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diff --git a/solution/_Config/NC/Axes/VC.xti b/solution/_Config/NC/Axes/VC.xti new file mode 100644 index 0000000..41f52e4 --- /dev/null +++ b/solution/_Config/NC/Axes/VC.xti @@ -0,0 +1,1510 @@ + + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + 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b/solution/_Config/NC/Axes/VG.xti new file mode 100644 index 0000000..ea349e9 --- /dev/null +++ b/solution/_Config/NC/Axes/VG.xti @@ -0,0 +1,1509 @@ + + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + + __FILENAME__ + + + + + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 4352 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 7424 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 4672 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 7744 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 3328 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 5376 + + + + diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 32cccdf..293afa0 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -16,5 +16,11 @@ NC-Task 1 SVB + + + + + + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 9067711..c1bf9f0 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,9 +1,1124 @@ + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + GVL.astAxes[1].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[1].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[1].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[1].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[1].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[2].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[2].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[2].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[2].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[2].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[2].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[3].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[3].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[3].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[3].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[3].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[3].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[4].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[4].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[4].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[4].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[4].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[4].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[5].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[5].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[5].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[5].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[5].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[5].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[6].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[6].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[6].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[6].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[6].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[6].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + + PlcTask Outputs + + GVL.astAxes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[2].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[3].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[4].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[5].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[6].Axis.PlcToNc + PLCTONC_AXIS_REF + + + limitsPower.bEnableAxis1Limits + BOOL + + + limitsPower.bEnableAxis2Limits + BOOL + + + limitsPower.bEnableAxis1Enc + BOOL + + + limitsPower.bEnableAxis2Enc + BOOL + + + testSlitApp.iGapSizePosition + UDINT + + + testSlitApp.iGapCentrePosition + UDINT + + 0 @@ -20,4 +1135,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 4bf7c31..5f5121a 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,8 +1,8 @@ - + - + @@ -18,5 +18,11 @@ + + + + + + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index f8c5309..b747a5d 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -1,16 +1,18 @@  - +END_VAR]]> \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU deleted file mode 100644 index dbf45fb..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU new file mode 100644 index 0000000..911f27e --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU @@ -0,0 +1,57 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU new file mode 100644 index 0000000..6ec3f3f --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU @@ -0,0 +1,19 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU new file mode 100644 index 0000000..11239e5 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU @@ -0,0 +1,341 @@ + + + + + + 0 THEN + northDir := 1; +ELSIF fNorthVelSp<0 THEN + northDir:=-1; +ELSE + northDir:=0; +END_IF +IF fSouthVelSp>0 THEN + SouthDir := 1; +ELSIF fSouthVelSp<0 THEN + SouthDir:=-1; +ELSE + SouthDir:=0; +END_IF + +fVgVelSp := GVL.astAxes[1].Axis.NcToPlc.SetVelo - GVL.astAxes[2].Axis.NcToPlc.SetVelo; +fVcVelSp := GVL.astAxes[1].Axis.NcToPlc.SetVelo + GVL.astAxes[2].Axis.NcToPlc.SetVelo; + +IF fVgVelSp>0 THEN + vgDir := 1; +ELSIF fVgVelSp<0 THEN + vgDir:=-1; +ELSE + vgDir:=0; +END_IF +IF fVcVelSp>0 THEN + vcDir := 1; +ELSIF fVcVelSp<0 THEN + vcDir:=-1; +ELSE + vcDir:=0; +END_IF + + +fVgSp := GVL.astAxes[northBlade_ID].Axis.NcToPlc.SetPos - GVL.astAxes[southBlade_ID].Axis.NcToPlc.SetPos; +fVcSp := (GVL.astAxes[northBlade_ID].Axis.NcToPlc.SetPos + GVL.astAxes[southBlade_ID].Axis.NcToPlc.SetPos) / 2; + + + +//IF northSpGenEnable.Enabled OR southSpGenEnable THEN + // +//END_IF + + CASE istate OF + 0: + IF GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving THEN + iState:=1; + END_IF + IF GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving THEN + iState:=10; + END_IF + + 1: + northSpGenEnable.Execute:=TRUE; + southSpGenEnable.Execute:=TRUE; + iState:=2; + 2: + IF NOT(GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving) THEN + iState:=3; + END_IF + 3: + northSpGenDisable.Execute:=TRUE; + southSpGenDisable.Execute:=TRUE; + iState:=0; + + 10: + vgSpGenEnable.Execute :=TRUE; + vcSpGenEnable.Execute:=TRUE; + iState:=11; + 11: + IF NOT(GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving) THEN + iState:=12; + END_IF + 12: + vgSpGenDisable.Execute :=TRUE; + vcSpGenDisable.Execute:=TRUE; + iState:=0; + + END_CASE +(*IF (GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving) AND NOT(vgSpGenEnable.Enabled OR vcSpGenEnable.Enabled) THEN + northSpGenEnable.Execute:=TRUE; + southSpGenEnable.Execute:=TRUE; +END_IF +IF NOT(GVL.astAxes[VG_ID].stStatus.bMoving) AND NOT(GVL.astAxes[VC_ID].stStatus.bMoving) THEN + northSpGenDisable.Execute:=TRUE; + southSpGenDisable.Execute:=TRUE; +END_IF +IF GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving AND NOT(northSpGenEnable.Enabled OR southSpGenEnable.Enabled) AND NOT(northSpGenEnable.Execute) THEN + vgSpGenEnable.Execute :=TRUE; + vcSpGenEnable.Execute:=TRUE; +END_IF +IF NOT(GVL.astAxes[1].stStatus.bMoving) AND NOT(GVL.astAxes[2].stStatus.bMoving) THEN + vgSpGenDisable.Execute :=TRUE; + vcSpGenDisable.Execute:=TRUE; +END_IF*) + + + + +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[northBlade_ID].Axis, Position:= fNorthSp, Velocity:=fNorthVelSp, Acceleration:=0,Direction:=northDir); +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[southBlade_ID].Axis, Position:= fSouthSp, Velocity:=fSouthVelSp, Acceleration:=0,Direction:=southDir); +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[3].Axis, Position:= fVgSp, Velocity:=fVgVelSp, Acceleration:=0,Direction:=vgDir); +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[4].Axis, Position:= fVcSp, Velocity:=fVcVelSp, Acceleration:=0,Direction:=vcDir); + + + + +lastCycleSP_North := GVL.astAxes[1].Axis.NcToPlc.SetPos; +lastCycleSP_South := GVL.astAxes[2].Axis.NcToPlc.SetPos; +lastCycleSP_VG := GVL.astAxes[3].Axis.NcToPlc.SetPos; +lastCycleSP_VC := GVL.astAxes[4].Axis.NcToPlc.SetPos; + + + + + + + +//END_IF]]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU deleted file mode 100644 index b7dc9f6..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU deleted file mode 100644 index 1bd9a51..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU new file mode 100644 index 0000000..eba0a13 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU @@ -0,0 +1,15 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 16ea784..a1b8dd9 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -75,16 +75,9 @@ END_IF]]> - + @@ -234,14 +227,7 @@ END_FOR]]> - - - - - - - - + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ef11a1b..b480174 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ef11a1b4c06047b86d3852e31ed5242c9f5ca51e +Subproject commit b480174ad58ac9c260980ff5b8c8927f3d3d5cb9 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 0c11005..f0e0565 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -28,13 +28,13 @@ Code - + Code - + Code - + Code