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Merged in MBP-116-motion-function-blocks-outputs (pull request #42)

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MBP-116 motion function blocks outputs
This commit is contained in:
Harald Kleines
2020-06-22 15:52:59 +00:00
committed by Federico Rojas
parent 5d7df10f13 211968a18f
commit 9a350e85de
7 changed files with 106 additions and 307 deletions
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19
solution.sln
View File

@@ -1,7 +1,7 @@
Microsoft Visual Studio Solution File, Format Version 12.00
# TcXaeShell Solution File, Format Version 11.00
VisualStudioVersion = 15.0.28010.2050
# Visual Studio 2013
VisualStudioVersion = 12.0.21005.1
MinimumVisualStudioVersion = 10.0.40219.1
Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}"
EndProject
@@ -49,21 +49,6 @@ Global
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE

18
solution/solution.tsproj
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@@ -17,7 +17,23 @@
<NC File="NC.xti"/>
</Motion>
<Plc>
<Project File="tc_project_app.xti"/>
<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="tc_project_app\tc_project_app.plcproj" TmcFilePath="tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
<Name>tc_project_app Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="2">
<Name>PlcTask Outputs</Name>
<Var>
<Name>MAIN.bOutput1</Name>
<Comment><![CDATA[Outputs: Power for Limit switches and Home Sensors (every 4th output)]]></Comment>
<Type>BOOL</Type>
</Var>
</Vars>
<TaskPouOids>
<TaskPouOid Prio="20" OTCID="#x08502041"/>
</TaskPouOids>
</Instance>
</Project>
</Plc>
</Project>
</TcSmProject>

