0 ( P-AXIS-00152 : [0.1um] or [10-4degree] Position of the reference point with CNC controlled homing
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getriebe[0].getr_schalt_pos 0 ( P-AXIS-00078 : [0.1um] or [10-4degree] Gear change position, when switching is permitted
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getriebe[0].achs_position[0] 0 ( P-AXIS-00017 : Special axis positions - not used at the moment
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getriebe[0].achs_position[1] 0 ( P-AXIS-00017 : Special axis positions - not used at the moment
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getriebe[0].achs_position[2] 0 ( P-AXIS-00017 : Special axis positions - not used at the moment
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getriebe[0].wsi_meldung 0 ( P-AXIS-00237 : [mm] or [Degree] or [Rev.] Traverse distance
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# --------------------------------------------------- Rotatary axis / spindle
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getriebe[0].moduloo 3600000 ( P-AXIS-00126 : [10-4degree] Upper modulo limit
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getriebe[0].modulou 0 ( P-AXIS-00127 : [10-4degree] Lower modulo limit
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getriebe[0].modulo_fehler 0 ( P-AXIS-00124 : [Incr.] Error in modulo circle
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getriebe[0].modulo_umdreh 0 ( P-AXIS-00125 : Number of rotations in case of modulo error
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# --------------------------------------------------- Position lag monitoring
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getriebe[0].slep_ueberw_typ 2 ( P-AXIS-00172 : Type of following error monitoring; 0=disable, 1=standard, 2=linear, 3=non-linear, 4=velocity independent
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getriebe[0].slep_min 15000 ( P-AXIS-00169 : [0.1um] or [10-4degree] Minimum following error on axis standstill
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getriebe[0].slep_max 100000 ( P-AXIS-00168 : [0.1um] or [10-4degree] Maximum following error
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getriebe[0].slep_dyn 1000 ( P-AXIS-00167 : Factor for dynamic following error monitoring
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getriebe[0].slep_abw 0 ( P-AXIS-00166 : Remaining deviation for non linear following error monitoring (only non-linear)
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getriebe[0].pos_einschw_zeit 10000 ( P-AXIS-00151 : [ms] Maximum transient time
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getriebe[0].lose 0 ( P-AXIS-00103 : [0.1um] or [10-4degree] Size of backlash
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getriebe[0].reverse 0 ( P-AXIS-00159 : Reverse of sign for setpoint and actual value
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getriebe[0].default_lr_hw_nbr 0 ( P-AXIS-00054 : Number of selected hardware specific parameter set
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getriebe[0].incr_per_rev 1024 ( P-AXIS-00092 : Position controller increments per revolution (only profibus)
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getriebe[0].vb_not_referenced 2 ( P-AXIS-00268 : [um/s] Maximum velocity for unreferenced axes
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# --------------------------------------------------- Compensations and monitoring
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lr_param.slep_toleranz 0 ( P-AXIS-00171 : Tolerance range monitoring for following error (commanded value/ current value)
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lr_param.anwahl_losekomp 0 ( P-AXIS-00021 : Selection of backlash compensation 0=disable, 1=pos.direction, 2=neg.direction
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lr_param.ssfk 0 ( P-AXIS-00175 : Activation of SSFK - leadscrew error compensation (axis correction)
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lr_param.mod_komp 0 ( P-AXIS-00120 : Activation of modulo compensation
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lr_param.suppress_pos_lag_error 0 ( P-AXIS-00176 : Suppression of position lag monitoring
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#
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lr_hw[0].nummer 1 ( P-AXIS-00136 : Identifier for hardware specific parameter set
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lr_hw[0].drift_wert 0 ( P-AXIS-00057 : [Bit] Value of degradation compensation
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lr_hw[0].regel_typ 0 ( P-AXIS-00163 : Control type
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lr_hw[0].vz_stellgr 0 ( P-AXIS-00231 : Sign reversal of command value
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lr_hw[0].vz_istw 0 ( P-AXIS-00230 : Sign reversal of actual value
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# --------------------------------------------------- Feedforward control
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vorsteuer.vs_v_faktor 1 ( P-AXIS-00228 : Weighting factor for feedforward control (enumerator)
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vorsteuer.vs_v_nenner 1 ( P-AXIS-00229 : Weighting factor for feedforward control (denominator)
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vorsteuer.vs_a_faktor 1 ( P-AXIS-00225 : [us] Equivalent time constant for feedforward control of acceleration (enumerator)
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vorsteuer.vs_a_nenner 100 ( P-AXIS-00226 : Equivalent time constant for feedforward control of acceleration (denominator)
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vorsteuer.vs_max_sprung 1 ( P-AXIS-00227 : Max. permis. jump in the down-gradation of feed forward - not used
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vorsteuer.delay_time 1 ( P-AXIS-00055 : [Cycle] Time shift between command actual values
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vorsteuer.vorsteuerung 0 ( P-AXIS-00223 : Feedforward control mode ( bit coded mode)Bitcodierter Vorsteuermodus 0x0=disable, 0x1=velocity, ...
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vorsteuer.shift_time 3 ( P-AXIS-00165 : [Cycles] Time shift command value - feedforward values (balancing runtime of bus, only profibus)
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vorsteuer.default_active 0 ( P-AXIS-00255 : Permanent activation of feedforward control
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# ----------------------------------------------------
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antr.abs_pos_offset 0 ( P-AXIS-00403 : [0.1um] or [10-4degree] Offset between drive position and CNC position
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antr.ignore_unknown_telegram_elements 0 ( P-AXIS-00358 : Ignore unknown entries in drive telegram
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antr.use_drive_following_error 0 ( P-AXIS-00466 : Drive based position lag calculation
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antr.probing_input_nbr 0 ( P-AXIS-00430 : Number of probing input
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antr.encoder_bit_range 0 ( P-AXIS-00355 : Number of bits for evaluation of encoder overflow
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antr.mode_cmd_pos 0 ( P-AXIS-00123 : Normalization of command position , 0=depending on axis type, 1=linear, 2=modulo
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antr.mode_act_pos 0 ( P-AXIS-00122 : Normalization of actual position , 0=depending on axis type, 1=linear, 2=modulo
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antr.v_reso_num 1 ( P-AXIS-00206 : [Incr.]Normalization of the velocity
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antr.v_reso_denom 36 ( P-AXIS-00205 : [um] or [10-3degree] Normalization of the velocity
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antr.operation_mode DRIVE_DEFAULT ( P-AXIS-00320 : Operation mode of an axis ( DRIVE_DEFAULT / DRIVE_POSITION_CONTROL / CNC_POSITION_CONTROL )
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antr.nbr_delay_cycles 4 ( P-AXIS-00191 : Delay between command value and actual value (This parameter is only active for digital drives )
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antr.canopen.probing_input_number 0 ( P-AXIS-00295 : Number of probing input (EtherCAT)
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antr.profibus.s_ls_limit 40 ( P-AXIS-00162 : Slave-life sign limit (only profibus)
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antr.profibus.feinaufloesung 11 ( P-AXIS-00065 : Calculation of the position value (only profibus) - shift factor for sensor values
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# --------------------------------------------------- Drive simulation / simulation axis
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antr.simu.zeitkonstante_z 1 ( P-AXIS-00239 : Drive time constant (nominator)
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antr.simu.zeitkonstante_n 100 ( P-AXIS-00238 : Drive time constant (denominator)
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antr.simu.daempfung_z 6 ( P-AXIS-00051 : Drive damping (nominator)
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antr.simu.daempfung_n 10 ( P-AXIS-00050 : Drive damping (denominator)
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antr.simu.eigenfrequenz_z 100 ( P-AXIS-00062 : Natural frequency of drive (nominator)
|
||||
antr.simu.eigenfrequenz_n 1 ( P-AXIS-00061 : Natural frequency of drive (denominator)
|
||||
antr.simu.totzeit 0 ( P-AXIS-00194 : [cycles] Dead time of control path
|
||||
antr.simu.rpf_weg_bis_nip 100000 ( P-AXIS-00161 : [0.1um] or [10-4degree] Toolpath up to zero pulse during homing simulation
|
||||
antr.simu.ist_gleich_soll 1 ( P-AXIS-00096 : Set actual position equal to command position (deactivation of the pt2 element of the position lag calculation 0=no, 1=yes)
|
||||
|
||||
# --------------------------------------------------- Manual mode
|
||||
handbetrieb.default.after_g200_g201 1 ( P-AXIS-00446 : Set default operation mode and control_element after each activation via G200/G201
|
||||
handbetrieb.default.operation_mode 0 ( P-AXIS-00139 : Operation mode , 1=handwheel, 2=continuous, 3=incremental
|
||||
handbetrieb.default.control_element 0 ( P-AXIS-00046 : Logical identifier of control element
|
||||
handbetrieb.offsetgrenze_pos 50000000 ( P-AXIS-00138 : [0.1um] or [10-4degree] Positive Offset limit
|
||||
handbetrieb.offsetgrenze_neg -50000000 ( P-AXIS-00137 : [0.1um] or [10-4degree] Negative Offset limit
|
||||
#
|
||||
handbetrieb.hr.aufl[0] 10 ( P-AXIS-00025 : [0.1um/Rev] or [10-4degree/Rev] Handwheel resolutions 1
|
||||
handbetrieb.hr.aufl[1] 20 ( P-AXIS-00025 :[0.1um/Rev] or [10-4degree/Rev]Handwheel resolutions 2
|
||||
handbetrieb.hr.aufl[2] 30 ( P-AXIS-00025 :[0.1um/Rev] or [10-4degree/Rev]Handwheel resolutions 3
|
||||
handbetrieb.hr.filter_zeit 10 ( P-AXIS-00069 : [cycles] Filter time constant (time constante for smoothing)
|
||||
#
|
||||
handbetrieb.tipp.geschw[0] 30000 ( P-AXIS-00077 : [um/s] or [10-3degree/s] Velocity for the continuous jog mode 1
|
||||
handbetrieb.tipp.geschw[1] 30000 ( P-AXIS-00077 : [um/s] or [10-3degree/s] Velocity for the continuous jog mode 2
|
||||
handbetrieb.tipp.geschw[2] 40000 ( P-AXIS-00077 : [um/s] or [10-3degree/s] Velocity for the continuous jog mode 3
|
||||
handbetrieb.tipp.vb_eilgang 50000 ( P-AXIS-00210 : [um/s] or [10-3degree/s] Rapid mode velocity for continuous jog mode
|
||||
#
|
||||
handbetrieb.jog.weg[0] 1000 ( P-AXIS-00232 : [0.1um] or [10-4degree] Jog incremental widths 1
|
||||
handbetrieb.jog.weg[1] 2000 ( P-AXIS-00232 : [0.1um] or [10-4degree] Jog incremental widths 2
|
||||
handbetrieb.jog.weg[2] 3000 ( P-AXIS-00232 : [0.1um] or [10-4degree] Jog incremental widths 3
|
||||
handbetrieb.jog.geschw[0] 30000 ( P-AXIS-00076 : [um/s] or [10-3degree/s] Incremental jog velocities 1
|
||||
handbetrieb.jog.geschw[1] 30000 ( P-AXIS-00076 : [um/s] or [10-3degree/s] Incremental jog velocities 2
|
||||
handbetrieb.jog.geschw[2] 60000 ( P-AXIS-00076 : [um/s] or [10-3degree/s] Incremental jog velocities 3
|
||||
#
|
||||
handbetrieb.ipo.hb_proz_v_max 30 ( P-AXIS-00083 : [%] Manual mode during interpolation, velocity part of manual operation (G201)
|
||||
handbetrieb.ipo.hb_proz_a_max 30 ( P-AXIS-00082 : [%] Manual mode during interpolation, acceleration part of manual operation (G201)
|
||||
handbetrieb.ipo.ipo_proz_v_max 70 ( P-AXIS-00095 : [%] Manual mode during interpolation, velocity part of interpolation (G201)
|
||||
handbetrieb.ipo.ipo_proz_a_max 70 ( P-AXIS-00094 : [%] Manual mode during interpolation, acceleration part of interpolation (G201)
|
||||
#
|
||||
handbetrieb.hb.vb_max 60000 ( P-AXIS-00213 : [µm/s] or [10-4degree/s] Maximum velocity (G200)
|
||||
handbetrieb.hb.a_max 1000 ( P-AXIS-00009 : [mm/s2] or [degree/s2] Maximum acceleration (G200)
|
||||
handbetrieb.hb.tr 300000 ( P-AXIS-00359 : [µs] Ramp time during maximum acceleration
|
||||
|
||||
