From 7ff090c47e9ddbb7d273f963f7f5248f7b3fcb81 Mon Sep 17 00:00:00 2001 From: berti_r Date: Fri, 4 Jul 2025 15:04:27 +0200 Subject: [PATCH] config axis1 and tested --- solution/Lin_motion.tsproj | 1839 +++++++++++++++++++- solution/_Config/NC/NC.xti | 1594 ++++++++++++++++- solution/_Config/PLC/tc_project_app.xti | 1032 ++++++++++- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- 4 files changed, 4461 insertions(+), 6 deletions(-) diff --git a/solution/Lin_motion.tsproj b/solution/Lin_motion.tsproj index 36c64b6..37267d6 100644 --- a/solution/Lin_motion.tsproj +++ b/solution/Lin_motion.tsproj @@ -1,8 +1,142 @@ - + + + ARRAY [0..10] OF BIT + 11 + BIT + + 0 + 11 + + + + ARRAY [0..13] OF BIT + 14 + BIT + + 0 + 14 + + + + ARRAY [0..3] OF BIT + 4 + BIT + + 0 + 4 + + + + ARRAY [0..12] OF BIT + 13 + BIT + + 0 + 13 + + + + ARRAY [0..0] OF BIT + 1 + BIT + + 0 + 1 + + + + ARRAY [0..8] OF BIT + 9 + BIT + + 0 + 9 + + + + ARRAY [0..2] OF BIT + 3 + BIT + + 0 + 3 + + + + ARRAY [0..4] OF BIT + 5 + BIT 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+ + - + @@ -18,5 +152,1706 @@ + + + Device 1 (EtherCAT) + + +
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0
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INT + + + UDINT + + + DINT + + + ARRAY [0..3] OF BYTE + + + INT + + + DINT + + + ARRAY [0..3] OF BYTE + + + UDINT + + + USINT + + + ARRAY [0..0] OF BYTE + + + DINT + + + ARRAY [0..3] OF BYTE + + + INT + + + INT + + + ARRAY [0..7] OF BYTE + + + + + UINT + + + + + DINT + + + + + INT + + + + + UINT + + + + + UINT + + + + + INT + + + + + UDINT + + + + + BIT + + + BIT + + + BIT2 + + + BIT + + + BIT + + + ARRAY [0..1] OF BIT + + + BIT + + + BIT + + + BIT2 + + + BIT + + + BIT + + + ARRAY [0..1] OF BIT + + + + + USINT + + + + #x1600 + #x1601 + #x1602 + #x1603 + #x1604 + #x1605 + #x1606 + #x1607 + #x1608 + #x1631 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..11] OF BIT + + + BIT + + + BIT + + + ARRAY [0..13] OF BIT + + + BIT + + + BIT + + + ARRAY [0..13] OF BIT + + + LINT + + + LINT + + + INT + + + UINT + + + UINT + + + UINT + + + ARRAY [0..9] OF BYTE + + + + #x1600 + #x1601 + #x1602 + #x1603 + #x1604 + #x1605 + #x1606 + #x1607 + #x1608 + #x1630 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..11] OF BIT + + + BIT + + + BIT + + + ARRAY [0..13] OF BIT + + + BIT + + + BIT + + + ARRAY [0..13] OF BIT + + + DINT + + + ARRAY [0..3] OF BYTE + + + DINT + + + ARRAY [0..3] OF BYTE + + + INT + + + UINT + + + UINT + + + UINT + + + ARRAY [0..9] OF BYTE + + + + + + + + + Term 4 (EL9011) + 1003 + + + + + + + + + + diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index ba2dbbd..6836803 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,5 +1,1429 @@ - + + + + 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 + + + ExtTorque + LREAL + 64 + 896 + + + + NcStructType + 1 + + + + + + + + + + + + + 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 + + + OpModeStopMonitoring + BIT + 1 + 12 + + + OpModeOutputSmoothingFilter + BIT + 1 + 13 + + + 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_STATE3_FLAGS + 32 + + TouchProbe1InputState + BIT + 1 + 0 + + + TouchProbe2InputState + BIT + 1 + 1 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE3_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 + NCTOPLC_AXIS_REF_STATE3 + 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 + + + UserData + LREAL + 64 + 1984 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + + + + + + NC-Task 1 SAF @@ -16,5 +1440,173 @@ NC-Task 1 SVB + + Axis 1 + + + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index c654ed6..9067cf5 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,7 +1,989 @@ - + + + + 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 + + + OpModeStopMonitoring + BIT + 1 + 12 + + + OpModeOutputSmoothingFilter + BIT + 1 + 13 + + + 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_STATE3_FLAGS + 32 + + TouchProbe1InputState + BIT + 1 + 0 + + + TouchProbe2InputState + BIT + 1 + 1 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE3 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE3_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 + NCTOPLC_AXIS_REF_STATE3 + 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 + + + UserData + LREAL + 64 + 1984 + + + + 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 + + + ExtTorque + LREAL + 64 + 896 + + + + NcStructType + 1 + + + + + + + + + + + + - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} @@ -14,6 +996,40 @@ Safety_Shutter.bPSSPermit2 BOOL + + 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].stInputs.nTempPT100 + + INT + + + GVL.astAxes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + GVL.nAirPressureSensorGroup1 @@ -42,6 +1058,10 @@ BOOL + + GVL.astAxes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + @@ -59,4 +1079,12 @@ + + + + + + + + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index ac3e9a0..5ce6b7b 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -8,7 +8,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - nAXIS_NUM: UINT := 0; //Specifies the total of axes in the system + nAXIS_NUM: UINT := 1; //Specifies the total of axes in the system nPNEUMATIC_AXIS_NUM: UINT := 0; //Specifies the total number of pneumatic axes in the system //Pneumatic air pressure groups high and low limits