238
solution/tc_project_app/GlobalTextList.TcGTLO
View File

@@ -10,31 +10,11 @@
<v n="TextDefault">"%2.2f"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"165"</v>
<v n="TextDefault">"%2.3f"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"543"</v>
<v n="TextDefault">"%2.4f"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"878"</v>
<v n="TextDefault">"%d"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"294"</v>
<v n="TextDefault">"%f"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"706"</v>
<v n="TextDefault">"%i"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"821"</v>
<v n="TextDefault">"%s"</v>
@@ -45,16 +25,6 @@
<v n="TextDefault">"%x"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"703"</v>
<v n="TextDefault">"Acknowledge"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"710"</v>
<v n="TextDefault">"Active:"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"952"</v>
<v n="TextDefault">"actPos"</v>
@@ -85,6 +55,16 @@
<v n="TextDefault">"bBwEnabled"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"633"</v>
<v n="TextDefault">"bCoammandAborted"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"225"</v>
<v n="TextDefault">"bCommandAborted"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"946"</v>
<v n="TextDefault">"bDone"</v>
@@ -120,74 +100,9 @@
<v n="TextDefault">"bHomed"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"947"</v>
<v n="TextDefault">"bResetDone"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"693"</v>
<v n="TextDefault">"bSet"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"944"</v>
<v n="TextDefault">"bWarning"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"704"</v>
<v n="TextDefault">"Clear All"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"712"</v>
<v n="TextDefault">"eHomeBwdLimit"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"530"</v>
<v n="TextDefault">"eHomeBwdToEncRef"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"386"</v>
<v n="TextDefault">"eHomeBwdToEncRef2speed"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"341"</v>
<v n="TextDefault">"eHomeBwdToEncRef2speeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"387"</v>
<v n="TextDefault">"eHomeBwdToLimit2speeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"964"</v>
<v n="TextDefault">"eHomeBwdToRef"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"35"</v>
<v n="TextDefault">"eHomeBwdToRef2speeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"650"</v>
<v n="TextDefault">"eHomeBwdToReference"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"480"</v>
<v n="TextDefault">"eHomeBwdToReference2speed"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"339"</v>
<v n="TextDefault">"eHomeBwdToReference2speeds"</v>
<v n="TextDefault">"bCommandAborted"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
@@ -195,56 +110,6 @@
<v n="TextDefault">"ehomeDirect"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"328"</v>
<v n="TextDefault">"eHomeFwdToEncRef"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"125"</v>
<v n="TextDefault">"eHomeFwdToEncRef2speeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"484"</v>
<v n="TextDefault">"eHomeFwdToEncRef_viaFwdLimit"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"374"</v>
<v n="TextDefault">"eHomeFwdToLimit"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"851"</v>
<v n="TextDefault">"eHomeFwdToLimit2speeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"693"</v>
<v n="TextDefault">"eHomeBwdToLimit"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"489"</v>
<v n="TextDefault">"eHomeBwdToLimit2speeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"445"</v>
<v n="TextDefault">"eHomeBwdToLimitspeeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"637"</v>
<v n="TextDefault">"eHomeFwdToLimit"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"351"</v>
<v n="TextDefault">"eHomeFwdToLimit2speeds"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"198"</v>
<v n="TextDefault">"eHomeToEncPulse_Bwd"</v>
@@ -265,36 +130,6 @@
<v n="TextDefault">"eHomeToEncPulse_viaFwdLimit"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"535"</v>
<v n="TextDefault">"eHomeToEncRefBwd"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"367"</v>
<v n="TextDefault">"eHomeToEncRefFwd"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"358"</v>
<v n="TextDefault">"eHomeToEncRef_viaBwdLimi"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"740"</v>
<v n="TextDefault">"eHomeToEncRef_viaBwdLimit"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"689"</v>
<v n="TextDefault">"eHomeToLimitBwd"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"504"</v>
<v n="TextDefault">"eHomeToLimitFwd"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"312"</v>
<v n="TextDefault">"eHomeToLimit_Bwd"</v>
@@ -305,16 +140,6 @@
<v n="TextDefault">"eHomeToLimit_Fwd"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"432"</v>
<v n="TextDefault">"eHomeToRefBwd"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"285"</v>
<v n="TextDefault">"eHomeToRefFwd"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"150"</v>
<v n="TextDefault">"eHomeToRef_Bwd"</v>
@@ -351,23 +176,8 @@
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"701"</v>
<v n="TextDefault">"Error #"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"705"</v>
<v n="TextDefault">"Error #:"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"702"</v>
<v n="TextDefault">"Error Log"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"707"</v>
<v n="TextDefault">"Errors:"</v>
<v n="TextID">"768"</v>
<v n="TextDefault">"eWriteParameter"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
@@ -415,11 +225,6 @@
<v n="TextDefault">"fReadAxisParameter"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"708"</v>
<v n="TextDefault">"Free Entries:"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"954"</v>
<v n="TextDefault">"fVelocity"</v>
@@ -460,11 +265,6 @@
<v n="TextDefault">"homeSensorPos"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"711"</v>
<v n="TextDefault">"Inactive:"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"116"</v>
<v n="TextDefault">"jogBw"</v>
@@ -505,16 +305,6 @@
<v n="TextDefault">"nIndex"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"709"</v>
<v n="TextDefault">"Overflows:"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"993"</v>
<v n="TextDefault">"Read"</v>
<l n="LanguageTexts" t="ArrayList" />
</o>
<o>
<v n="TextID">"942"</v>
<v n="TextDefault">"reset"</v>
@@ -566,4 +356,4 @@
</TypeList>
</XmlArchive>
</GlobalTextList>
</TcPlcObject>
</TcPlcObject>