# --------------------------------------------------- Measurement simulation
|
||||
meas_simu.meas_simu_mode 1 ( P-AXIS-00112 : Measurement methods 1=axis position, 2=part distance, 3=counter reading
|
||||
meas_simu.parameter1 79000 ( P-AXIS-00145 : Setting of Parameter 1 dependend on the measurement mode
|
||||
meas_simu.parameter2 0 ( P-AXIS-00146 : Setting of Parameter 2 dependend on the measurement mode
|
||||
meas_simu.parameter3 0 ( P-AXIS-00147 : Setting of Parameter 3 dependend on the measurement mode
|
||||
meas_simu.parameter4 0 ( P-AXIS-00148 : Setting of Parameter 4 dependend on the measurement mode
|
||||
meas_simu.parameter5 0 ( P-AXIS-00149 : Setting of Parameter 5 dependend on the measurement mode
|
||||
|
||||
# --------------------------------------------------- Axis filter
|
||||
filter[0].order 0 ( P-AXIS-00140 : Order of the axis filter , 0= deactivate filter
|
||||
filter[0].prototype 1 ( P-AXIS-00153 : Definition of filter characteristics , 1="Critical damping", 2=Butherworth, 3=Bessel, 4=Chebychev, 5="HSC
|
||||
filter[0].type 1 ( P-AXIS-00204 : Filter type, 1=lowpass, 2=highpass, 3=bandpass, 4=bandstop, 5=allpass
|
||||
filter[0].fg_f0 10 ( P-AXIS-00067 : Filter parameter (characterized frequency)
|
||||
filter[0].guete 1 ( P-AXIS-00080 : Filter parameter (quality)
|
||||
filter[0].share_percent 100 ( P-AXIS-00164 : [%] Filter parameter (Part of the signal which is passed through the filter)
|
||||
|
||||
# --------------------------------------------------- Axis specific transformation of current values
|
||||
trafo.actual_pos.enable 0 ( P-AXIS-00368 : Activation of transformation of current values
|
||||
trafo.actual_pos.id 0 ( P-AXIS-00369 : Transformation ID
|
||||
trafo.actual_pos.param[0] 0 ( P-AXIS-00370 : Transformation parameters dependend on the transformation ID
|
||||
trafo.actual_pos.input[0].nr 6 ( P-AXIS-00371 : Additional input axes (logical axis number of the additional input axis of the transformation)
|
||||
|
||||
# --------------------------------------------------- Axis specific transformation of commanded values
|
||||
trafo.command_pos.enable 0 ( P-AXIS-00380 : Activation of transformation of commanded values, 0=disable, 1=enable
|
||||
trafo.command_pos.id 2 ( P-AXIS-00381 : Transformation ID , 1=e-function, 2=Crank function(lin to rot), 3=in preparation, 4=Crank kinematic(rot to lin)
|
||||
trafo.command_pos.param[0] 1000000 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[1] 3000000 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[2] 0 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[3] 0 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[4] 0 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
|
||||
#
|
||||
dynamic_weighting.enable 0 ( P-AXIS-00431 : Activation of dynamic weighting , 0=disable, 1=enable
|
||||
dynamic_weighting.param[0].path_limit 50000 ( P-AXIS-00432 : [0.1um] or [10-4degree] Path distance limit
|
||||
dynamic_weighting.param[0].velocity_fact 100 ( P-AXIS-00433 : [0.1%] Weighting factor for rapid feed velocity
|
||||
dynamic_weighting.param[0].acceleration_fact 100 ( P-AXIS-00434 : [0.1%] Weighting factor for rapid feed acceleration
|
||||
dynamic_weighting.param[0].ramp_time_fact 10000 ( P-AXIS-00435 : [0.1%] Weighting factor for rapid feed ramp time
|
||||
#
|
||||
Ende
|
||||
|
||||
]]></Data>
|
||||
</Axis>
|
||||
</TcSmItem>
|
||||
573
solution/_Config/CNC/CNC.xti
Normal file
573
solution/_Config/CNC/CNC.xti
Normal file
@@ -0,0 +1,573 @@
|
||||
<?xml version="1.0"?>
|
||||
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4023.119" ClassName="CIsgCncDef">
|
||||
<CNC CncEVersion="true" ToolMngAdsPort="851" VE="100">
|
||||
<Name>CNC</Name>
|
||||
<GeoTask Priority="3" CycleTime="20000" AmsPort="554" AdtTasks="true">
|
||||
<Name>CNC-Task GEO</Name>
|
||||
</GeoTask>
|
||||
<SdaTask Priority="9" CycleTime="100000" AmsPort="555" AdtTasks="true">
|
||||
<Name>CNC-Task SDA</Name>
|
||||
</SdaTask>
|
||||
<ComTask Priority="14" CycleTime="100000" AmsPort="556" AdtTasks="true">
|
||||
<Name>CNC-Task COM</Name>
|
||||
</ComTask>
|
||||
<Data Name="Startup"><![CDATA[# *****************************************
|
||||
#
|
||||
#TC_STARTUP_DESC: TwinCAT CNC-Configuration
|
||||
#
|
||||
# *****************************************
|
||||
#
|
||||
#fb_storage_size[0] 0x200000 # Buffer for Forward / Backward interpolation in byte
|
||||
no_error_message_at_reset 1 # no error message at reset
|
||||
#
|
||||
# -------------------------------------------------------
|
||||
# NC-program path
|
||||
# -------------------------------------------------------
|
||||
# path[ <channelNr> ].prg[ <Index> ]
|
||||
#
|
||||
# prg -> Program path
|
||||
# log_nr -> logical program path number
|
||||
# typ -> Programmpfadtyp ( 0x01 Main program path )
|
||||
# ( 0x02 Sub program path )
|
||||
# ( 0x03 Main- and sub program path )
|
||||
#
|
||||
# prioritaet -> priority of the program path,
|
||||
# (if there are multible program paths with the same type)
|
||||
#
|
||||
# additional program path, customer
|
||||
pfad[0].prg[0] sub
|
||||
pfad[0].log_nr[0] 1 # logical path number
|
||||
pfad[0].typ[0] 0x07 # main- and subprogram path, MSG SAVE
|
||||
pfad[0].prioritaet[0] 1 # priority
|
||||
#
|
||||
# program path for sub programs
|
||||
pfad[0].prg[1] cycles
|
||||
pfad[0].log_nr[1] 2 # logical path number
|
||||
pfad[0].typ[1] 0x03 # main- and subprogram path
|
||||
pfad[0].prioritaet[1] 2 # priority
|
||||
#
|
||||
# program path for cycles
|
||||
pfad[0].prg[2] customer
|
||||
pfad[0].log_nr[2] 3 # logical path number
|
||||
pfad[0].typ[2] 0x03 # main- and subprogram path
|
||||
pfad[0].prioritaet[2] 3 # priority
|
||||
#
|
||||
# ------------------------------------------------------------------------------------------------------
|
||||
# Do not change data below this line!!!
|
||||
# Daten unterhalb dieser Zeile nicht aendern, teilweise werden durch
|
||||
# den Systemmanager Aenderungen automatisch durchgefuehrt!!!
|
||||
# ------------------------------------------------------------------------------------------------------
|
||||
#
|
||||
#
|
||||
kanal_anzahl 0
|
||||
ext_var_max 100
|
||||
#
|
||||
# ----------------------------------------
|
||||
# Lists for configuration data
|
||||
# ----------------------------------------
|
||||
listen ASCII
|
||||
#
|
||||
default_sda_mds tc_virtual_1\default_sda.lis
|
||||
#
|
||||
hand_mds tc_virtual_2\hand_mds.lis
|
||||
#
|
||||
konf_path .
|
||||
#
|
||||
default_achs_mds tc_virtual_3\default_mds.lis
|
||||
zahl_mds 1
|
||||
achs_mds[0] tc_virtual_4\achsmds1.lis
|
||||
#
|
||||
zahl_kw 0
|
||||
#
|
||||
Ende
|
||||
|
||||
]]></Data>
|
||||
<Data Name="Default SDA" Offset="1"><![CDATA[# ****************************************
|
||||
#
|
||||
#TC_CHANNEL_DEFAULT_DESC: Default channel parameter, default initialisation
|
||||
#
|
||||
# ****************************************
|
||||
#
|
||||
# Definition of standard M functions and synchronization types
|
||||
# (default NO_SYNCH 0x0)
|
||||
# ===============================================================
|
||||
m_synch[0] MOS ( P-CHAN-00041 : MOS for M0 (programmed stop)
|
||||
m_synch[1] MOS ( P-CHAN-00041 : MOS for M1 (optional stop)
|
||||
m_synch[2] MOS ( P-CHAN-00041 : MOS for M2 (program end)
|
||||
m_synch[17] MOS ( P-CHAN-00041 : MOS for M17 (end of subroutine)
|
||||
m_synch[29] MOS ( P-CHAN-00041 : MOS for M29 (end of subroutine)
|
||||
m_synch[30] MOS ( P-CHAN-00041 : MOS for M30 (program end)
|
||||
#
|
||||
#
|
||||
# Definition of axis specific M-functions
|
||||
# ===============================================================
|
||||
#m_default_outp_ax_name[0] X ( P-CHAN-00039 : Forcing of axis specific processing of a M function (M0 on axis X)
|
||||
#
|
||||
# Definition of H-functions and synchronization types
|
||||
# (default NO_SYNCH 0x0)
|
||||
# ===============================================================
|
||||
h_synch[0] MOS ( P-CHAN-00027 : MOS for H0
|
||||
#
|
||||
# Definition of external tool management and tool synchronisation
|
||||
# ===============================================================
|
||||
ext_wzv_vorhanden 0 ( P-CHAN-00016 : External tool management is available (e.g. in PLC)
|
||||
t_info_to_wzv 0 ( P-CHAN-00087 : Inform external tool management about T command
|
||||
einrechnen_mit_t 0 ( P-CHAN-00014 : D command is automatically executed with the same number of the T-command (No D command required)
|
||||
tool_life_to_wzv 0 ( P-CHAN-00076 : Transmit the tool life data to external tool management
|
||||
d_clear_to_wzv 1 ( P-CHAN-00103 : Saving and deleting of tool data in an external tool management
|
||||
#
|
||||
tool.synch MOS ( P-CHAN-00086 : MOS for Txx - Tools are synchronized with PLC
|
||||
tool.prozess_zeit 0 ( P-CHAN-00072 : [0.1us] Process time of the tool change (for simulation)
|
||||
tool.minimum_length 0 ( P-CHAN-00156 : [0.1um] Minimum tool length (0: no check)
|
||||
tool.minimum_radius 0 ( P-CHAN-00157 : [0.1um] Minimum tool radius (0: no check)
|
||||
#
|
||||
# Automatic stop of decoding
|
||||
# ==========================
|
||||
flush.d_cmd FAW_D ( P-CHAN-00271 : Initiation of an implicit '#FLUSH WAIT' before the D word.
|
||||
#
|
||||
# Settings for measurement
|
||||
# ===============================================================
|
||||
messtyp 1 ( P-CHAN-00057 : Default measurement type
|
||||
kasto_residual_path 100 ( P-CHAN-00030 : [0.1um] Default residual path for edge banding (measurement)
|
||||
#
|
||||
# Definition of symbolic character strings (macros)
|
||||
# ===============================================================
|
||||
#makro_def[0].symbol SYMBOL_0 ( P-CHAN-00057 : Macro name in NC program
|
||||
#makro_def[0].nc_code CODE_0 ( P-CHAN-00062 : Related NC code to be replaced
|
||||
#makro_def[1].symbol SYMBOL_1 ( P-CHAN-00057 : Macro name in NC program
|
||||
#makro_def[1].nc_code CODE_1 ( P-CHAN-00062 : Related NC code to be replaced
|
||||
#
|
||||
# Default G-functions after NC program start
|
||||
# ===============================================================
|
||||
#prog_start.g_gruppe[0].nr 1 ( P-CHAN-00063 : G01 is default (group 0 - path preparatory: G00,G01,G02,G03)
|
||||
#prog_start.g_gruppe[4].nr 19 ( P-CHAN-00063 : G19 is default (group 4 - plane selection: G17,G18,G19)
|
||||
#prog_start.g_gruppe[6].nr 26 ( P-CHAN-00063 : G26 is default (group 6 - transition mode of TRC: G25,G26)
|
||||
#prog_start.g_gruppe[8].nr 51 ( P-CHAN-00063 : G51 is default (group 8 - diameter programming: G51,G52)
|
||||
#prog_start.g_gruppe[12].nr 71 ( P-CHAN-00063 : G71 is default (group 12 - unit: G70,G71)
|
||||
#prog_start.g_gruppe[14].nr 91 ( P-CHAN-00063 : G91 is default (group 14 - dimension: G90,G91)
|
||||
#prog_start.g_gruppe[22].nr 138 ( P-CHAN-00063 : G138 is default (group 22 - selection mode of TRC : G138,G139)
|
||||
#prog_start.g_gruppe[23].nr 162 ( P-CHAN-00063 : G162 is default (group 23 - circle center point programming: G161,G162)
|
||||
#prog_start.g_gruppe[25].nr 164 ( P-CHAN-00063 : G164 is default (group 25 - circle center point correction: G164,G165)
|
||||
#
|
||||
# Default spindle M-functions after NC program start
|
||||
# ===============================================================
|
||||
#prog_start.m_gruppe[0].nr 3 ( P-CHAN-00064 : M3 is default spindle M function (M03,M04,M05)
|
||||
#
|
||||
# Default dynamic parameters after NC program start
|
||||
# ===============================================================
|
||||
#prog_start.feedrate 0 ( P-CHAN-00099 : [mm/min or m/min, depends on P-CHAN-00108] Default feedrate for G01,G02,G03
|
||||
#prog_start.slope.profile 1 ( P-CHAN-00071 : Type of acceleration profile (1: active jerk limitation)
|
||||
#prog_start.slope.ramp_time 2 ( P-CHAN-00073 : Effect of the ramp time weighting
|
||||
#prog_start.slope.acceleration 2 ( P-CHAN-00001 : Effect of the acceleration weighting
|
||||
#prog_start.feedrate_factor 100 ( P-CHAN-00108 : Unit of the feedrate (0.1: m/min, 100: mm/min)
|
||||
#
|
||||
# Automatic circle center point correction
|
||||
# ===============================================================
|
||||
mittelpkt_faktor 50 ( P-CHAN-00060 : [0.1%] Maximum relative centre point deviation
|
||||
mittelpkt_diff 20000 ( P-CHAN-00059 : [0.1um] Maximum center point offset
|
||||
#
|
||||
# Definition of dimensional units and resolutions of axes
|
||||
# ===============================================================
|
||||
mass_einh 0 ( P-CHAN-00054 : Dimensional unit for translatory axes (0: mm, 1: inch)
|
||||
rund_mass_einh 0 ( P-CHAN-00079 : Dimensional unit for rotatory axes (0: degree, 1: new degree)
|
||||
#
|
||||
resolution_factor 10000 ( P-CHAN-00315 : Resolution of all axes
|
||||
#
|
||||
#
|
||||
# Miscellaneous parameters
|
||||
# ===============================================================
|
||||
wrk_im_kanal_vorhanden 1 ( P-CHAN-00092 : Tool radius compensation (TRC) is present
|
||||
versch_im_durchm 0 ( P-CHAN-00091 : Zero point offsets are acting in diameter (for face turning)
|
||||
display_diameter_pos 1 ( P-CHAN-00256 : Diameter display during G51 (for face turning).
