berti_r/Motion_test
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Revert change from nAXIS_NUM to nAxisNum, it is not a constant

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This commit is contained in:
Federico Rojas
2020-03-17 11:27:21 +01:00
parent 6c9885ee54
commit 9561494a7d
3 changed files with 45 additions and 47 deletions
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2
solution/tc_project_app/GVLs/GVL_APP.TcGVL
View File

@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
nAXIS_NUM : UINT:=0;
nAxisNum : UINT:=0;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>

88
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -5,7 +5,7 @@
VAR
sVersion: STRING := '1.0.0';
i: UINT; //index variable for the FOR cycle in action AXES()
aFbAxes: ARRAY [1..gvl_app.nAXIS_NUM] OF FB_Axis;
aFbAxes: ARRAY [1..gvl_app.nAxisNum] OF FB_Axis;
hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes
//Outputs: Power for Limit switches and Home Sensors (every 4th output)
@@ -25,8 +25,8 @@ VAR
bRestoreExecute: BOOL := FALSE;
bExecuteReadEncRefSys: BOOL := FALSE;
nRetry: INT;
aFbReadEncRefSys: ARRAY [1..gvl_app.nAXIS_NUM] OF MC_ReadParameter;
aFbRestorePosition: ARRAY [1..GVL_app.nAXIS_NUM] OF MC_SetPosition;
aFbReadEncRefSys: ARRAY [1..gvl_app.nAxisNum] OF MC_ReadParameter;
aFbRestorePosition: ARRAY [1..GVL_app.nAxisNum] OF MC_SetPosition;
fbGetDeviceIdentification: FB_GetDeviceIdentification;
END_VAR
@@ -42,8 +42,8 @@ AXES();]]></ST>
<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.nAXIS_NUM DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
<ST><![CDATA[FOR GVL.iAxis := 1 TO gvl_app.nAxisNum DO
aFbAxes[GVL.iAxis](stAxisStruct := gvl.axes[GVL.iAxis]);
END_FOR]]></ST>
</Implementation>
</Action>
@@ -54,7 +54,7 @@ END_FOR]]></ST>
IF eGlobalSUpsState = eSUPS_PowerFailure THEN
(* first cycle of powerfailure *)
(* execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter *)
bRestoreOnStartup:=TRUE;
bRestoreOnStartup := TRUE;
STORE_PERSISTENT();
RETURN;
ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
@@ -66,7 +66,7 @@ END_IF]]></ST>
</Action>
<Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[fbGetDeviceIdentification(bExecute:=TRUE);
<ST><![CDATA[fbGetDeviceIdentification(bExecute := TRUE);
IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '0') THEN
CHECK_UPS();
RESTORE_POSITIONS();
@@ -82,7 +82,7 @@ END_IF]]></ST>
</Action>
<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[///#########################################################
<ST><![CDATA[
// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
// Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
@@ -93,11 +93,10 @@ END_IF]]></ST>
// 0 'DontRestore'
// 1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
bRestoreOnStartup:=FALSE;
bRestoreExecute:=TRUE;
bRestoreOnStartup := FALSE;
bRestoreExecute := TRUE;
END_IF
// Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
@@ -106,41 +105,41 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
FOR i:=1 TO gvl_app.nAXIS_NUM DO
FOR i:= 1 TO gvl_app.nAxisNum DO
aFbReadEncRefSys[i](
Axis:= gvl.axes[i].Axis,
Enable:= bExecuteReadEncRefSys,
ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
Axis := gvl.axes[i].Axis,
Enable := bExecuteReadEncRefSys,
ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
Value=>,
ReadMode:= E_READMODE.READMODE_ONCE);
ReadMode := E_READMODE.READMODE_ONCE);
END_FOR
// Cycle through set position function blocks for each axis
FOR i:=1 TO gvl_app.nAXIS_NUM DO
FOR i:= 1 TO gvl_app.nAxisNum DO
aFbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
Execute:= ,
Position:= axesPersistent[i].iPositionAtShutdown);
Axis := gvl.axes[i].Axis,
Execute := ,
Position := axesPersistent[i].iPositionAtShutdown);
END_FOR
CASE eStartUp OF
eColdStart:
// First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bPositionRestoreDone THEN
eStartUp:= eReadAxisFeedbackType;
