Single gear in and gear out support
-Add visualisation elements for support of single gear in -Add visualisation elements for support of gear out -Change AXES() action call to use GVL.iAxis as index of FOR loop
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@@ -0,0 +1,2 @@
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<?xml version="1.0" encoding="ISO-8859-1"?>
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<TreeItem><NcAxisDef><AxisType>1</AxisType><AxisParam><Unit>mm</Unit><Dynamic><Acceleration>1500</Acceleration><Deceleration>1500</Deceleration><Jerk>2250</Jerk><AccelerationMaximum>15000</AccelerationMaximum><DecelerationMaximum>15000</DecelerationMaximum><DelayTime>0</DelayTime><SetpointGeneratorType>1</SetpointGeneratorType><OverrideType>3</OverrideType><VeloJumpFactor>0</VeloJumpFactor><ToleranceBallAuxAxis>0</ToleranceBallAuxAxis><MaxPosDeviationAuxAxis>0</MaxPosDeviationAuxAxis><FastAxisStopSignalType>0</FastAxisStopSignalType><FastAcceleration>0</FastAcceleration><FastDeceleration>0</FastDeceleration><FastJerk>0</FastJerk></Dynamic><Velo><RefSearch>30</RefSearch><RefSync>30</RefSync><SlowManual>100</SlowManual><FastManual>600</FastManual><Fast>2000</Fast><Maximum>2000</Maximum></Velo><PositionAreaControl><Enable>true</Enable><Range>5</Range></PositionAreaControl><MotionControl><Enable>false</Enable><Range>0.1</Range><Time>0.5</Time></MotionControl><Loop><Enable>false</Enable><Range>100</Range></Loop><TargetPosControl><Enable>true</Enable><Range>2</Range><Time>0.02</Time></TargetPosControl><PEHControl><Enable>false</Enable><Time>5</Time></PEHControl><BacklashCompensation><Enable>false</Enable><Range>0</Range></BacklashCompensation><OtherSettings><ErrorReactionMode>0</ErrorReactionMode><ErrorReactionDelay>0</ErrorReactionDelay><SwitchToActValuesIfDisabled>false</SwitchToActValuesIfDisabled><NoMotionWindow>1</NoMotionWindow><NoMotionFilterTime>0.01</NoMotionFilterTime><EncGrpDeadTimeComp>0</EncGrpDeadTimeComp><AllowMotionCmdToSlave>true</AllowMotionCmdToSlave><AllowMotionCmdToExtSetGenAxis>false</AllowMotionCmdToExtSetGenAxis></OtherSettings><DataPersistence>false</DataPersistence><PulseDistancePos>5</PulseDistancePos><PulseDistanceNeg>5</PulseDistanceNeg></AxisParam><Encoder><EncType>1</EncType><EncParam><ScaleFactorNumerator>0.0001</ScaleFactorNumerator><ScaleFactorDenominator>1</ScaleFactorDenominator><Offset>0</Offset><ModuloFactor>360</ModuloFactor><ToleranceWndModuloStart>0</ToleranceWndModuloStart><Inverse>false</Inverse><EncMode>2</EncMode><MaxCount>16777215</MaxCount><FilterTime><TPos>0</TPos><TVelo>0.01</TVelo><TAcc>0.1</TAcc></FilterTime><SoftEndMinControl><Enable>false</Enable><Range>0</Range></SoftEndMinControl><SoftEndMaxControl><Enable>false</Enable><Range>0</Range></SoftEndMaxControl><ActPosCorrection><Enable>false</Enable><Time>0</Time></ActPosCorrection><RejectionFilterMask>0</RejectionFilterMask><ReferenceSystem>0</ReferenceSystem><EvaluationDirection>0</EvaluationDirection><Inc><RefSearchInverse>false</RefSearchInverse><RefSyncInverse>true</RefSyncInverse><RefPosition>0</RefPosition><RefDistSearchToSyncEnabled>false</RefDistSearchToSyncEnabled><RefDistanceSearchToSync>0</RefDistanceSearchToSync><RefExternSync>false</RefExternSync><RefMode>0</RefMode><RefSoftSyncMask>1048575</RefSoftSyncMask></Inc><Sim><RandScale>0</RandScale></Sim><TimeComp><TimeCompMode>0</TimeCompMode><IoTimeAbsolute>false</IoTimeAbsolute><EncDelayCycles>0</EncDelayCycles><AdditionalTimeShift>0</AdditionalTimeShift></TimeComp></EncParam></Encoder><Drive><DrvType>5</DrvType><DrvParam><Inverse>false</Inverse><DrvMode>1</DrvMode><MinOutputLimit>-1</MinOutputLimit><MaxOutputLimit>1</MaxOutputLimit><MaxCount>65535</MaxCount><DriveControlDWord>#x00000000</DriveControlDWord><InputScalingFactorActTorque>0.1</InputScalingFactorActTorque><InputFilterTimeActTorque>0</InputFilterTimeActTorque><InputFilterTimeActTorqueDerivative>0</InputFilterTimeActTorqueDerivative><Analog><VeloReferenz>2200</VeloReferenz><OutputReferenz>1</OutputReferenz><VeloOffset>0</VeloOffset><VeloScale>1</VeloScale><PosScale>1</PosScale><AccScale>0</AccScale><TorqueScale>0</TorqueScale><PosOutputDelay>0</PosOutputDelay><VeloOutputDelay>0</VeloOutputDelay><AccOutputDelay>0</AccOutputDelay><TorqueOutputDelay>0</TorqueOutputDelay><OutputSmoothingFilterType>0</OutputSmoothingFilterType><OutputSmoothingFilterTime>0.01</OutputSmoothingFilterTime><OutputSmoothingFilterOrder>2</OutputSmoothingFilterOrder><QuadrantCompensation>1</QuadrantCompensation><VeloBendPoint>1</VeloBendPoint><OutputBendPoint>1</OutputBendPoint><ProfiDrivePosKpc>0</ProfiDrivePosKpc><TabId>0</TabId><TabIpolType>0</TabIpolType><OutputOffsetPercent>0</OutputOffsetPercent><ProfiDriveScaleXerr>1</ProfiDriveScaleXerr></Analog><Stepper><BitMaskCycle1>3</BitMaskCycle1><BitMaskCycle2>6</BitMaskCycle2><BitMaskCycle3>12</BitMaskCycle3><BitMaskCycle4>9</BitMaskCycle4><BitMaskHoldingLoad>133</BitMaskHoldingLoad></Stepper><TimeComp><TimeCompMode>0</TimeCompMode><IoTimeAbsolute>false</IoTimeAbsolute><DriveDelayCycles>1</DriveDelayCycles><TaskDelayCycles>1</TaskDelayCycles><AdditionalTimeShift>0</AdditionalTimeShift></TimeComp></DrvParam></Drive><Controller><CtrType>1</CtrType><CtrParam><CtrMode>1</CtrMode><PriorControlFactor>1</PriorControlFactor><PosDiffControl><Enable>true</Enable><Range>5</Range><Time>0.02</Time></PosDiffControl><VeloDiffControl><Enable>false</Enable><Range>0</Range><Time>0</Time></VeLine 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@@ -913,6 +913,7 @@ External Setpoint Generation:
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<Name>NC-Task 1 SVB</Name>
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</SvbTask>
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<Axis File="Axis 1.xti" Id="1"/>
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<Axis File="Axis 2.xti" Id="2"/>
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</NC>
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</Motion>