|
||||
|
||||
#
|
||||
p_param_haltend 0 ( P-CHAN-00067 : Main program modal effect of P parameters
|
||||
einzelschrittmodus 0 ( P-CHAN-00015 : Single step operation mode (-1,0,1)
|
||||
#
|
||||
max_vb_override 1000 ( P-CHAN-00056 : [0.1%] Maximum channel override
|
||||
override_v_handwheel 1 ( P-CHAN-00186 : Feedrate weighting by override during handwheel operation.
|
||||
reset_no_axis_to_axv 1 ( P-CHAN-00075 : During reset all channel axes remain in channel
|
||||
#
|
||||
# Settings for syntax check
|
||||
# ===============================================================
|
||||
syn_chk.fehler_pro_zeile 2 ( P-CHAN-00020 : Number of errors after that it is switched to the next NC block
|
||||
syn_chk.fehler_gesamt 20 ( P-CHAN-00019 : Number of errors in a NC program after that decoding is aborted
|
||||
syn_chk.interaktiv 1 ( P-CHAN-00028 : Automatic continue (0), user signal expected (1)
|
||||
#
|
||||
# Settings for protocol log changes
|
||||
# ===============================================================
|
||||
aep.output_mode 1 ( P-CHAN-00024 : Protocolling mode (1: protocolling through BF-own display fields and display fifos)
|
||||
#
|
||||
aep.p_parameter 0 ( P-CHAN-00068 : Protocolling of P parameters
|
||||
#
|
||||
aep.v_eigendef 0 ( P-CHAN-00088 : Protocolling of self defined variables
|
||||
#
|
||||
aep.wz_daten 0 ( P-CHAN-00093 : Protocolling of tool data
|
||||
#
|
||||
aep.g_gruppe[0] 1 ( P-CHAN-00022 : AEP group 0 (G00,G01,G02,G03,G04,G33,G63,G74,G98,G99,G301,G302,G160)
|
||||
aep.g_gruppe[1] 0 ( P-CHAN-00022 : AEP group 1 (G08,G193)
|
||||
aep.g_gruppe[2] 0 ( P-CHAN-00022 : AEP group 2 (G09,G900,G901)
|
||||
aep.g_gruppe[3] 0 ( P-CHAN-00022 : AEP group 3 (G10,G11)
|
||||
aep.g_gruppe[4] 1 ( P-CHAN-00022 : AEP group 4 (G17,G18,G19)
|
||||
aep.g_gruppe[5] 1 ( P-CHAN-00022 : AEP group 5 (G20,G21,G22,G23,G24,G351)
|
||||
aep.g_gruppe[6] 0 ( P-CHAN-00022 : AEP group 6 (G25,G26)
|
||||
aep.g_gruppe[7] 1 ( P-CHAN-00022 : AEP group 7 (G40,G41,G42)
|
||||
aep.g_gruppe[8] 1 ( P-CHAN-00022 : AEP group 8 (G51,G52)
|
||||
aep.g_gruppe[9] 1 ( P-CHAN-00022 : AEP group 9 (G53-G59,G159)
|
||||
aep.g_gruppe[10] 1 ( P-CHAN-00022 : AEP group 10 (G60,G359,G360,G61,G260,G261)
|
||||
aep.g_gruppe[11] 0 ( P-CHAN-00022 : AEP group 11 (G166)
|
||||
aep.g_gruppe[12] 0 ( P-CHAN-00022 : AEP group 12 (G70,G71)
|
||||
aep.g_gruppe[13] 0 ( P-CHAN-00022 : AEP group 13 (G80-G89,G800-G819)
|
||||
aep.g_gruppe[14] 1 ( P-CHAN-00022 : AEP group 14 (G90,G91)
|
||||
aep.g_gruppe[15] 1 ( P-CHAN-00022 : AEP group 15 (G92)
|
||||
aep.g_gruppe[16] 0 ( P-CHAN-00022 : AEP group 16 (G93,G94,G95,G194)
|
||||
aep.g_gruppe[17] 0 ( P-CHAN-00022 : AEP group 17 (G96,G97,G196)
|
||||
aep.g_gruppe[18] 1 ( P-CHAN-00022 : AEP group 18 (G112)
|
||||
aep.g_gruppe[19] 0 ( P-CHAN-00022 : AEP group 19 (G115,G116,G117)
|
||||
aep.g_gruppe[20] 0 ( P-CHAN-00022 : AEP group 20 (G130,G131)
|
||||
aep.g_gruppe[21] 0 ( P-CHAN-00022 : AEP group 21 (G135,G136,G137)
|
||||
aep.g_gruppe[22] 0 ( P-CHAN-00022 : AEP group 22 (G05,G138,G139,G237,G238,G239)
|
||||
aep.g_gruppe[23] 0 ( P-CHAN-00022 : AEP group 23 (G161,G162)
|
||||
aep.g_gruppe[24] 0 ( P-CHAN-00022 : AEP group 24 (G163)
|
||||
aep.g_gruppe[25] 0 ( P-CHAN-00022 : AEP group 25 (G164,G165)
|
||||
aep.g_gruppe[26] 1 ( P-CHAN-00022 : AEP group 26 (G200,G201,G202)
|
||||
aep.g_gruppe[27] 1 ( P-CHAN-00022 : AEP group 27 (NOT AVAILABLE)
|
||||
aep.g_gruppe[28] 0 ( P-CHAN-00022 : AEP group 28 (G132,G133,G134)
|
||||
aep.g_gruppe[29] 1 ( P-CHAN-00022 : AEP group 29 (G150,G151)
|
||||
aep.g_gruppe[30] 1 ( P-CHAN-00022 : AEP group 30 (G100,G101,G102,G106,G107,G108)
|
||||
aep.g_gruppe[31] 1 ( P-CHAN-00022 : AEP group 31 (G12,G13)
|
||||
aep.g_gruppe[32] 0 ( P-CHAN-00022 : AEP group 32 (G140,G141)
|
||||
aep.g_gruppe[33] 0 ( P-CHAN-00022 : AEP group 33 (NOT AVAILABLE)
|
||||
aep.g_gruppe[34] 0 ( P-CHAN-00022 : AEP group 34 (G310)
|
||||
aep.g_gruppe[35] 0 ( P-CHAN-00022 : AEP group 35 (G167)
|
||||
aep.g_gruppe[36] 0 ( P-CHAN-00022 : AEP group 36 (NOT AVAILABLE)
|
||||
aep.g_gruppe[37] 0 ( P-CHAN-00022 : AEP group 37 (G129)
|
||||
#
|
||||
# Default settings for HSC
|
||||
# ===============================================================
|
||||
hsc.gen.linear_segmentation 0 ( P-CHAN-00132 : Segmentation of linear blocks
|
||||
hsc.gen.circular_segmentation 0 ( P-CHAN-00137 : Segmentation of circular blocks
|
||||
hsc.gen.filter_deviation 0 ( P-CHAN-00139 : Handling of short blocks
|
||||
#
|
||||
check_jerk_on_poly_path 1 ( P-CHAN-00110 : Limiting of geomtric jerk within the polynomial path
|
||||
#
|
||||
Ende
|
||||
]]></Data>
|
||||
<Data Name="Manual MDS" Offset="2"><![CDATA[# ****************************************
|
||||
#
|
||||
#TC_DEFAULT_MANUAL_DESC: Manual_MDS-Parameter
|
||||
#
|
||||
# ****************************************
|
||||
#
|
||||
feedhold.hr_inkr_verwerfen 0 ( P-MANU-00010 : Discard handwheel increments on feedhold
|
||||
feedhold.jog_inkr_verwerfen 0 ( P-MANU-00011 : Discard jog mode increments on feedhold
|
||||
#
|
||||
hr_anzahl 1 ( P-MANU-00001 : Number of physical handwheels
|
||||
#
|
||||
hr_data[0].log_hr_nr 1 ( P-MANU-00002 : Logical handwheel number
|
||||
hr_data[0].hr_aufl_z 400 ( P-MANU-00005 : Handwheel resolution numerator
|
||||
hr_data[0].hr_aufl_n 1 ( P-MANU-00006 : Handwheel resolution denominator
|
||||
hr_data[0].hr_zaehler_direct_access 0 ( P-MANU-00003 : Handwheel counter hardware access / HLI access
|
||||
hr_data[0].adr_hr_zaehler 0x0 ( P-MANU-00006 : Handwheel counter address / HLI index
|
||||
hr_data[0].max_inkr_pro_takt 100 ( P-MANU-00007 : Upper limits for handwheel increments per cycle
|
||||
#
|
||||
tasten_anzahl 9 ( P-MANU-00008 : Number of inching key pairs
|
||||
#
|
||||
tasten_data[0].log_tasten_nr 1 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[1].log_tasten_nr 2 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[2].log_tasten_nr 3 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[3].log_tasten_nr 4 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[4].log_tasten_nr 5 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[5].log_tasten_nr 6 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[6].log_tasten_nr 7 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[7].log_tasten_nr 8 ( P-MANU-00009 : Logical key number
|
||||
tasten_data[8].log_tasten_nr 9 ( P-MANU-00009 : Logical key number
|
||||
#
|
||||
Ende
|
||||
]]></Data>
|
||||
<DefaultAxis>
|
||||
<Data Name="Parameter" Offset="3"><![CDATA[# ****************************************
|
||||
#
|
||||
#TC_DEFAULT_AXIS_DESC: Default axis parameter
|
||||
#
|
||||
# ****************************************
|
||||
#
|
||||
kopf.mds_ident 1 ( P-AXIS-00110 : Identification of axis data
|
||||
#
|
||||
kenngr.swe_toleranz 100 ( P-AXIS-00179 : Tolerance range for software limit switch
|
||||
kenngr.swe_pos 15000000 ( P-AXIS-00178 : [0.1um] or [10-4degree] Positive software limit switch
|
||||
kenngr.swe_neg -10000000 ( P-AXIS-00177 : [0.1um] or [10-4degree] Negative software limit switch
|
||||
|
||||
kenngr.max_vb_override 1000 ( P-AXIS-00109 : [0.1%] Maximum permissible velocity override
|
||||
kenngr.vb_prozent 10 ( P-AXIS-00217 : [0.1%] Tolerance band, factor for signal "speed-value attained"
|
||||
kenngr.getriebe_stufe 1 ( P-AXIS-00079 : Default gear step number (Default-Getriebestufe
|
||||
kenngr.achs_mode 0x1 ( P-AXIS-00015 : Operating mode of an axis ; mode 1=linear , mode 4=modulo
|
||||
kenngr.achs_typ 1 ( P-AXIS-00018 : Axis type 1=linear axis, 2=rotatary axis, 4=spindle/single axis
|
||||
|
||||
# ---------------------------------------------------- measurement
|
||||
kenngr.hub_messtaster 20000 ( P-AXIS-00086 : [0.1um] or [10-4degree] Max. excursion of probe (deceleration distance)
|
||||
kenngr.vb_messen 20000 ( P-AXIS-00215 : [um/s] or [degree/s] Measurement speed, if not defined with Fxxx
|
||||
kenngr.mess_offset 100 ( P-AXIS-00114 : [0.1um] or [10-4degree] Measurement travel offset behind the target position
|
||||
kenngr.messachse 0 ( P-AXIS-00118 : Axis engaged in measurement travel
|
||||
kenngr.mess_signal_achs_steuer 1 ( P-AXIS-00115 : Measurement signal via axis specific control bit mask
|
||||
kenngr.mess_signal_taster 0 ( P-AXIS-00117 : Measurement signal from hardware-interface
|
||||
kenngr.kasto_achse 0 ( P-AXIS-00098 : Measurement with edge banding
|
||||
kenngr.mess_signal_sercos 0 ( P-AXIS-00116 : Measurement with SERCOS-drives
|
||||
kenngr.mess_neg_flanke 0 ( P-AXIS-00113 : Edge of measurement signal 0=pos 1=neg
|
||||
kenngr.echtzeit_bit_nr 0 ( P-AXIS-00060 : SERCOS-status/control bit for measurement
|
||||
|
||||
# ---------------------------------------------------- Gantry functionality ( only configured in slave axis)
|
||||
kenngr.gantry_ax_nr 0 ( P-AXIS-00070 : Axis number of master axis
|
||||
kenngr.gantry_max_diff_resetable 0 ( P-AXIS-00072 : [0.1um] or [10-4degree] Resetable maximal path distance
|
||||
kenngr.gantry_max_diff_reset_locked 0 ( P-AXIS-00071 : [0.1um] or [10-4degree] Not resetable maximal path distance
|
||||
kenngr.gantry_offset 0 ( P-AXIS-00073 : [0.1um] or [10-4degree] Static offset between master and slave axis
|
||||
kenngr.gantry_vb_korr 0 ( P-AXIS-00075 : [um/s] or [10-3degree/s] Velocity of correction
|
||||
|
||||
# ---------------------------------------------------- Tracking mode
|
||||
kenngr.diff_pos_tracking 10000 ( P-AXIS-00056 : [0.1um] or [10-4degree] Maximum difference after deactivation ( limit of tracking)
|
||||
kenngr.vb_corr_tracking 1000 ( P-AXIS-00208 : [um/s] or [degree/s] Velocity of tracking
|
||||
kenngr.max_diff_soll_ist 10000 ( P-AXIS-00108 : [0.1um] or [10-4degree] Max. permissible position difference when enabling drive controller
|
||||
|
||||
# ---------------------------------------------------- Collision monitoring
|
||||
kenngr.coll_check_ax_nr 0 ( P-AXIS-00043 : Logical axis number of the axis to be monitored
|
||||
kenngr.coll_offset 0 ( P-AXIS-00045 : [0.1um] or [10-4degree] Security distance (Offset of the collision axes)
|
||||
kenngr.coll_decelerate_chan 1 ( P-AXIS-00044 : Stopping in all channels (If a collision is detected with this axis the corresponding channel shall be stopped)
|
||||
|
||||
kenngr.paar_ax_nr 0 ( P-AXIS-00143 : Physical number of axis pair - not used
|
||||
kenngr.paar_achse 0 ( P-AXIS-00142 : Axis pair present - not used
|
||||
kenngr.paar_ref_richt 0 ( P-AXIS-00144 : Homing direction for axis pair - not used
|
||||
kenngr.anzeige 1 ( P-AXIS-00023 : Activation of display function ( number of calls for updates)
|
||||
|
||||
# ---------------------------------------------------- CNC controlled referencing
|
||||
kenngr.ref_richt 1 ( P-AXIS-00158 : Preferred direction of axis for homing (driving direction of the axis during homing when cam is not activated. 1=positive, 0=negative)
