Fix white space damage
This commit is contained in:
Paul Barron
@@ -47,7 +47,7 @@ VAR
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fbUPS : FB_S_UPS_CX51x0;
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eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
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fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
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END_VAR
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VAR PERSISTENT
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iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
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@@ -157,110 +157,110 @@ END_FOR]]></ST>
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// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
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IF bPositionRestoreDone = FALSE THEN
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// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
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// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
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// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
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FOR i:=1 TO gvl_app.axisNum DO
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fbReadEncRefSys[i](
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Axis:= gvl.axes[i].Axis,
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Enable:= bExecuteReadEncRefSys,
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ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
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Value=>,
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ReadMode:= E_READMODE.READMODE_ONCE);
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END_FOR
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FOR i:=1 TO gvl_app.axisNum DO
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fbReadEncRefSys[i](
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Axis:= gvl.axes[i].Axis,
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Enable:= bExecuteReadEncRefSys,
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ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
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Value=>,
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ReadMode:= E_READMODE.READMODE_ONCE);
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END_FOR
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// Cycle through set position function blocks for each axis
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// Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
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FOR i:=1 TO gvl_app.axisNum DO
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fbRestorePosition[i](
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Axis:= gvl.axes[i].Axis,
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Execute:= ,
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Position:= iPositionAtShutdown[i]);
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END_FOR
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// Cycle through set position function blocks for each axis
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// Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
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FOR i:=1 TO gvl_app.axisNum DO
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fbRestorePosition[i](
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Axis:= gvl.axes[i].Axis,
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Execute:= ,
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Position:= iPositionAtShutdown[i]);
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END_FOR
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CASE eStartUp OF
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ColdStart:
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// First cycle of the PLC, do nothing just give one cycle for variables to initialise
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IF NOT bPositionRestoreDone THEN
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eStartUp:=eStartUp+1;
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iRetry:=0;
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END_IF
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ReadAxisFeedbackType:
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// Exectute the FUNCTION blocks TO read the encoder REFERENCE system (inc OR ABS)
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bExecuteReadEncRefSys:=TRUE;
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eStartUp:=eStartUp+1;
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CheckReadDone:
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// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time
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// If fbReadEncRefSys not started then go back a step
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Valid = FALSE THEN
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IF fbReadEncRefSys[i].Busy = TRUE THEN
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// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
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RETURN;
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ELSE
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// Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
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// If the code gets here it means .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started
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// and thus needs to see a rising edge. Set execute to low and go back a step in the CASE.
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bExecuteReadEncRefSys:=FALSE;
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eStartUp:=eStartUp-1;
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iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
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RETURN;
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END_IF
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END_IF
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END_FOR
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// If the code gets here all axes either have .valid=TRUE for all axes
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eStartUp:=eStartUp+1;
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PrepareToRestore:
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// Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
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gvl.axes[i].control.eCommand:=MotionFunctions.Home;
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gvl.axes[i].config.nHomeSeq:=15;
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gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
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END_IF
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END_FOR
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eStartUp:=eStartUp+1;
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ExecuteRestore:
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// Execute position restore using either mode 1: fbRestorePosition or mode 2: normal direct homing (depending on mode)
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
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CASE GVL.axes[i].config.eRestorePosition OF
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RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
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RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
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END_CASE
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END_IF
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END_FOR
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eStartUp:=eStartUp+1;
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CheckRestore:
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// Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
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// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
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// bPositionRestoreDone will never get set to TRUE
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
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CASE gvl.axes[i].config.eRestorePosition OF
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RestorePosition.RestoreWithoutHome:
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IF NOT fbRestorePosition[i].Done THEN
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RETURN;
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END_IF
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RestorePosition.RestoreWithHome:
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IF NOT gvl.axes[i].status.bHomed THEN
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RETURN;
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END_IF
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END_CASE
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END_IF
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END_FOR
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eStartUp:=eStartUp+1;
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FinishRestore: // Remove execute = TRUE for fbRestorePosition
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FOR i:=1 TO gvl_app.axisNum DO
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fbRestorePosition[i].Execute:=FALSE;
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END_FOR
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bPositionRestoreDone:=TRUE;
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END_CASE
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ColdStart:
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// First cycle of the PLC, do nothing just give one cycle for variables to initialise
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IF NOT bPositionRestoreDone THEN
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eStartUp:=eStartUp+1;
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iRetry:=0;
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END_IF
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ReadAxisFeedbackType:
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// Exectute the FUNCTION blocks TO read the encoder REFERENCE system (inc OR ABS)
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bExecuteReadEncRefSys:=TRUE;
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eStartUp:=eStartUp+1;
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CheckReadDone:
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// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time
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// If fbReadEncRefSys not started then go back a step
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Valid = FALSE THEN
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IF fbReadEncRefSys[i].Busy = TRUE THEN
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// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
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RETURN;
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ELSE
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// Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
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// If the code gets here it means .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started
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// and thus needs to see a rising edge. Set execute to low and go back a step in the CASE.
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bExecuteReadEncRefSys:=FALSE;
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eStartUp:=eStartUp-1;
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iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
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RETURN;
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END_IF
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END_IF
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END_FOR
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// If the code gets here all axes either have .valid=TRUE for all axes
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eStartUp:=eStartUp+1;
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PrepareToRestore:
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// Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
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gvl.axes[i].control.eCommand:=MotionFunctions.Home;
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gvl.axes[i].config.nHomeSeq:=15;
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gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
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END_IF
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END_FOR
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eStartUp:=eStartUp+1;
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ExecuteRestore:
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// Execute position restore using either mode 1: fbRestorePosition or mode 2: normal direct homing (depending on mode)
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
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CASE GVL.axes[i].config.eRestorePosition OF
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RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
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RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
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END_CASE
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END_IF
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END_FOR
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eStartUp:=eStartUp+1;
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CheckRestore:
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// Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
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// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
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// bPositionRestoreDone will never get set to TRUE
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
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CASE gvl.axes[i].config.eRestorePosition OF
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RestorePosition.RestoreWithoutHome:
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IF NOT fbRestorePosition[i].Done THEN
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RETURN;
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END_IF
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RestorePosition.RestoreWithHome:
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IF NOT gvl.axes[i].status.bHomed THEN
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RETURN;
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END_IF
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END_CASE
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END_IF
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END_FOR
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eStartUp:=eStartUp+1;
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FinishRestore: // Remove execute = TRUE for fbRestorePosition
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FOR i:=1 TO gvl_app.axisNum DO
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fbRestorePosition[i].Execute:=FALSE;
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END_FOR
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bPositionRestoreDone:=TRUE;
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END_CASE
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END_IF]]></ST>
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</Implementation>
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</Action>
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