122
solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
View File

@@ -13,37 +13,37 @@ END_VAR]]></Declaration>
<Method Name="mDisableAxis" Id="{22a3dd98-69f0-4b92-8109-1b0c2fe2344d}">
<Declaration><![CDATA[METHOD mDisableAxis: BOOL
VAR_INPUT
iAxisIndex: UINT; //The idex of the axis to action the method on.
nAxisIndex: UINT; //The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;]]></ST>
<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;]]></ST>
</Implementation>
</Method>
<Method Name="mEnableAxis" Id="{12e91532-7139-4c17-998e-4c670b584b9d}">
<Declaration><![CDATA[METHOD mEnableAxis: BOOL
VAR_INPUT
iAxisIndex: UINT; //The idex of the axis to action the method on.
nAxisIndex: UINT; //The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;]]></ST>
<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
<Declaration><![CDATA[METHOD mExecute: BOOL
VAR_INPUT
iAxisIndex: UINT; //The idex of the axis to action the method on.
nAxisIndex: UINT; //The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="mExecute_SetFALSE" Id="{cc074392-b19d-414a-9010-72a4fa4d5f7a}">
<Declaration><![CDATA[METHOD mExecute_SetFALSE: BOOL
VAR_INPUT
iAxisIndex: UINT; //The idex of the axis to action the method on.
nAxisIndex: UINT; //The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := TRUE;]]></ST>
<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="mGearOut" Id="{65c5860b-0759-45a5-a8a4-27fe9453aa76}">
@@ -60,28 +60,28 @@ END_VAR
<Declaration><![CDATA[METHOD mPrepareDefaultMove
VAR_INPUT
iAxisIndex: UINT; //The idex of the axis to action the method on.
nAxisIndex: UINT; //The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[//Prepare an axis so it is ready to action a move using target defaults when executed.
GVL.astAxes[iAxisIndex].stControl.bEnable := TRUE;
GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
GVL.astAxes[nAxisIndex].stControl.bEnable := TRUE;
GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
GVL.astAxes[iAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
GVL.astAxes[iAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
GVL.astAxes[iAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
GVL.astAxes[iAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
GVL.astAxes[iAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
GVL.astAxes[nAxisIndex].stConfig.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
GVL.astAxes[nAxisIndex].stConfig.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
GVL.astAxes[nAxisIndex].stConfig.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
GVL.astAxes[nAxisIndex].stConfig.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
GVL.astAxes[nAxisIndex].stConfig.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
</Implementation>
</Method>
<Method Name="mPrepareGearInMultiMaster" Id="{b94784af-8414-4f79-a0cd-7d3b82710c1e}">
<Declaration><![CDATA[METHOD mPrepareGearInMultiMaster
VAR_INPUT
iAxisIndex: UINT; // The idex of the axis to action the method on.
nAxisIndex: UINT; // The idex of the axis to action the method on.
astGearAxis: ARRAY[1..4] OF ST_GearAxis;
END_VAR
VAR
@@ -89,30 +89,30 @@ VAR
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Prepare the axis so it is ready to be coupled
GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eGearInMultiMaster;
FOR i:= 1 TO tcUNIT_GVL.nMAX_MASTERS DO
GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
GVL.astAxes[iAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].nIndex:=astGearAxis[i].nIndex;
GVL.astAxes[nAxisIndex].stConfig.astMultiMasterAxis[i].fRatio:=astGearAxis[i].fRatio;
END_FOR]]></ST>
</Implementation>
</Method>
<Method Name="mPrepareHome" Id="{29a1cce2-2fc4-48e1-86f6-27b6dd699cd2}">
<Declaration><![CDATA[METHOD mPrepareHome
VAR_INPUT
iAxisIndex: UINT; // The idex of the axis to action the method on.
nAxisIndex: UINT; // The idex of the axis to action the method on.
eHomingRoutine: E_HomingRoutines;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
GVL.astAxes[iAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eHome;
GVL.astAxes[nAxisIndex].stConfig.eHomeSeq:= eHomingRoutine;]]></ST>
</Implementation>
</Method>
<Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
<Declaration><![CDATA[METHOD mPrepareMove
VAR_INPUT
iAxisIndex: UINT; //The idex of the axis to action the method on.
nAxisIndex: UINT; //The idex of the axis to action the method on.
fTargetVelocity: LREAL;
fTargetAcceleration: LREAL;
fTargetDeceleration: LREAL;
@@ -122,22 +122,22 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[//Prepare the axis so it is ready to action a move when executed for a given motion strategy.
GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
GVL.astAxes[iAxisIndex].stControl.eCommand := eMotionStrategy;
GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;
GVL.astAxes[nAxisIndex].stControl.eCommand := eMotionStrategy;
GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := TRUE;
GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := TRUE;
GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := TRUE;
GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := TRUE;
GVL.astAxes[iAxisIndex].stConfig.fVelocity := fTargetVelocity;
GVL.astAxes[iAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
GVL.astAxes[iAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
GVL.astAxes[iAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
GVL.astAxes[nAxisIndex].stConfig.fVelocity := fTargetVelocity;
GVL.astAxes[nAxisIndex].stConfig.fAcceleration := fTargetAcceleration;
GVL.astAxes[nAxisIndex].stConfig.fDeceleration := fTargetDeceleration;
GVL.astAxes[nAxisIndex].stConfig.fPosition := fTargetPosition;]]></ST>
</Implementation>
</Method>
<Method Name="mReset" Id="{59e8bfe4-ab50-4ad3-9095-95e359837091}">
<Declaration><![CDATA[METHOD mReset : BOOL
VAR_INPUT
iAxisIndex: UINT; // The idex of the axis to action the method on.
nAxisIndex: UINT; // The idex of the axis to action the method on.
END_VAR
VAR
iCycles: UINT;
@@ -145,10 +145,10 @@ VAR
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
<ST><![CDATA[GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
FOR iCycles:= 1 TO iMaxCycles DO
GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
IF GVL.astaxes[iAxisIndex].stStatus.bError := FALSE THEN
GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
IF GVL.astaxes[nAxisIndex].stStatus.bError := FALSE THEN
EXIT;
END_IF
END_FOR]]></ST>
@@ -158,39 +158,39 @@ END_FOR]]></ST>
<Declaration><![CDATA[METHOD mSetAxisDefaults
VAR_INPUT
iAxisIndex: UINT; //The idex of the axis to action the method on.
nAxisIndex: UINT; //The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
IF GVL.astAxes[iAxisIndex].stStatus.bBusy THEN
GVL.astAxes[iAxisIndex].stControl.bStop := TRUE;
IF GVL.astAxes[nAxisIndex].stStatus.bBusy THEN
GVL.astAxes[nAxisIndex].stControl.bStop := TRUE;
END_IF
IF GVL.astAxes[iAxisIndex].stStatus.bError THEN
GVL.astAxes[iAxisIndex].stControl.bReset := TRUE;
IF GVL.astAxes[nAxisIndex].stStatus.bError THEN
GVL.astAxes[nAxisIndex].stControl.bReset := TRUE;
END_IF
IF NOT GVL.astAxes[iAxisIndex].stControl.bEnable AND GVL.astAxes[iAxisIndex].stControl.bStop THEN
GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
IF NOT GVL.astAxes[nAxisIndex].stControl.bEnable AND GVL.astAxes[nAxisIndex].stControl.bStop THEN
GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
END_IF
GVL.astAxes[iAxisIndex].stControl.bEnable := FALSE;
GVL.astAxes[iAxisIndex].stControl.bExecute := FALSE;
GVL.astAxes[iAxisIndex].stControl.bReset := FALSE;
GVL.astAxes[iAxisIndex].stControl.bJogFwd := FALSE;
GVL.astAxes[iAxisIndex].stControl.bJogBwd := FALSE;
GVL.astAxes[iAxisIndex].stControl.bStop := FALSE;
GVL.astAxes[iAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
GVL.astAxes[nAxisIndex].stControl.bEnable := FALSE;
GVL.astAxes[nAxisIndex].stControl.bExecute := FALSE;
GVL.astAxes[nAxisIndex].stControl.bReset := FALSE;
GVL.astAxes[nAxisIndex].stControl.bJogFwd := FALSE;
GVL.astAxes[nAxisIndex].stControl.bJogBwd := FALSE;
GVL.astAxes[nAxisIndex].stControl.bStop := FALSE;
GVL.astAxes[nAxisIndex].stControl.eCommand := E_MotionFunctions.eMoveAbsolute;
GVL.astAxes[iAxisIndex].stConfig.fVelocity := 0.0;
GVL.astAxes[iAxisIndex].stConfig.fAcceleration := 0.0;
GVL.astAxes[iAxisIndex].stConfig.fDeceleration := 0.0;
GVL.astAxes[iAxisIndex].stConfig.fPosition := 0;
GVL.astAxes[iAxisIndex].stConfig.fOverride := 0.0;
GVL.astAxes[iAxisIndex].stConfig.eHomeSeq := 0;
GVL.astAxes[nAxisIndex].stConfig.fVelocity := 0.0;
GVL.astAxes[nAxisIndex].stConfig.fAcceleration := 0.0;
GVL.astAxes[nAxisIndex].stConfig.fDeceleration := 0.0;
GVL.astAxes[nAxisIndex].stConfig.fPosition := 0;
GVL.astAxes[nAxisIndex].stConfig.fOverride := 0.0;
GVL.astAxes[nAxisIndex].stConfig.eHomeSeq := 0;
GVL.astAxes[iAxisIndex].stInputs.bLimitBwd := FALSE;
GVL.astAxes[iAxisIndex].stInputs.bLimitFwd := FALSE;
GVL.astAxes[iAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
GVL.astAxes[nAxisIndex].stInputs.bLimitBwd := FALSE;
GVL.astAxes[nAxisIndex].stInputs.bLimitFwd := FALSE;
GVL.astAxes[nAxisIndex].stInputs.bHomeSensor := FALSE;]]></ST>
</Implementation>
</Method>
<LineIds Name="FB_tcUNIT_common">