|
||||
kenngr.homing_without_zero_pulse 1 ( P-AXIS-00084 : Homing only with cam (without zero pulse)
|
||||
kenngr.fast_from_cam 1 ( P-AXIS-00064 : Slow / fast movement away from cam. 1=yes, 0=no
|
||||
kenngr.ref_ohne_nocken 0 ( P-AXIS-00156 : Homing without cam (only with zero pulse)
|
||||
kenngr.vorz_richtung 0 ( P-AXIS-00224 : Restriction of direction of rotation(only in one direction) 1=yes, 0=no
|
||||
kenngr.beweg_richt 0 ( P-AXIS-00031 : Definition of preferred direction of rotation , 1=positive, 0=negative (direction of rotation with restrictions)
|
||||
kenngr.ref_ohne_rev 0 ( P-AXIS-00157 : Homing without reverting with recognized cam
|
||||
|
||||
kenngr.set_refpos_mode ABSOLUT ( P-AXIS-00278 : Modes for setting the homing position (ABSOLUT / OFFSET / PLC / PLC_OFFSET)
|
||||
kenngr.set_refpos_offset 0 ( P-AXIS-00279 : [0.1um] or [10-4degree] Offset to the homing position
|
||||
kenngr.homing_type CNC_CONTROLLED ( P-AXIS-00299 : Homing type (CNC_CONTROLLED / DRIVE_CONTROLLED )
|
||||
kenngr.homing_overflow_evaluation 0 ( P-AXIS-00294 : Selection of the homing method , 0=no evaluation (default), 1=evaluation
|
||||
kenngr.ref_cam_is_limit_switch 0 ( P-AXIS-00329 : Use of hardware limit switch as reference switch, 1=use a hardware switch, 0=no use of hardware switch
|
||||
|
||||
kenngr.tendenz_pruef 0 ( P-AXIS-00189 : Tendency test of motion, 1=yes , 0=no
|
||||
kenngr.in_add_interface 1 ( P-AXIS-00091 : Activation of (additional) interface for loading application-specific command values 1=enable, 0=disable
|
||||
kenngr.in_add_interface_pos_as_offset 1 ( P-AXIS-00322 : Handling of the loaded position command values as offset 1=yes, 0=no
|
||||
kenngr.out_add_interface 0 ( P-AXIS-00141 : Activation of (additional) interface for loading of command and actual values , not used
|
||||
kenngr.antr_typ 4 ( P-AXIS-00020 : Drive type 1=KONV, 2=SERCOS, 3=Profidrive, 4=SIMU, 7=Ethernet, 17=DSE
|
||||
kenngr.def_cax_gear_st 1 ( P-AXIS-00052 : Default gear step number for C-axis mode
|
||||
kenngr.abs_pos_gueltig 0 ( P-AXIS-00014 : Identification code for absolute path measurement system
|
||||
kenngr.durchm_prog_abs 1 ( P-AXIS-00058 : Absolute diameter programming (G51) with active G90 mode (only used for facing axis)
|
||||
kenngr.durchm_prog_rel 1 ( P-AXIS-00059 : Relative diameter programming (G51) with active G91 mode (only used for facing axis)
|
||||
|
||||
# --------------------------------------------------- Gearing data
|
||||
getriebe[0].nummer 1 ( P-AXIS-00135 : Gear step number
|
||||
|
||||
# --------------------------------------------------- Parameter non-linear nichlineares velocity profile
|
||||
getriebe[0].slope_profil.a_beschl 1000 ( P-AXIS-00001 : [mm/s2] or [degree/s2] Acceleration at machining feed G1,G2,G3
|
||||
getriebe[0].slope_profil.a_brems 1000 ( P-AXIS-00002 : [mm/s2] or [degree/s2] Deceleration at machining feed G1,G2,G3
|
||||
getriebe[0].slope_profil.a_grenz 2000 ( P-AXIS-00004 : [mm/s2] or [degree/s2] Acceleration at rapid movement G0
|
||||
getriebe[0].slope_profil.tr_beschl_zu 300000 ( P-AXIS-00196 : [us] Ramp time for acceleration up-gradation at machining feed G1,G2,G3
|
||||
getriebe[0].slope_profil.tr_beschl_ab 300000 ( P-AXIS-00195 : [us] Ramp time for acceleration down-gradation at machining feed G1,G2,G3
|
||||
getriebe[0].slope_profil.tr_brems_zu 300000 ( P-AXIS-00198 : [us] Ramp time for deceleration up-gradation at machining feed G1,G2,G3
|
||||
getriebe[0].slope_profil.tr_brems_ab 300000 ( P-AXIS-00197 : [us] Ramp time for deceleration down-gradation at machining feed G1,G2,G3
|
||||
getriebe[0].slope_profil.tr_grenz 300000 ( P-AXIS-00200 : [us] Ramp time at rapid movement G0
|
||||
getriebe[0].dynamik.tr_min 5000 ( P-AXIS-00201 : [us] Minimum permissible ramp time
|
||||
getriebe[0].dynamik.tr_geom 300000 ( P-AXIS-00199 : [us] Geometric ramp time (ramp time of geometric contours)
|
||||
|
||||
# --------------------------------------------------- Parameter linear velocity profile
|
||||
getriebe[0].lslope_profil.a_stufe_1 1000 ( P-AXIS-00011 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 1 at machining feed G1,G2,G3
|
||||
getriebe[0].lslope_profil.a_stufe_2 1000 ( P-AXIS-00012 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 2 at machining feed G1,G2,G3
|
||||
getriebe[0].lslope_profil.vb_stufe_1_2 100000 ( P-AXIS-00221 : [um/s] or [10-3degree/s] Changeover speed between step 1 and 2 at machining feed G1,G2,G3
|
||||
getriebe[0].lslope_profil.a_grenz_stufe_1 1000 ( P-AXIS-00005 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 1 in rapid mode G0
|
||||
getriebe[0].lslope_profil.a_grenz_stufe_2 1000 ( P-AXIS-00006 : [mm/s2] or [degree/s2] Acceleration/ deceleration of step 2 in rapid mode G0
|
||||
getriebe[0].lslope_profil.vb_grenz_stufe_1_2 100000 ( P-AXIS-00211 : [um/s] or [10-3degree/s] Changeover speed between ramp 1 and ramp2 in rapid mode G0
|
||||
|
||||
# --------------------------------------------------- Permitted axis dynamics
|
||||
getriebe[0].dynamik.vb_max 100000 ( P-AXIS-00212 : [um/s] or [10-3degree/s] Maximum permissible axis velocity
|
||||
getriebe[0].dynamik.a_max 2000 ( P-AXIS-00008 : [mm/s2] or [degree/s2] Maximum permissible axis acceleration
|
||||
getriebe[0].dynamik.a_emergency 1750 ( P-AXIS-00003 : [mm/s2] or [degree/s2] Deceleration for an emergency stop
|
||||
getriebe[0].dynamik.a_trans_weight 0 ( P-AXIS-00013 : [0.1%] Weighting of acceleration at motion block transition
|
||||
getriebe[0].dynamik.r_trans_weight 0 ( P-AXIS-00154 : [0.1%] Weighting of jerk at block transition
|
||||
|
||||
# --------------------------------------------------- Characteristics acceleration (spindle)
|
||||
getriebe[0].beschl_kennlinie.n_grenz 0 ( P-AXIS-00130 : [10-3degree/s] Limit speed from which onwards the acceleration is specified in a polynomial form
|
||||
getriebe[0].beschl_kennlinie.a_konst 0 ( P-AXIS-00007 : [degree/s2] Constant acceleration in the range n<n_grenz
|
||||
getriebe[0].beschl_kennlinie.typ 0 ( P-AXIS-00202 : Type of the characteristic acceleration curve 0=not active, 1=hyperbola, 2=polynomial, 3=asynchronous drive
|
||||
getriebe[0].beschl_kennlinie.a_min 0 ( P-AXIS-00010 : [degree/s2] Minimum value of acceleration for high speed
|
||||
getriebe[0].beschl_kennlinie.b1 0 ( P-AXIS-00026 : [1/s] Parameter 1 of the a(n) polynomial
|
||||
getriebe[0].beschl_kennlinie.b2 0 ( P-AXIS-00027 : [1/degree] Parameter 2 of the a(n) polynomial
|
||||
getriebe[0].beschl_kennlinie.b3 0 ( P-AXIS-00028 : [1/degree2] Parameter 3 of the a(n) polynomial
|
||||
|
||||
# --------------------------------------------------- Permitted axis velocities
|
||||
getriebe[0].vb_min_null 10 ( P-AXIS-00216 : [10-3degree/s] Limit for spindle speed "zero"
|
||||
getriebe[0].vb_eilgang 100000 ( P-AXIS-00209 : [um/s] or [10-3degree/s] Rapid mode velocity
|
||||
getriebe[0].vb_max_red 5000 ( P-AXIS-00214 : [um/s] or [10-3degree/s] Reduced maximum speed at active G01,G2,G3
|
||||
getriebe[0].rapid_speed_red 10000 ( P-AXIS-00155 : [um/s] or [10-3degree/s] Reduced maximum speed at active G00
|
||||
getriebe[0].vb_refmax 20000 ( P-AXIS-00219 : [um/s] or [10-3degree/s] Maximum homing velocity
|
||||
getriebe[0].vb_reflow 2000 ( P-AXIS-00218 : [um/s] or [10-3degree/s]Minimum homing velocity
|
||||
getriebe[0].vb_regelgrenze 3600000 ( P-AXIS-00220 : [um/s] or [10-3degree/s] Limiting velocity for the measuring system
|
||||
|
||||
getriebe[0].kv 4000 ( P-AXIS-00099 : [0.01/s] Proportional factor kv for positional control in CNC
|
||||
getriebe[0].multi_gain_z 1800 ( P-AXIS-00129 : Manipulated variable of drive (numerator)
|
||||
getriebe[0].multi_gain_n 1 ( P-AXIS-00128 : Manipulated variable of drive (denominator)
|
||||
getriebe[0].wegaufz 1 ( P-AXIS-00234 : [Incr.] Path resolution of the measuring system (numerator)
|
||||
getriebe[0].wegaufn 1 ( P-AXIS-00233 : [0.1um] or [10-4degree]Path resolution of the measuring system (denominator)
|
||||
getriebe[0].window 100 ( P-AXIS-00236 : [0.1um] or [10-4degree] Control window at "Accuracy Stop" G60
|
||||
getriebe[0].pos_refpkt 0 ( P-AXIS-00152 : [0.1um] or [10-4degree] Position of the reference point with CNC controlled homing
|
||||
getriebe[0].getr_schalt_pos 0 ( P-AXIS-00078 : [0.1um] or [10-4degree] Gear change position, when switching is permitted
|
||||
getriebe[0].achs_position[0] 0 ( P-AXIS-00017 : Special axis positions - not used at the moment
|
||||
getriebe[0].achs_position[1] 0 ( P-AXIS-00017 : Special axis positions - not used at the moment
|
||||
getriebe[0].achs_position[2] 0 ( P-AXIS-00017 : Special axis positions - not used at the moment
|
||||
getriebe[0].wsi_meldung 0 ( P-AXIS-00237 : [mm] or [Degree] or [Rev.] Traverse distance
|
||||
|
||||
# --------------------------------------------------- Rotatary axis / spindle
|
||||
getriebe[0].moduloo 3600000 ( P-AXIS-00126 : [10-4degree] Upper modulo limit
|
||||
getriebe[0].modulou 0 ( P-AXIS-00127 : [10-4degree] Lower modulo limit
|
||||
getriebe[0].modulo_fehler 0 ( P-AXIS-00124 : [Incr.] Error in modulo circle
|
||||
getriebe[0].modulo_umdreh 0 ( P-AXIS-00125 : Number of rotations in case of modulo error
|
||||
|
||||
# --------------------------------------------------- Position lag monitoring
|
||||
getriebe[0].slep_ueberw_typ 2 ( P-AXIS-00172 : Type of following error monitoring; 0=disable, 1=standard, 2=linear, 3=non-linear, 4=velocity independent
|
||||
getriebe[0].slep_min 15000 ( P-AXIS-00169 : [0.1um] or [10-4degree] Minimum following error on axis standstill
|
||||
getriebe[0].slep_max 100000 ( P-AXIS-00168 : [0.1um] or [10-4degree] Maximum following error
|
||||
getriebe[0].slep_dyn 1000 ( P-AXIS-00167 : Factor for dynamic following error monitoring
|
||||
getriebe[0].slep_abw 0 ( P-AXIS-00166 : Remaining deviation for non linear following error monitoring (only non-linear)
|
||||
|
||||
getriebe[0].pos_einschw_zeit 10000 ( P-AXIS-00151 : [ms] Maximum transient time
|
||||
getriebe[0].lose 0 ( P-AXIS-00103 : [0.1um] or [10-4degree] Size of backlash
|
||||
getriebe[0].reverse 0 ( P-AXIS-00159 : Reverse of sign for setpoint and actual value
|
||||
getriebe[0].default_lr_hw_nbr 0 ( P-AXIS-00054 : Number of selected hardware specific parameter set
|
||||
getriebe[0].incr_per_rev 1024 ( P-AXIS-00092 : Position controller increments per revolution (only profibus)
|
||||
getriebe[0].vb_not_referenced 2 ( P-AXIS-00268 : [um/s] Maximum velocity for unreferenced axes
|
||||
|
||||
# --------------------------------------------------- Compensations and monitoring
|
||||
lr_param.slep_toleranz 0 ( P-AXIS-00171 : Tolerance range monitoring for following error (commanded value/ current value)
|
||||