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<Plc>
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@@ -1004,6 +1005,83 @@ External Setpoint Generation:
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1: axis is a master axis
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2: axis is master and slave
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3: axis is a slave axis
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]]>
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</Comment>
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</SubVar>
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</Var>
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<Var>
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<Name>GVL.axes[2].inputs.bLimitFwd</Name>
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<Comment>
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<![CDATA[////Axis Inputs///////]]>
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</Comment>
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<Type>BOOL</Type>
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</Var>
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<Var>
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<Name>GVL.axes[2].inputs.bLimitBwd</Name>
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<Comment>
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<![CDATA[Backward limit switch]]>
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</Comment>
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<Type>BOOL</Type>
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</Var>
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<Var>
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<Name>GVL.axes[2].inputs.bHomeSensor</Name>
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<Comment>
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<![CDATA[Reference siganl for homing]]>
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</Comment>
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<Type>BOOL</Type>
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</Var>
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<Var>
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<Name>GVL.axes[2].inputs.bEncLAtch</Name>
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<Comment>
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<![CDATA[Reference index signal from inc. enconder]]>
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</Comment>
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<Type>BOOL</Type>
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</Var>
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<Var>
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<Name>GVL.axes[2].Axis.NcToPlc</Name>
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<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
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<SubVar>
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<Name>AxisState</Name>
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<Comment>
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<![CDATA[Present State Of The Axis Movement (continuous axis):
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0 = INACTIVE: axis has no job
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1 = RUNNING: axis is executing a motion job
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2 = OVERRIDE_ZERO: axis is executing a job but override is zero
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3 = PHASE_VELOCONST: axis is moving at constant velocity
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4 = PHASE_ACCPOS: axis is accelerating
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5 = PHASE_ACCNEG: axis is decelerating
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Slaves only:
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11 = PREPHASE: slave axis is in a motion pre-phase
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12 = SYNCHRONIZING: slave axis is synchronizing
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13 = SYNCHRONOUS: slave axis is moving synchronously
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External Setpoint Generation:
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41 = EXTSETGEN_MODE1: external setpoint generation active
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42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
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]]>
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</Comment>
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</SubVar>
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<SubVar>
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<Name>HomingState</Name>
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<Comment>
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<![CDATA[Axis Homing Status:
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0: idle
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1: start homing
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2: searching home switch
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3: stopping on home switch
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4: moving off home switch
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5: searching sync pulse
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6: stopping after homing
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]]>
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</Comment>
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</SubVar>
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<SubVar>
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<Name>CoupleState</Name>
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<Comment>
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<![CDATA[Axis Coupling Status:
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0: axis is a single axis (not coupled)
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1: axis is a master axis
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2: axis is master and slave
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3: axis is a slave axis
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]]>
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</Comment>
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</SubVar>
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@@ -1022,6 +1100,10 @@ External Setpoint Generation:
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<Name>GVL.axes[1].Axis.PlcToNc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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<Var>
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<Name>GVL.axes[2].Axis.PlcToNc</Name>
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<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
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</Var>
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</Vars>
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<TaskPouOids>
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<TaskPouOid Prio="20" OTCID="#x08502041"/>
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@@ -1038,6 +1120,10 @@ External Setpoint Generation:
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<Link VarA="PlcTask Inputs^GVL.axes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^GVL.axes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
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</OwnerB>
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 2">
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<Link VarA="PlcTask Inputs^GVL.axes[2].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^GVL.axes[2].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
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</OwnerB>
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</OwnerA>
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</Mappings>
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</TcSmProject>
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@@ -80,6 +80,11 @@
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<v n="TextDefault">"bFwEnabled"</v>
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<l n="LanguageTexts" t="ArrayList" />
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</o>
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<o>
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<v n="TextID">"295"</v>
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<v n="TextDefault">"bGeared"</v>
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<l n="LanguageTexts" t="ArrayList" />
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</o>
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<o>
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<v n="TextID">"42"</v>
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<v n="TextDefault">"bHomed"</v>
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@@ -160,6 +165,16 @@
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<v n="TextDefault">"fVelocity"</v>
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<l n="LanguageTexts" t="ArrayList" />
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</o>
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<o>
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<v n="TextID">"507"</v>
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<v n="TextDefault">"gearIn"</v>
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<l n="LanguageTexts" t="ArrayList" />
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</o>
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<o>
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<v n="TextID">"938"</v>
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<v n="TextDefault">"gearOut"</v>
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<l n="LanguageTexts" t="ArrayList" />
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</o>
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<o>
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<v n="TextID">"26"</v>
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<v n="TextDefault">"jog+/- reset stop home"</v>
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@@ -175,6 +190,11 @@
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<v n="TextDefault">"jogFw"</v>
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<l n="LanguageTexts" t="ArrayList" />
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</o>
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<o>
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<v n="TextID">"493"</v>
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<v n="TextDefault">"masterGear"</v>
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<l n="LanguageTexts" t="ArrayList" />
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</o>
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<o>
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<v n="TextID">"99"</v>
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<v n="TextDefault">"moveAbsolute"</v>
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@@ -242,9 +262,9 @@
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</o>
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</l>
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<l n="Languages" t="ArrayList" />
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<v n="GuidInit">{d7005498-b4fa-4a56-8593-01efab31a22a}</v>
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<v n="GuidReInit">{eb0543d6-24e5-4c0d-b12a-2b173f65a3e6}</v>
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<v n="GuidExitX">{58c39072-3512-4d2d-9972-e2fb2a30b0d1}</v>
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<v n="GuidInit">{946c8e6e-0a97-4d14-95ca-e8575d4b5b95}</v>