2
solution/tc_project_app/Visualization Manager.TcVMO
View File

@@ -37,6 +37,7 @@
<v n="GuidShowChangeConfigDialogFunction">{00000000-0000-0000-0000-000000000000}</v>
<v n="UseStandardKeyboardHandling">true</v>
<v n="PaintDeactiveElementsGrayedOut">true</v>
<n n="GlobalOpenNumpadKeypadSettings" />
<v n="ConvertImages">false</v>
<v n="ConversionType">""</v>
</o>
@@ -511,6 +512,7 @@
<n n="FontsConfig" />
<n n="FontDownloadConfig" />
<n n="VisuInitializationCode" />
<n n="FontSettings" />
<v n="GuidVisuSettingsPou">{925c2b24-84d1-469a-954d-7af8b99219ef}</v>
<v n="GuidVisuSettingsPouInit">{f905b871-af16-47c5-a6ef-0a0918a8b009}</v>
<v n="GuidVisuSettingsPouReInit">{d3706fa7-8257-48b3-af0a-cab0afb4dc49}</v>

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 8589564960...14f8d01857

12
solution/tc_project_app/tc_project_app.plcproj
View File

@@ -30,6 +30,9 @@
<Compile Include="POUs\MAIN.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\E_AxisParameters.TcTLEO">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\E_HomingRoutines.TcTLEO">
<SubType>Code</SubType>
</Compile>
@@ -60,6 +63,9 @@
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisDescription.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisError.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisInputs.TcDUT">
<SubType>Code</SubType>
</Compile>
@@ -93,10 +99,10 @@
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_ReadNcVelocities.TcPOU">
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_Homing.TcPOU">
<Compile Include="tc_mca_std_lib\POUs\Motion\Homing\FB_ReadNcVelocities.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\VISUs\languageSupport.TcTLO">
@@ -137,6 +143,7 @@
<ItemGroup>
<Folder Include="DUTs" />
<Folder Include="GVLs" />
<Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
<Folder Include="tc_mca_std_lib\VISUs" />
<Folder Include="Test" />
<Folder Include="tc_mca_std_lib" />
@@ -145,7 +152,6 @@
<Folder Include="tc_mca_std_lib\POUs" />
<Folder Include="tc_mca_std_lib\POUs\ChangeConfig" />
<Folder Include="tc_mca_std_lib\POUs\Motion" />
<Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
<Folder Include="Test\app_tests" />
<Folder Include="Test\common" />
<Folder Include="Test\standard_library_tests" />