lr_param.anwahl_losekomp 0 ( P-AXIS-00021 : Selection of backlash compensation 0=disable, 1=pos.direction, 2=neg.direction
|
||||
lr_param.ssfk 0 ( P-AXIS-00175 : Activation of SSFK - leadscrew error compensation (axis correction)
|
||||
lr_param.mod_komp 0 ( P-AXIS-00120 : Activation of modulo compensation
|
||||
lr_param.suppress_pos_lag_error 0 ( P-AXIS-00176 : Suppression of position lag monitoring
|
||||
|
||||
#
|
||||
lr_hw[0].nummer 1 ( P-AXIS-00136 : Identifier for hardware specific parameter set
|
||||
lr_hw[0].drift_wert 0 ( P-AXIS-00057 : [Bit] Value of degradation compensation
|
||||
lr_hw[0].regel_typ 0 ( P-AXIS-00163 : Control type
|
||||
lr_hw[0].vz_stellgr 0 ( P-AXIS-00231 : Sign reversal of command value
|
||||
lr_hw[0].vz_istw 0 ( P-AXIS-00230 : Sign reversal of actual value
|
||||
|
||||
# --------------------------------------------------- Feedforward control
|
||||
vorsteuer.vs_v_faktor 1 ( P-AXIS-00228 : Weighting factor for feedforward control (enumerator)
|
||||
vorsteuer.vs_v_nenner 1 ( P-AXIS-00229 : Weighting factor for feedforward control (denominator)
|
||||
vorsteuer.vs_a_faktor 1 ( P-AXIS-00225 : [us] Equivalent time constant for feedforward control of acceleration (enumerator)
|
||||
vorsteuer.vs_a_nenner 100 ( P-AXIS-00226 : Equivalent time constant for feedforward control of acceleration (denominator)
|
||||
vorsteuer.vorsteuerung 0 ( P-AXIS-00223 : Feedforward control mode ( bit coded mode)Bitcodierter Vorsteuermodus 0x0=disable, 0x1=velocity, ...
|
||||
vorsteuer.shift_time 3 ( P-AXIS-00165 : [Cycles] Time shift command value - feedforward values (balancing runtime of bus, only profibus)
|
||||
#
|
||||
|
||||
# ----------------------------------------------------
|
||||
antr.abs_pos_offset 0 ( P-AXIS-00403 : [0.1um] or [10-4degree] Offset between drive position and CNC position
|
||||
antr.ignore_unknown_telegram_elements 0 ( P-AXIS-00358 : Ignore unknown entries in drive telegram
|
||||
antr.use_drive_following_error 0 ( P-AXIS-00466 : Drive based position lag calculation
|
||||
antr.probing_input_nbr 0 ( P-AXIS-00430 : Number of probing input
|
||||
antr.encoder_bit_range 0 ( P-AXIS-00355 : Number of bits for evaluation of encoder overflow
|
||||
antr.mode_cmd_pos 0 ( P-AXIS-00123 : Normalization of command position , 0=depending on axis type, 1=linear, 2=modulo
|
||||
antr.mode_act_pos 0 ( P-AXIS-00122 : Normalization of actual position , 0=depending on axis type, 1=linear, 2=modulo
|
||||
antr.v_reso_num 1 ( P-AXIS-00206 : [Incr.]Normalization of the velocity
|
||||
antr.v_reso_denom 36 ( P-AXIS-00205 : [um] or [10-3degree] Normalization of the velocity
|
||||
antr.operation_mode DRIVE_DEFAULT ( P-AXIS-00320 : Operation mode of an axis ( DRIVE_DEFAULT / DRIVE_POSITION_CONTROL / CNC_POSITION_CONTROL )
|
||||
antr.nbr_delay_cycles 4 ( P-AXIS-00191 : Delay between command value and actual value (This parameter is only active for digital drives )
|
||||
|
||||
antr.canopen.probing_input_number 0 ( P-AXIS-00295 : Number of probing input (EtherCAT)
|
||||
|
||||
antr.profibus.s_ls_limit 40 ( P-AXIS-00162 : Slave-life sign limit (only profibus)
|
||||
antr.profibus.feinaufloesung 11 ( P-AXIS-00065 : Calculation of the position value (only profibus) - shift factor for sensor values
|
||||
|
||||
# --------------------------------------------------- Drive simulation / simulation axis
|
||||
antr.simu.zeitkonstante_z 1 ( P-AXIS-00239 : Drive time constant (nominator)
|
||||
antr.simu.zeitkonstante_n 100 ( P-AXIS-00238 : Drive time constant (denominator)
|
||||
antr.simu.daempfung_z 6 ( P-AXIS-00051 : Drive damping (nominator)
|
||||
antr.simu.daempfung_n 10 ( P-AXIS-00050 : Drive damping (denominator)
|
||||
antr.simu.eigenfrequenz_z 100 ( P-AXIS-00062 : Natural frequency of drive (nominator)
|
||||
antr.simu.eigenfrequenz_n 1 ( P-AXIS-00061 : Natural frequency of drive (denominator)
|
||||
antr.simu.totzeit 0 ( P-AXIS-00194 : [cycles] Dead time of control path
|
||||
antr.simu.rpf_weg_bis_nip 100000 ( P-AXIS-00161 : [0.1um] or [10-4degree] Toolpath up to zero pulse during homing simulation
|
||||
antr.simu.ist_gleich_soll 1 ( P-AXIS-00096 : Set actual position equal to command position (deactivation of the pt2 element of the position lag calculation 0=no, 1=yes)
|
||||
|
||||
# --------------------------------------------------- Manual mode
|
||||
handbetrieb.default.after_g200_g201 1 ( P-AXIS-00446 : Set default operation mode and control_element after each activation via G200/G201
|
||||
handbetrieb.default.operation_mode 0 ( P-AXIS-00139 : Operation mode , 1=handwheel, 2=continuous, 3=incremental
|
||||
handbetrieb.default.control_element 0 ( P-AXIS-00046 : Logical identifier of control element
|
||||
#
|
||||
handbetrieb.offsetgrenze_pos 50000000 ( P-AXIS-00138 : [0.1um] or [10-4degree] Positive Offset limit
|
||||
handbetrieb.offsetgrenze_neg -50000000 ( P-AXIS-00137 : [0.1um] or [10-4degree] Negative Offset limit
|
||||
#
|
||||
handbetrieb.hr.aufl[0] 10 ( P-AXIS-00025 : [0.1um/Rev] or [10-4degree/Rev] Handwheel resolutions 1
|
||||
handbetrieb.hr.aufl[1] 20 ( P-AXIS-00025 :[0.1um/Rev] or [10-4degree/Rev]Handwheel resolutions 2
|
||||
handbetrieb.hr.aufl[2] 30 ( P-AXIS-00025 :[0.1um/Rev] or [10-4degree/Rev]Handwheel resolutions 3
|
||||
handbetrieb.hr.filter_zeit 10 ( P-AXIS-00069 : [cycles] Filter time constant (time constante for smoothing)
|
||||
#
|
||||
handbetrieb.tipp.geschw[0] 30000 ( P-AXIS-00077 : [um/s] or [10-3degree/s] Velocity for the continuous jog mode 1
|
||||
handbetrieb.tipp.geschw[1] 30000 ( P-AXIS-00077 : [um/s] or [10-3degree/s] Velocity for the continuous jog mode 2
|
||||
handbetrieb.tipp.geschw[2] 40000 ( P-AXIS-00077 : [um/s] or [10-3degree/s] Velocity for the continuous jog mode 3
|
||||
handbetrieb.tipp.vb_eilgang 50000 ( P-AXIS-00210 : [um/s] or [10-3degree/s] Rapid mode velocity for continuous jog mode
|
||||
#
|
||||
handbetrieb.jog.weg[0] 1000 ( P-AXIS-00232 : [0.1um] or [10-4degree] Jog incremental widths 1
|
||||
handbetrieb.jog.weg[1] 2000 ( P-AXIS-00232 : [0.1um] or [10-4degree] Jog incremental widths 2
|
||||
handbetrieb.jog.weg[2] 3000 ( P-AXIS-00232 : [0.1um] or [10-4degree] Jog incremental widths 3
|
||||
handbetrieb.jog.geschw[0] 30000 ( P-AXIS-00076 : [um/s] or [10-3degree/s] Incremental jog velocities 1
|
||||
handbetrieb.jog.geschw[1] 30000 ( P-AXIS-00076 : [um/s] or [10-3degree/s] Incremental jog velocities 2
|
||||
handbetrieb.jog.geschw[2] 60000 ( P-AXIS-00076 : [um/s] or [10-3degree/s] Incremental jog velocities 3
|
||||
#
|
||||
handbetrieb.ipo.hb_proz_v_max 30 ( P-AXIS-00083 : [%] Manual mode during interpolation, velocity part of manual operation (G201)
|
||||
handbetrieb.ipo.hb_proz_a_max 30 ( P-AXIS-00082 : [%] Manual mode during interpolation, acceleration part of manual operation (G201)
|
||||
handbetrieb.ipo.ipo_proz_v_max 70 ( P-AXIS-00095 : [%] Manual mode during interpolation, velocity part of interpolation (G201)
|
||||
handbetrieb.ipo.ipo_proz_a_max 70 ( P-AXIS-00094 : [%] Manual mode during interpolation, acceleration part of interpolation (G201)
|
||||
#
|
||||
handbetrieb.hb.vb_max 60000 ( P-AXIS-00213 : [um/s] or [10-4degree/s] Maximum velocity (G200)
|
||||
handbetrieb.hb.a_max 1000 ( P-AXIS-00009 : [mm/s2] or [degree/s2] Maximum acceleration (G200)
|
||||
handbetrieb.hb.tr 300000 ( P-AXIS-00359 : [µs] Ramp time during maximum acceleration
|
||||
|
||||
# --------------------------------------------------- Measurement simulation
|
||||
meas_simu.meas_simu_mode 1 ( P-AXIS-00112 : Measurement methods 1=axis position, 2=part distance, 3=counter reading
|
||||
meas_simu.parameter1 79000 ( P-AXIS-00145 : Setting of Parameter 1 dependend on the measurement mode
|
||||
meas_simu.parameter2 0 ( P-AXIS-00146 : Setting of Parameter 2 dependend on the measurement mode
|
||||
meas_simu.parameter3 0 ( P-AXIS-00147 : Setting of Parameter 3 dependend on the measurement mode
|
||||
meas_simu.parameter4 0 ( P-AXIS-00148 : Setting of Parameter 4 dependend on the measurement mode
|
||||
meas_simu.parameter5 0 ( P-AXIS-00149 : Setting of Parameter 5 dependend on the measurement mode
|
||||
|
||||
# --------------------------------------------------- Axis filter
|
||||
filter[0].order 0 ( P-AXIS-00140 : Order of the axis filter , 0= deactivate filter
|
||||
filter[0].prototype 1 ( P-AXIS-00153 : Definition of filter characteristics , 1="Critical damping", 2=Butherworth, 3=Bessel, 4=Chebychev, 5="HSC"
|
||||
filter[0].type 1 ( P-AXIS-00204 : Filter type, 1=lowpass, 2=highpass, 3=bandpass, 4=bandstop, 5=allpass
|
||||
filter[0].fg_f0 10 ( P-AXIS-00067 : Filter parameter (characterized frequency)
|
||||
filter[0].guete 1 ( P-AXIS-00080 : Filter parameter (quality)
|
||||
filter[0].share_percent 100 ( P-AXIS-00164 : [%] Filter parameter (Part of the signal which is passed through the filter)
|
||||
# --------------------------------------------------- Axis specific transformation of current values
|
||||
trafo.actual_pos.enable 0 ( P-AXIS-00368 : Activation of transformation of current values
|
||||
trafo.actual_pos.id 0 ( P-AXIS-00369 : Transformation ID
|
||||
trafo.actual_pos.param[0] 0 ( P-AXIS-00370 : Transformation parameters dependend on the transformation ID
|
||||
trafo.actual_pos.input[0].nr 6 ( P-AXIS-00371 : Additional input axes (logical axis number of the additional input axis of the transformation)
|
||||
# --------------------------------------------------- Axis specific transformation of commanded values
|
||||
trafo.command_pos.enable 0 ( P-AXIS-00380 : Activation of transformation of commanded values, 0=disable, 1=enable
|
||||
trafo.command_pos.id 2 ( P-AXIS-00381 : Transformation ID , 1=e-function, 2=Crank function(lin to rot), 3=in preparation, 4=Crank kinematic(rot to lin)
|
||||
trafo.command_pos.param[0] 1000000 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[1] 3000000 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[2] 0 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[3] 0 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
trafo.command_pos.param[4] 0 ( P-AXIS-00382 : Transformation parameters dependend on the transformation ID
|
||||
#
|
||||
dynamic_weighting.enable 0 ( P-AXIS-00431 : Activation of dynamic weighting , 0=disable, 1=enable
|
||||
dynamic_weighting.param[0].path_limit 50000 ( P-AXIS-00432 : [0.1um] or [10-4degree] Path distance limit
|
||||
dynamic_weighting.param[0].velocity_fact 100 ( P-AXIS-00433 : [0.1%] Weighting factor for rapid feed velocity
|
||||
dynamic_weighting.param[0].acceleration_fact 100 ( P-AXIS-00434 : [0.1%] Weighting factor for rapid feed acceleration
|
||||
dynamic_weighting.param[0].ramp_time_fact 10000 ( P-AXIS-00435 : [0.1%] Weighting factor for rapid feed ramp time
|
||||
#
|
||||
Ende
|
||||