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<v n="GuidReInit">{156c2383-e9aa-42c6-a12a-29764abb596e}</v>
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<v n="GuidExitX">{cc9acff5-a471-4694-806c-07b8a247c706}</v>
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</o>
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</Data>
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<TypeList>
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@@ -43,8 +43,8 @@ ERROR();]]></ST>
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<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
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<Implementation>
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<ST><;
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FOR GVL.iAxis:=1 TO gvl.axisNum DO
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aFBAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
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END_FOR
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@@ -230,6 +230,41 @@
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<v></v>
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</l>
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</o>
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<o>
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<v n="TextID">"bGeared"</v>
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<v n="TextDefault">"In Gear"</v>
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<l n="LanguageTexts" t="ArrayList" cet="String">
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<v></v>
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</l>
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</o>
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<o>
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<v n="TextID">"masterGear"</v>
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<v n="TextDefault">"Master Axis"</v>
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<l n="LanguageTexts" t="ArrayList" cet="String">
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<v></v>
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</l>
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</o>
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<o>
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<v n="TextID">"gearRatio"</v>
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<v n="TextDefault">"Gear Ratio"</v>
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<l n="LanguageTexts" t="ArrayList" cet="String">
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<v></v>
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</l>
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</o>
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<o>
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<v n="TextID">"gearIn"</v>
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<v n="TextDefault">"Gear In"</v>
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<l n="LanguageTexts" t="ArrayList" cet="String">
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<v></v>
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</l>
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</o>
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<o>
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<v n="TextID">"gearOut"</v>
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<v n="TextDefault">"Gear Out"</v>
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<l n="LanguageTexts" t="ArrayList" cet="String">
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<v></v>
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</l>
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</o>
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<o>
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<v n="TextID">""</v>
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<v n="TextDefault">""</v>
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@@ -241,9 +276,9 @@
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<l n="Languages" t="ArrayList" cet="String">
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<v>Test</v>
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</l>
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<v n="GuidInit">{962e4813-aef8-4dae-aeb7-04077d21434b}</v>
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<v n="GuidReInit">{82ace71d-e165-4acf-b153-7a4cf4328067}</v>
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<v n="GuidExitX">{a31774a9-92e9-4b2c-85d2-e107f62daa07}</v>
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<v n="GuidInit">{6ee01c9c-bade-4561-8f8f-51a016e36b74}</v>
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<v n="GuidReInit">{39936094-7e9a-4d1a-be25-5739d90e11d1}</v>
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<v n="GuidExitX">{ed0a015c-01b4-4db1-a63c-fa53488b2ddf}</v>
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</o>
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</Data>
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<TypeList>
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Submodule solution/tc_project_app/tc_mca_std_lib updated: 5eb56db806...fe55ce8af8.
@@ -37,6 +37,9 @@
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<Compile Include="tc_mca_std_lib\DUTs\ST_AxisInputs.TcDUT">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="tc_mca_std_lib\DUTs\ST_GearAxis.TcDUT">
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<SubType>Code</SubType>
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</Compile>
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<Compile Include="tc_mca_std_lib\DUTs\ST_AxisStatus.TcDUT">
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<SubType>Code</SubType>
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</Compile>
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