nRetry:=0;
eStartUp := eReadAxisFeedbackType;
nRetry := 0;
END_IF
eReadAxisFeedbackType:
// Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eCheckReadDone;
bExecuteReadEncRefSys := TRUE;
eStartUp := eCheckReadDone;
eCheckReadDone:
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
// If aFbReadEncRefSys not started then go back a step.
// If any axes result in an error the code will get stuck here, this happens if gvl_app.nAXIS_NUM is not set correctly
FOR i:=1 TO gvl_app.nAXIS_NUM DO
// If any axes result in an error the code will get stuck here, this happens if gvl_app.nAxisNum is not set correctly
FOR i:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[i].Valid = FALSE THEN
IF aFbReadEncRefSys[i].Busy = TRUE THEN
// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
@@ -149,32 +148,32 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Sometimes the code gets here and the aFbReadEncRefSys[i] misses the rising edge. If the code gets here it means
// .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
// Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
bExecuteReadEncRefSys:=FALSE;
eStartUp:=eReadAxisFeedbackType;
nRetry:=nRetry+1; // counter used for troubleshooting to see how many cycles it takes before aFbReadEncRefSys function blocks are read correctly
bExecuteReadEncRefSys := FALSE;
eStartUp := eReadAxisFeedbackType;
nRetry := nRetry+1; // counter used for troubleshooting to see how many cycles it takes before aFbReadEncRefSys function blocks are read correctly
RETURN;
END_IF
END_IF
END_FOR
// If the code gets here all axes either have .valid=TRUE for all axes
eStartUp:= eExecuteRestore;
eStartUp := eExecuteRestore;
eExecuteRestore:
// Execute position restore by setting aFbRestorePosition.execute = TRUE
FOR i:=1 TO gvl_app.nAXIS_NUM DO
FOR i:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[i].Valid = TRUE AND aFbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
aFbRestorePosition[i].Execute:=TRUE;
aFbRestorePosition[i].Execute := TRUE;
END_IF
END_IF
END_FOR
eStartUp:= eCheckRestore;
eStartUp := eCheckRestore;
eCheckRestore:
// Check the set position fbs are finished
// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
// bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR i:=1 TO gvl_app.nAXIS_NUM DO
FOR i:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[i].Valid = TRUE AND aFbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
IF NOT aFbRestorePosition[i].Done THEN
@@ -183,29 +182,29 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_IF
END_IF
END_FOR
eStartUp:= FinishRestore;
eStartUp := FinishRestore;
FinishRestore:
// Remove execute = TRUE for aFbRestorePosition
FOR i:=1 TO gvl_app.nAXIS_NUM DO
aFbRestorePosition[i].Execute:=FALSE;
FOR i:= 1 TO gvl_app.nAxisNum DO
aFbRestorePosition[i].Execute := FALSE;
END_FOR
bPositionRestoreDone:=TRUE;
bRestoreExecute:=FALSE;
bPositionRestoreDone := TRUE;
bRestoreExecute := FALSE;
END_CASE
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR i:=1 TO gvl_app.nAXIS_NUM DO
axesPersistent[i].iPositionAtShutdown:=gvl.axes[i].Axis.NcToPlc.ActPos;
<ST><![CDATA[FOR i:= 1 TO gvl_app.nAxisNum DO
axesPersistent[i].iPositionAtShutdown := gvl.axes[i].Axis.NcToPlc.ActPos;
IF gvl.axes[i].Axis.NcToPlc.ActVelo <> 0 THEN
axesPersistent[i].bMovingAtShutdown:=TRUE;
axesPersistent[i].bMovingAtShutdown := TRUE;
ELSE
axesPersistent[i].bMovingAtShutdown:=FALSE;
axesPersistent[i].bMovingAtShutdown := FALSE;
END_IF
axesPersistent[i].bMovingAtShutdown:=axesPersistent[i].bMovingAtShutdown OR gvl.axes[i].Axis.Status.Moving;
axesPersistent[i].bMovingAtShutdown := axesPersistent[i].bMovingAtShutdown OR gvl.axes[i].Axis.Status.Moving;
END_FOR]]></ST>
</Implementation>
</Action>
@@ -243,7 +242,6 @@ END_FOR]]></ST>
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2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 1b8def1012...6202b7b790