]]></Data>
|
||||
</DefaultAxis>
|
||||
<Axis File="tcUNIT_virtual_axis.xti" Id="1"/>
|
||||
</CNC>
|
||||
</TcSmItem>
|
||||
1526
solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
Normal file
1526
solution/_Config/NC/Axes/tcUNIT_simulated_axis.xti
Normal file
File diff suppressed because it is too large
Load Diff
@@ -16,5 +16,6 @@
|
||||
<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
|
||||
<Name>NC-Task 1 SVB</Name>
|
||||
</SvbTask>
|
||||
<Axis File="tcUNIT_simulated_axis.xti" Id="1"/>
|
||||
</NC>
|
||||
</TcSmItem>
|
||||
|
||||
@@ -875,6 +875,7 @@ External Setpoint Generation:
|
||||
</DataTypes>
|
||||
<Project ProjectGUID="{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" Target64Bit="true" ShowHideConfigurations="#x106">
|
||||
<System>
|
||||
<Settings DontCheckTarget="130.246.50.191.1.1"/>
|
||||
<Licenses>
|
||||
<Target>
|
||||
<ManualSelect>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</ManualSelect>
|
||||
@@ -893,7 +894,7 @@ External Setpoint Generation:
|
||||
<NC File="NC.xti"/>
|
||||
</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">
|
||||
<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">
|
||||
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_epicscommodule\tc_epicscommodule.tmc">
|
||||
<Name>tc_epicscommodule Instance</Name>
|
||||
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
|
||||
@@ -906,6 +907,72 @@ External Setpoint Generation:
|
||||
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
|
||||
<Name>tc_project_app Instance</Name>
|
||||
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
|
||||
<Vars VarGrpType="1">
|
||||
<Name>PlcTask Inputs</Name>
|
||||
<Var>
|
||||
<Name>GVL.axes[1].inputs.bLimitFwd</Name>
|
||||
<Comment><![CDATA[////Axis Inputs///////]]></Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>GVL.axes[1].inputs.bLimitBwd</Name>
|
||||
<Comment><![CDATA[Backward limit switch]]></Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>GVL.axes[1].inputs.bHomeSensor</Name>
|
||||
<Comment><![CDATA[Reference siganl for homing]]></Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>GVL.axes[1].inputs.bEncLAtch</Name>
|
||||
<Comment><![CDATA[Reference index signal from inc. enconder]]></Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>GVL.axes[1].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>
|
||||
</Vars>
|
||||
<Vars VarGrpType="2">
|
||||
<Name>PlcTask Outputs</Name>
|
||||
<Var>
|
||||
@@ -913,6 +980,10 @@ External Setpoint Generation:
|
||||
<Comment><![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]></Comment>
|
||||
<Type>BOOL</Type>
|
||||
</Var>
|
||||
<Var>
|
||||
<Name>GVL.axes[1].Axis.PlcToNc</Name>
|
||||
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
|
||||
</Var>
|
||||
</Vars>
|
||||
<TaskPouOids>
|
||||
<TaskPouOid Prio="20" OTCID="#x08502041"/>
|
||||
@@ -920,5 +991,15 @@ External Setpoint Generation:
|
||||
</Instance>
|
||||
</Project>
|
||||
</Plc>
|
||||
<Io/>
|
||||
</Project>
|
||||
<Mappings>
|
||||
<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030010" Watchdog="14000000040000000400000004000000"/>
|
||||
<OwnerA Name="TIPC^tc_project_app^tc_project_app Instance">
|
||||
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^tcUNIT_simulated_axis">
|
||||
<Link VarA="PlcTask Inputs^GVL.axes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
|
||||
<Link VarA="PlcTask Outputs^GVL.axes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
|
||||
</OwnerB>
|
||||
</OwnerA>
|
||||
</Mappings>
|
||||
</TcSmProject>
|
||||
|
||||
@@ -7,7 +7,7 @@ VAR_GLOBAL
|
||||
END_VAR
|
||||
|
||||
VAR_GLOBAL CONSTANT
|
||||
axisNum : UINT:=0;
|
||||
axisNum : UINT:=1;
|
||||
//axisCoupleMax : UINT:=4;
|
||||
END_VAR]]></Declaration>
|
||||
</GVL>
|
||||
|
||||
@@ -140,7 +140,6 @@ END_IF]]></ST>
|
||||
<Implementation>
|
||||
<ST><![CDATA[//
|
||||
(* Program any sequence, safety or feature (if necessary) application specific in thsi section*)
|
||||
|
||||
//]]></ST>
|
||||
</Implementation>
|
||||
</Action>
|
||||
@@ -310,7 +309,6 @@ END_FOR]]></ST>
|
||||
<LineIds Name="MAIN.PROG">
|
||||
<LineId Id="2" Count="0" />
|
||||
<LineId Id="1" Count="0" />
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="3" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="MAIN.RESTORE_POSITIONS">
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
|
||||
<POU Name="FB_tcUNIT_common" Id="{0f757d3d-99b7-46eb-bdc6-03aa126689f4}" SpecialFunc="None">
|
||||
<Declaration><![CDATA[// tcUNIT Common function block: Contains helper methods for tcUNIT
|
||||
<Declaration><![CDATA[// tcUNIT Common function block: Contains helper methods for tcUNIT.
|
||||
FUNCTION_BLOCK FB_tcUNIT_common
|
||||
|
||||
VAR
|
||||
@@ -9,170 +9,150 @@ END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[]]></ST>
|
||||
</Implementation>
|
||||
<Method Name="Cycle" Id="{664ce267-e020-4cb0-b408-882e70cdbead}">
|
||||
<Declaration><![CDATA[METHOD Cycle : BOOL
|
||||
<Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
|
||||
<Declaration><![CDATA[METHOD mEnableAxis : BOOL
|
||||
VAR_INPUT
|
||||
iCycles: INT; // Number of cycles to process
|
||||
END_VAR
|
||||
|
||||
VAR
|
||||
i: INT := 0;
|
||||
iAxisIndex: INT; // The idex of the axis to action the method on
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[WHILE i < iCycles DO
|
||||
i := i + 1;
|
||||
END_WHILE]]></ST>
|
||||
<ST><![CDATA[GVL.axes[iAxisIndex].control.bEnable := TRUE;
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="Execute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
|
||||
<Declaration><![CDATA[METHOD Execute : BOOL
|
||||
VAR_IN_OUT
|
||||
Axis: ST_AxisStruct; // The axis to set execute TRUE
|
||||
<Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
|
||||
<Declaration><![CDATA[METHOD mExecute : BOOL
|
||||
VAR_INPUT
|
||||
iAxisIndex: INT; // The idex of the axis to action the method on.
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[Axis.control.bExecute := TRUE;
|
||||
|
||||
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
|
||||
<ST><![CDATA[GVL.axes[iAxisIndex].control.bExecute := TRUE;
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="PrepareDefaultMove" Id="{4fe16ff1-3a9f-464c-997c-83ca1a3b1d50}">
|
||||
<Declaration><![CDATA[METHOD PrepareDefaultMove : BOOL
|
||||
VAR_IN_OUT
|
||||
Axis: ST_AxisStruct; // The axis to be driven
|
||||
END_VAR
|
||||
<Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
|
||||
<Declaration><![CDATA[METHOD mPrepareDefaultMove
|
||||
|
||||
VAR_INPUT
|
||||
MotionStrategy: MotionFunctions; // The motion strategy to be used in the move
|
||||
END_VAR]]></Declaration>
|
||||
iAxisIndex: INT; // The idex of the axis to action the method on.
|
||||
END_VAR
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed
|
||||
<ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed.
|
||||
|
||||
Axis.control.bEnable := TRUE;
|
||||
Axis.control.eCommand := MotionStrategy;
|
||||
GVL.axes[iAxisIndex].control.bEnable := TRUE;
|
||||
GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
|
||||
|
||||
Axis.inputs.bLimitBwd := TRUE;
|
||||
Axis.inputs.bLimitFwd := TRUE;
|
||||
GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
|
||||
GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
|
||||
|
||||
Axis.config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
|
||||
Axis.config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
|
||||
Axis.config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
|
||||
Axis.config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
|
||||
|
||||
// Drive up and down the axis during tests over a range of (-target, target.)
|
||||
IF Axis.config.fPosition = tcUNIT_GVL.fDEFAULT_POSITION THEN
|
||||
Axis.config.fPosition := tcUNIT_GVL.fDEFAULT_TARGET_POSITION * -1;
|
||||
ELSE Axis.config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;
|
||||
END_IF
|
||||
|
||||
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
|
||||
GVL.axes[iAxisIndex].config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
|
||||
GVL.axes[iAxisIndex].config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
|
||||
GVL.axes[iAxisIndex].config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
|
||||
GVL.axes[iAxisIndex].config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
|
||||
GVL.axes[iAxisIndex].config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="PrepareMove" Id="{589a25a0-6147-4b15-99b0-2e3d988c1f1b}">
|
||||
<Declaration><![CDATA[METHOD PrepareMove : BOOL
|
||||
VAR_IN_OUT
|
||||
Axis: ST_AxisStruct; // The axis to be driven
|
||||
END_VAR
|
||||
<Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
|
||||
<Declaration><![CDATA[METHOD mPrepareMove
|
||||
|
||||
VAR_INPUT
|
||||
iAxisIndex: INT; // The idex of the axis to action the method on.
|
||||
fTargetVelocity: LREAL;
|
||||
fTargetAcceleration: LREAL;
|
||||
fTargetDeceleration: LREAL;
|
||||
fTargetPosition: LREAL;
|
||||
eMotionStrategy: MotionFunctions;
|
||||
eMotionStrategy: MotionFunctions; // The desired MotionFunctions motion strategy.
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// Prepare an axis so it is ready to action a move when executed
|
||||
<ST><![CDATA[// Prepare the axis so it is ready to action a move when executed for a given motion strategy.
|
||||
|
||||
Axis.control.bEnable := FALSE;
|
||||
Axis.control.eCommand := eMotionStrategy;
|
||||
GVL.axes[iAxisIndex].control.bEnable := FALSE;
|
||||
GVL.axes[iAxisIndex].control.eCommand := eMotionStrategy;
|
||||
|
||||
Axis.inputs.bLimitBwd := TRUE;
|
||||
Axis.inputs.bLimitFwd := TRUE;
|
||||
GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
|
||||
GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
|
||||
|
||||
Axis.config.fVelocity := fTargetVelocity;
|
||||
Axis.config.fAcceleration := fTargetAcceleration;
|
||||
Axis.config.fDeceleration := fTargetDeceleration;
|
||||
Axis.config.fPosition := fTargetPosition;
|
||||
|
||||
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
|
||||
GVL.axes[iAxisIndex].config.fVelocity := fTargetVelocity;
|
||||
GVL.axes[iAxisIndex].config.fAcceleration := fTargetAcceleration;
|
||||
GVL.axes[iAxisIndex].config.fDeceleration := fTargetDeceleration;
|
||||
GVL.axes[iAxisIndex].config.fPosition := fTargetPosition;
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetDefaults" Id="{ec904510-9ac0-4de0-a743-94bb6933a54f}">
|
||||
<Declaration><![CDATA[METHOD SetDefaults : BOOL
|
||||
VAR_IN_OUT
|
||||
Axis: ST_AxisStruct; // The Axis to set defaults
|
||||
<Method Name="mSetAxisDefaults" Id="{5b9336be-4414-4858-a614-0fdb2847e171}">
|
||||
<Declaration><![CDATA[METHOD mSetAxisDefaults
|
||||
|
||||
VAR_INPUT
|
||||
iAxisIndex: INT; // The idex of the axis to action the method on.
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// Set PLC default values for the provided axis
|
||||
<ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
|
||||
|
||||
Axis.control.bEnable := FALSE;
|
||||
Axis.control.bExecute := FALSE;
|
||||
Axis.control.bReset := FALSE;
|
||||
Axis.control.bJogFwd := FALSE;
|
||||
Axis.control.bJogBwd := FALSE;
|
||||
Axis.control.bStop := FALSE;
|
||||
Axis.control.eCommand := MotionFunctions.MoveAbsolute;
|
||||
IF GVL.axes[iAxisIndex].status.bBusy THEN
|
||||
GVL.axes[iAxisIndex].control.bStop := TRUE;
|
||||
END_IF
|
||||
IF GVL.axes[iAxisIndex].status.bError THEN
|
||||
GVL.axes[iAxisIndex].control.bReset := TRUE;
|
||||
END_IF
|
||||
IF NOT GVL.axes[iAxisIndex].control.bEnable AND GVL.axes[iAxisIndex].control.bStop THEN
|
||||
GVL.axes[iAxisIndex].control.bStop := FALSE;
|
||||
END_IF
|
||||
|
||||
Axis.config.fVelocity := 0.0;
|
||||
Axis.config.fAcceleration := 0.0;
|
||||
Axis.config.fDeceleration := 0.0;
|
||||
Axis.config.fPosition := 0;
|
||||
Axis.config.fOverride := 0.0;
|
||||
Axis.config.nHomeSeq := 0;
|
||||
GVL.axes[iAxisIndex].control.bEnable := FALSE;
|
||||
GVL.axes[iAxisIndex].control.bExecute := FALSE;
|
||||
GVL.axes[iAxisIndex].control.bReset := FALSE;
|
||||
GVL.axes[iAxisIndex].control.bJogFwd := FALSE;
|
||||
GVL.axes[iAxisIndex].control.bJogBwd := FALSE;
|
||||
GVL.axes[iAxisIndex].control.bStop := FALSE;
|
||||
GVL.axes[iAxisIndex].control.eCommand := MotionFunctions.MoveAbsolute;
|
||||
|
||||
Axis.inputs.bLimitBwd := FALSE;
|
||||
Axis.inputs.bLimitFwd := FALSE;
|
||||
Axis.inputs.bEncLAtch := FALSE;
|
||||
Axis.inputs.bHomeSensor := FALSE;
|
||||
GVL.axes[iAxisIndex].config.fVelocity := 0.0;
|
||||
GVL.axes[iAxisIndex].config.fAcceleration := 0.0;
|
||||
GVL.axes[iAxisIndex].config.fDeceleration := 0.0;
|
||||
GVL.axes[iAxisIndex].config.fPosition := 0;
|
||||
GVL.axes[iAxisIndex].config.fOverride := 0.0;
|
||||
GVL.axes[iAxisIndex].config.nHomeSeq := 0;
|
||||
|
||||
Cycle(1); // Cycle the PLC to ensure the values have been set and results can be taken]]></ST>
|
||||
GVL.axes[iAxisIndex].inputs.bLimitBwd := FALSE;
|
||||
GVL.axes[iAxisIndex].inputs.bLimitFwd := FALSE;
|
||||
GVL.axes[iAxisIndex].inputs.bEncLAtch := FALSE;
|
||||
GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<LineIds Name="FB_tcUNIT_common">
|
||||
<LineId Id="9" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.Cycle">
|
||||
<LineIds Name="FB_tcUNIT_common.mEnableAxis">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="10" Count="1" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.Execute">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="8" Count="0" />
|
||||
<LineId Id="7" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.PrepareDefaultMove">
|
||||
<LineId Id="122" Count="3" />
|
||||
<LineId Id="133" Count="0" />
|
||||
<LineId Id="126" Count="5" />
|
||||
<LineId Id="17" Count="0" />
|
||||
<LineId Id="145" Count="0" />
|
||||
<LineId Id="140" Count="2" />
|
||||
<LineId Id="144" Count="0" />
|
||||
<LineId Id="143" Count="0" />
|
||||
<LineId Id="147" Count="0" />
|
||||
<LineId Id="146" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.PrepareMove">
|
||||
<LineId Id="122" Count="3" />
|
||||
<LineId Id="134" Count="0" />
|
||||
<LineId Id="126" Count="6" />
|
||||
<LineId Id="135" Count="1" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.SetDefaults">
|
||||
<LineId Id="7" Count="0" />
|
||||
<LineId Id="14" Count="0" />
|
||||
<LineId Id="30" Count="5" />
|
||||
<LineId Id="9" Count="0" />
|
||||
<LineId Id="20" Count="0" />
|
||||
<LineId Id="10" Count="1" />
|
||||
<LineId Id="17" Count="0" />
|
||||
<LineId Id="12" Count="0" />
|
||||
<LineId Id="21" Count="0" />
|
||||
<LineId Id="24" Count="0" />
|
||||
<LineId Id="18" Count="0" />
|
||||
<LineId Id="15" Count="1" />
|
||||
<LineId Id="22" Count="1" />
|
||||
<LineId Id="36" Count="1" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.mExecute">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="7" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.mPrepareDefaultMove">
|
||||
<LineId Id="6" Count="0" />
|
||||
<LineId Id="38" Count="0" />
|
||||
<LineId Id="8" Count="1" />
|
||||
<LineId Id="39" Count="0" />
|
||||
<LineId Id="11" Count="6" />
|
||||
<LineId Id="19" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.mPrepareMove">
|
||||
<LineId Id="17" Count="11" />
|
||||
<LineId Id="5" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_tcUNIT_common.mSetAxisDefaults">
|
||||
<LineId Id="6" Count="0" />
|
||||
<LineId Id="41" Count="0" />
|
||||
<LineId Id="34" Count="1" />
|
||||
<LineId Id="31" Count="0" />
|
||||
<LineId Id="44" Count="1" />
|
||||
<LineId Id="43" Count="0" />
|
||||
<LineId Id="36" Count="2" />
|
||||
<LineId Id="7" Count="19" />
|
||||
<LineId Id="5" Count="0" />
|
||||
</LineIds>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
@@ -1,12 +1,10 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
|
||||
<GVL Name="tcUNIT_GVL" Id="{4b23d6c9-6a88-40b7-9bf4-d55c4dfd4246}">
|
||||
<Declaration><![CDATA[// tcUNIT_GVL: Global variables used in tcUNIT tests
|
||||
<Declaration><![CDATA[// tcUNIT_GVL: Global variables used in tcUNIT tests.
|
||||
{attribute 'qualified_only'}
|
||||
VAR_GLOBAL CONSTANT
|
||||
iNumberOfAxes: INT := 1;
|
||||
|
||||
// Constants for axis defaults
|
||||
// Constants for axis defaults.
|
||||
fDEFAULT_VELOCITY: LREAL := 0.0;
|
||||
fDEFAULT_ACCELERATION: LREAL := 0.0;
|
||||
fDEFAULT_DECCELERATION: LREAL := 0.0;
|
||||
@@ -17,11 +15,9 @@ fDEFAULT_TARGET_ACCELERATION: LREAL := 0.5;
|
||||
fDEFAULT_TARGET_DECCELERATION: LREAL := 0.5;
|
||||
fDEFAULT_TARGET_POSITION: LREAL := 10.0;
|
||||
fDEFAULT_TARGET_OVERRIDE: LREAL := 100;
|
||||
|
||||
END_VAR
|
||||
|
||||
VAR_GLOBAL
|
||||
iAxis: INT;
|
||||
END_VAR]]></Declaration>
|
||||
</GVL>
|
||||
</TcPlcObject>
|
||||
@@ -6,18 +6,83 @@
|
||||
FUNCTION_BLOCK FB_Axis_TEST EXTENDS tcUnit.FB_TestSuite
|
||||
VAR
|
||||
fbCommon: FB_tcUNIT_common;
|
||||
Axis: POINTER TO ST_AxisStruct := ADR(GVL.axes[1]);
|
||||
iTargetAxis: INT := 1; // The <index> of the axis within GVL.axes[<index>] to test against.
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// Declare methods defined in the FB_Axis_TEST POU to be included (executed) in the test suite
|
||||
SetAxisEnabled();
|
||||
SetAxisMoving();
|
||||
SetAxisAcceleration();
|
||||
SetAxisPosition();
|
||||
SetAxisVelocity();]]></ST>
|
||||
SetAxisControl_Enabled();
|
||||
CheckAxisStatus_Moving();
|
||||
SetAxisConfig_Acceleration();
|
||||
CheckAxisStatus_NewPosition();
|
||||
SetAxisControl_Velocity();
|
||||
SetAxisInputs_bLimitFwd();]]></ST>
|
||||
</Implementation>
|
||||
<Method Name="SetAxisAcceleration" Id="{2efd2402-6ad3-455d-a703-347847c98522}">
|
||||
<Declaration><![CDATA[METHOD SetAxisAcceleration
|
||||
<Method Name="CheckAxisStatus_Moving" Id="{f7dcf822-91ec-4555-918f-e2487353578a}">
|
||||
<Declaration><![CDATA[METHOD CheckAxisStatus_Moving
|
||||
VAR
|
||||
Result: BOOL;
|
||||
ExpectedResult: BOOL;
|
||||
|
||||
nCycle: UINT;
|
||||
nMaxCycles: UINT := 30;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_WHEN_execute_move_THEN_axis_moves');
|
||||
|
||||
ExpectedResult := TRUE;
|
||||
|
||||
fbCommon.mPrepareDefaultMove(iTargetAxis);
|
||||
fbCommon.mExecute(iTargetAxis);
|
||||
|
||||
Result := GVL.axes[iTargetAxis].status.bBusy;
|
||||
|
||||
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'Axis is not moving.');
|
||||
TEST_FINISHED();
|
||||
ELSE
|
||||
nCycle := nCycle + 1;
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="CheckAxisStatus_NewPosition" Id="{604b9446-af57-41db-afac-f53f5b12cc2c}">
|
||||
<Declaration><![CDATA[METHOD CheckAxisStatus_NewPosition
|
||||
VAR
|
||||
InitialValue: LREAL;
|
||||
Result: LREAL;
|
||||
ExpectedResult: LREAL;
|
||||
nCycle: UINT;
|
||||
nCycleMax: UINT := 100;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_set_WHEN_executed_THEN_axis_moves_to_new_position');
|
||||
|
||||
// Since the axis has state; a test might begin the position at some location set by
|
||||
// a previous test. Therefore if we execute a move we should just check it's moved
|
||||
// from the initial location not some initial default.
|
||||
|
||||
InitialValue := GVL.axes[iTargetAxis].config.fPosition;
|
||||
ExpectedResult := InitialValue + 10;
|
||||
GVL.axes[iTargetAxis].config.fPosition := ExpectedResult;
|
||||
|
||||
GVL.axes[iTargetAxis].control.eCommand := MotionFunctions.MoveAbsolute;
|
||||
GVL.axes[iTargetAxis].control.bExecute := TRUE;
|
||||
|
||||
Result := GVL.axes[iTargetAxis].status.fActPosition;
|
||||
|
||||
IF nCycle > nCycleMax OR ExpectedResult = Result THEN
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'fPosition of the axis is different.');
|
||||
TEST_FINISHED();
|
||||
ELSE
|
||||
nCycle := nCycle + 1;
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisConfig_Acceleration" Id="{2efd2402-6ad3-455d-a703-347847c98522}">
|
||||
<Declaration><![CDATA[METHOD SetAxisConfig_Acceleration
|
||||
VAR
|
||||
InitialValue: LREAL;
|
||||
Result: LREAL;
|
||||
@@ -26,105 +91,51 @@ END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_new_axis_acceleration_set_WHEN_executed_THEN_new_axis_acceleration_set');
|
||||
|
||||
// example of direct GVL axis reference
|
||||
// example of direct GVL axis reference for assert.
|
||||
|
||||
ExpectedResult := tcUNIT_gvl.fDEFAULT_TARGET_ACCELERATION;
|
||||
fbCommon.PrepareDefaultMove(GVL.Axes[1], MotionFunctions.MoveAbsolute);
|
||||
fbCommon.mPrepareDefaultMove(iTargetAxis);
|
||||
|
||||
Result := GVL.Axes[1].config.fAcceleration;
|
||||
Result := GVL.axes[1].config.fAcceleration;
|
||||
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'fAcceleration of the axis is different.');
|
||||
|
||||
fbCommon.SetDefaults(GVL.Axes[1]);
|
||||
TEST_FINISHED();]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisEnabled" Id="{749049e6-6152-4a23-ac76-75883bd089b7}">
|
||||
<Declaration><![CDATA[METHOD SetAxisEnabled
|
||||
<Method Name="SetAxisControl_Enabled" Id="{749049e6-6152-4a23-ac76-75883bd089b7}">
|
||||
<Declaration><![CDATA[METHOD SetAxisControl_Enabled
|
||||
VAR
|
||||
Result: BOOL;
|
||||
ExpectedResult: BOOL;
|
||||
i: INT;
|
||||
nCycle: UINT;
|
||||
nMaxCycles: UINT := 30;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_prepare_default_move_WHEN_move_prepared_THEN_axis_enabled');
|
||||
|
||||
// example of pointer reference to axis structure
|
||||
// example of test that requires multiple cycles to complete. Due to stateful behaviour of the axis structure.
|
||||
|
||||
ExpectedResult := TRUE;
|
||||
GVL.axes[1].control.bEnable := ExpectedResult;
|
||||
|
||||
fbCommon.PrepareDefaultMove(Axis^, MotionFunctions.MoveAbsolute);
|
||||
|
||||
Result := Axis^.status.bEnabled;
|
||||
|
||||
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'Axis is not enabled.');
|
||||
|
||||
fbCommon.SetDefaults(Axis^);
|
||||
TEST_FINISHED();]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisMoving" Id="{f7dcf822-91ec-4555-918f-e2487353578a}">
|
||||
<Declaration><![CDATA[METHOD SetAxisMoving
|
||||
VAR
|
||||
Result: BOOL;
|
||||
ExpectedResult: BOOL;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_WHEN_execute_move_THEN_axis_moves');
|
||||
|
||||
ExpectedResult := TRUE;
|
||||
|
||||
fbCommon.PrepareDefaultMove(GVL.Axes[1], MotionFunctions.MoveAbsolute);
|
||||
fbCommon.Execute(GVL.Axes[1]);
|
||||
|
||||
IF GVL.Axes[1].control.bEnable THEN
|
||||
Result := GVL.Axes[1].status.bBusy;
|
||||
Result := GVL.axes[iTargetAxis].status.bEnabled;
|
||||
|
||||
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'Axis is not moving.');
|
||||
Message := 'Axis is not enabled.');
|
||||
TEST_FINISHED();
|
||||
ELSE
|
||||
nCycle := nCycle + 1;
|
||||
END_IF
|
||||
|
||||
fbCommon.SetDefaults(GVL.Axes[1]);
|
||||
TEST_FINISHED();]]></ST>
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisPosition" Id="{604b9446-af57-41db-afac-f53f5b12cc2c}">
|
||||
<Declaration><![CDATA[METHOD SetAxisPosition
|
||||
VAR
|
||||
InitialValue: LREAL;
|
||||
Result: LREAL;
|
||||
ExpectedResult: LREAL;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_new_axis_position_set_WHEN_executed_THEN_new_axis_position_set');
|
||||
|
||||
InitialValue := Axis^.config.fPosition;
|
||||
ExpectedResult := InitialValue + 10;
|
||||
Axis^.config.fPosition := ExpectedResult;
|
||||
|
||||
Axis^.control.eCommand := MotionFunctions.MoveAbsolute;
|
||||
Axis^.control.bExecute := TRUE;
|
||||
|
||||
Result := Axis^.config.fPosition;
|
||||
|
||||
fbCommon.Cycle(2);
|
||||
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'fPosition of the axis is different.');
|
||||
|
||||
//fbCommon.SetDefaults(GVL.Axes[1]);
|
||||
TEST_FINISHED();]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisVelocity" Id="{f87270b6-fb94-4214-bb13-17f22f6ab8f5}">
|
||||
<Declaration><![CDATA[METHOD SetAxisVelocity
|
||||
<Method Name="SetAxisControl_Velocity" Id="{f87270b6-fb94-4214-bb13-17f22f6ab8f5}">
|
||||
<Declaration><![CDATA[METHOD SetAxisControl_Velocity
|
||||
VAR
|
||||
InitialValue: LREAL;
|
||||
Result: LREAL;
|
||||
@@ -133,98 +144,96 @@ END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_new_axis_velocity_set_WHEN_executed_THEN_new_axis_velocity_set');
|
||||
|
||||
InitialValue := GVL.Axes[1].config.fVelocity;
|
||||
InitialValue := GVL.axes[iTargetAxis].config.fVelocity;
|
||||
ExpectedResult := InitialValue + 0.5;
|
||||
GVL.Axes[1].config.fVelocity := ExpectedResult;
|
||||
GVL.Axes[iTargetAxis].config.fVelocity := ExpectedResult;
|
||||
|
||||
GVL.Axes[1].control.eCommand := MotionFunctions.MoveAbsolute;
|
||||
GVL.Axes[1].control.bExecute := TRUE;
|
||||
GVL.Axes[iTargetAxis].control.eCommand := MotionFunctions.MoveAbsolute;
|
||||
GVL.Axes[iTargetAxis].control.bExecute := TRUE;
|
||||
|
||||
Result := GVL.Axes[1].config.fVelocity;
|
||||
Result := GVL.axes[iTargetAxis].config.fVelocity;
|
||||
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'fVelocity of the axis is different.');
|
||||
|
||||
fbCommon.SetDefaults(GVL.Axes[1]);
|
||||
TEST_FINISHED();]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="SetAxisInputs_bLimitFwd" Id="{6304c3b1-9e72-403e-9ae2-a5609b1efe92}">
|
||||
<Declaration><![CDATA[METHOD SetAxisInputs_bLimitFwd
|
||||
VAR
|
||||
Result: BOOL;
|
||||
ExpectedResult: BOOL;
|
||||
|
||||
nCycle: UINT;
|
||||
nMaxCycles: UINT := 30;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[TEST('test_GIVEN_prepare_default_move_WHEN_bFwEnabled_prepared_enabled_THEN_bFwEnable_enabled');
|
||||
|
||||
ExpectedResult := TRUE;
|
||||
|
||||
GVL.axes[iTargetAxis].inputs.bLimitFwd := TRUE;
|
||||
|
||||
Result := GVL.axes[iTargetAxis].status.bFwEnabled;
|
||||
|
||||
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
|
||||
AssertEquals(Expected := ExpectedResult,
|
||||
Actual := Result,
|
||||
Message := 'Axis bLimitFwd is not enabled.');
|
||||
TEST_FINISHED();
|
||||
ELSE
|
||||
nCycle := nCycle + 1;
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<LineIds Name="FB_Axis_TEST">
|
||||
<LineId Id="37" Count="0" />
|
||||
<LineId Id="34" Count="0" />
|
||||
<LineId Id="38" Count="1" />
|
||||
<LineId Id="12" Count="0" />
|
||||
<LineId Id="40" Count="0" />
|
||||
<LineId Id="48" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisAcceleration">
|
||||
<LineIds Name="FB_Axis_TEST.CheckAxisStatus_Moving">
|
||||
<LineId Id="127" Count="16" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.CheckAxisStatus_NewPosition">
|
||||
<LineId Id="121" Count="21" />
|
||||
<LineId Id="56" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisConfig_Acceleration">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="50" Count="1" />
|
||||
<LineId Id="9" Count="0" />
|
||||
<LineId Id="13" Count="0" />
|
||||
<LineId Id="30" Count="0" />
|
||||
<LineId Id="57" Count="0" />
|
||||
<LineId Id="23" Count="0" />
|
||||
<LineId Id="22" Count="0" />
|
||||
<LineId Id="25" Count="3" />
|
||||
<LineId Id="43" Count="0" />
|
||||
<LineId Id="29" Count="0" />
|
||||
<LineId Id="25" Count="4" />
|
||||
<LineId Id="24" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisEnabled">
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisControl_Enabled">
|
||||
<LineId Id="144" Count="16" />
|
||||
<LineId Id="107" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisControl_Velocity">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="10" Count="0" />
|
||||
<LineId Id="61" Count="11" />
|
||||
<LineId Id="74" Count="0" />
|
||||
<LineId Id="24" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisInputs_bLimitFwd">
|
||||
<LineId Id="24" Count="0" />
|
||||
<LineId Id="41" Count="1" />
|
||||
<LineId Id="26" Count="0" />
|
||||
<LineId Id="25" Count="0" />
|
||||
<LineId Id="11" Count="0" />
|
||||
<LineId Id="23" Count="0" />
|
||||
<LineId Id="29" Count="0" />
|
||||
<LineId Id="12" Count="0" />
|
||||
<LineId Id="34" Count="0" />
|
||||
<LineId Id="15" Count="5" />
|
||||
<LineId Id="14" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisMoving">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="10" Count="0" />
|
||||
<LineId Id="13" Count="0" />
|
||||
<LineId Id="57" Count="2" />
|
||||
<LineId Id="61" Count="1" />
|
||||
<LineId Id="67" Count="1" />
|
||||
<LineId Id="65" Count="1" />
|
||||
<LineId Id="63" Count="1" />
|
||||
<LineId Id="56" Count="0" />
|
||||
<LineId Id="29" Count="0" />
|
||||
<LineId Id="24" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisPosition">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="10" Count="0" />
|
||||
<LineId Id="9" Count="0" />
|
||||
<LineId Id="13" Count="1" />
|
||||
<LineId Id="32" Count="0" />
|
||||
<LineId Id="31" Count="0" />
|
||||
<LineId Id="30" Count="0" />
|
||||
<LineId Id="23" Count="0" />
|
||||
<LineId Id="22" Count="0" />
|
||||
<LineId Id="42" Count="1" />
|
||||
<LineId Id="25" Count="3" />
|
||||
<LineId Id="41" Count="0" />
|
||||
<LineId Id="29" Count="0" />
|
||||
<LineId Id="24" Count="0" />
|
||||
</LineIds>
|
||||
<LineIds Name="FB_Axis_TEST.SetAxisVelocity">
|
||||
<LineId Id="5" Count="0" />
|
||||
<LineId Id="10" Count="0" />
|
||||
<LineId Id="9" Count="0" />
|
||||
<LineId Id="13" Count="1" />
|
||||
<LineId Id="32" Count="0" />
|
||||
<LineId Id="31" Count="0" />
|
||||
<LineId Id="30" Count="0" />
|
||||
<LineId Id="23" Count="0" />
|
||||
<LineId Id="22" Count="0" />
|
||||
<LineId Id="25" Count="0" />
|
||||
<LineId Id="41" Count="4" />
|
||||
<LineId Id="24" Count="0" />
|
||||
<LineId Id="48" Count="2" />
|
||||
<LineId Id="67" Count="0" />
|
||||
<LineId Id="19" Count="0" />
|
||||
<LineId Id="58" Count="6" />
|
||||
<LineId Id="57" Count="0" />
|
||||
</LineIds>
|
||||
</POU>
|
||||
</TcPlcObject>
|
||||
@@ -369,14 +369,14 @@
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<PlaceholderResolution Include="Tc2_MC2">
|
||||
<Resolution>Tc2_MC2, * (Beckhoff Automation GmbH)</Resolution>
|
||||
<Resolution>Tc2_MC2, 3.3.28.0 (Beckhoff Automation GmbH)</Resolution>
|
||||
</PlaceholderResolution>
|
||||
</ItemGroup>
|
||||
<ProjectExtensions>
|
||||
<PlcProjectOptions>
|
||||
<XmlArchive>
|
||||
<Data>
|
||||
<o xml:space="preserve" t="OptionKey">
|
||||
<Data>
|
||||
<o xml:space="preserve" t="OptionKey">
|
||||
<v n="Name">"<ProjectRoot>"</v>
|
||||
<d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
|
||||
<v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
|
||||
@@ -427,15 +427,15 @@
|
||||
</d>
|
||||
<d n="Values" t="Hashtable" />
|
||||
</o>
|
||||
</Data>
|
||||
<TypeList>
|
||||
<Type n="Boolean">System.Boolean</Type>
|
||||
<Type n="Hashtable">System.Collections.Hashtable</Type>
|
||||
<Type n="Int32">System.Int32</Type>
|
||||
<Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
|
||||
<Type n="String">System.String</Type>
|
||||
</TypeList>
|
||||
</XmlArchive>
|
||||
</Data>
|
||||
<TypeList>
|
||||
<Type n="Boolean">System.Boolean</Type>
|
||||
<Type n="Hashtable">System.Collections.Hashtable</Type>
|
||||
<Type n="Int32">System.Int32</Type>
|
||||
<Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
|
||||
<Type n="String">System.String</Type>
|
||||
</TypeList>
|
||||
</XmlArchive>
|
||||
</PlcProjectOptions>
|
||||
</ProjectExtensions>
|
||||
</Project>
|
||||
25
solution/tc_project_app/tc_project_app.tmcRefac
Normal file
25
solution/tc_project_app/tc_project_app.tmcRefac
Normal file
@@ -0,0 +1,25 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Refactors>
|
||||
<Renames>
|
||||
<RenamedSymbol>
|
||||
<Type guid="749049e6-6152-4a23-ac76-75883bd089b7">SetAxisControl_Enabled</Type>
|
||||
<From>i</From>
|
||||
<To>nCycle</To>
|
||||
</RenamedSymbol>
|
||||
<RenamedSymbol>
|
||||
<Type guid="749049e6-6152-4a23-ac76-75883bd089b7">SetAxisControl_Enabled</Type>
|
||||
<From>iMaxCount</From>
|
||||
<To>nMaxCycles</To>
|
||||
</RenamedSymbol>
|
||||
<RenamedSymbol>
|
||||
<Type guid="604b9446-af57-41db-afac-f53f5b12cc2c">CheckAxisStatus_NewPosition</Type>
|
||||
<From>iCount</From>
|
||||
<To>nCycle</To>
|
||||
</RenamedSymbol>
|
||||
<RenamedSymbol>
|
||||
<Type guid="604b9446-af57-41db-afac-f53f5b12cc2c">CheckAxisStatus_NewPosition</Type>
|
||||
<From>iMaxCount</From>
|
||||
<To>nCycleMax</To>
|
||||
</RenamedSymbol>
|
||||
</Renames>
|
||||
</Refactors>
|
||||
Reference in New Issue
Block a user