From 4827ed423591aa30637be492bf93e2bc281925e1 Mon Sep 17 00:00:00 2001 From: SCooper Date: Fri, 23 Jul 2021 12:03:59 +0100 Subject: [PATCH 1/8] add hardware and functions for development with test crate --- solution/_Config/NC/NC.xti | 2064 ++++++++++++++++- solution/_Config/PLC/tc_project_app.xti | 1038 +++++++++ solution/solution.tsproj | 1485 +++++++++++- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 3 +- .../Applications/Application_Template.TcPOU | 18 - .../Applications/limitsPower.TcPOU | 19 + .../Axes/Axis_Template.TcPOU | 34 - .../Application_Specific/Axes/testProg.TcPOU | 25 + solution/tc_project_app/POUs/MAIN.TcPOU | 18 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 7 +- 11 files changed, 4641 insertions(+), 72 deletions(-) delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 759c7a3..8f756c9 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,5 +1,1346 @@ - + + + + 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 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + 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 + + + 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_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 + DWORD + 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 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + NC-Task 1 SAF @@ -16,5 +1357,726 @@ NC-Task 1 SVB + + bladeNeg + + + + + + + + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 1024 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 2048 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 1344 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 2368 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + + + + + bladePos + + + + + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 2688 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 4736 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 3008 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 5056 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 1664 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 2688 + + + + + gapSize + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 4352 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 7424 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 4672 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 7744 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 3328 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 5376 + + + + + gapCentre + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 6016 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 10112 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 6336 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 10432 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 4992 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 8064 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index dbf21f9..7e94b07 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,9 +1,979 @@ + + + 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 + + + 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_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 + DWORD + 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 + + + + 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 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + GVL.astAxes[1].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[1].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[1].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[2].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[2].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[2].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[2].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[3].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[3].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[3].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[3].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[4].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[4].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[4].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[4].Axis.NcToPlc + NCTOPLC_AXIS_REF + + PlcTask Outputs @@ -11,6 +981,38 @@ BOOL + + limitsPower.bEnableAxis1Limits + BOOL + + + limitsPower.bEnableAxis2Limits + BOOL + + + limitsPower.bEnableAxis1Enc + BOOL + + + limitsPower.bEnableAxis2Enc + BOOL + + + GVL.astAxes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[2].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[3].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[4].Axis.PlcToNc + PLCTONC_AXIS_REF + @@ -28,4 +1030,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 357f4ec..3d5ac78 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,6 +1,87 @@ - + + + ARRAY [0..3] OF BIT + 4 + BIT + + 0 + 4 + + + + ARRAY [0..8] OF BIT + 9 + BIT + + 0 + 9 + + + + ARRAY [0..0] OF BIT + 1 + BIT + + 0 + 1 + + + + ARRAY [0..2] OF BIT + 3 + BIT + + 0 + 3 + + + + ARRAY [0..0] OF BYTE + 8 + BYTE + + 0 + 1 + + + + ARRAY [0..4] OF BIT + 5 + BIT + + 0 + 5 + + + + ARRAY [0..5] OF BIT + 6 + BIT + + 0 + 6 + + + + ARRAY [0..1] OF BIT + 2 + BIT + + 0 + 2 + + + + + 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff + 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000120b0000120b00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff + 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000000000ff00ffff00ffff00ff000000ff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ff000000ff00ff000000ff00ff000000ff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff000000000000ff00ff000000000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff + 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080 + 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ff00bfffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c080808000bfff00bfff00bfff00bfff00bfffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ff00bfffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff + + @@ -17,5 +98,1407 @@ + + + Device 1 (EtherCAT) + + +
-801112064
+ 131072 + 8192 + 0 + 3 + 0 + 5612 + 20480 + +
0
+ 4096 + 12288 + 2 + 0 + 1 + + 128 + 1024 + 32 + 768 + 32 + 512 + 16 + 640 + + 1795167326 + 1 + 256 + + + + + Image + + + Image-2 + + + Term 1 (EK1200) + 1000 + + + Term 2 (EL1808) + 7 + + 001001000000010004000000000000000100001000010000 + 0000000000000000001000010100000002000000000000000000000000000000 + + + BIT + + + + + BIT + + + + + BIT + + + + + BIT + + + + + BIT + + + + + BIT + + + + + BIT + + + + + BIT + + + + + + Term 3 (EL2819) + 1001 + + 001080002600010001000000800080008000001026010000 + 801080002200010002000000800080008000801022010000 + 001102002400010003000000000000000200001124010000 + 801109002000010004000000000000000800801120010000 + 0000000000000000001100020100000001000000000000000000000000000000 + 0000000000000000801100010100000002000000000000000000000000000000 + 00000000000000000d0800010100000003000000000000000000000000000000 + 0010f400f410f400 + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..3] OF BIT + + + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + + + + + + + + + + + + + + + + + + + + Term 4 (EL5002) + 1002 + + 001080002600010001000000800080008000001026010000 + 801080002200010002000000800080008000801022010000 + 001100000400000003000000000000000000001104000000 + 80110c002000010004000000000000000c00801120010000 + 0000000000000000801100010100000002000000000000000000000000000000 + 00000000000000000d0800010100000003000000000000000000000000000000 + 0010f400f410f400 + 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 + 4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000000000000983a0000000000070100000000000000000000000000000000000000000000000000000000000000 + 4443494e00000000000000000000000044432d53796e6368726f6e2028696e70757420626173656429000000000000000000000000000000983a0000000000070100000000000000000001000000000000000000000000000000000000000000 + 02000300090000000000000000000000000000000000000000000000000000002082f001010000000000 + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..8] OF BIT + + + BIT + + + BIT + + + BIT + + + UDINT + + + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..8] OF BIT + + + BIT + + + BIT + + + BIT + + + UDINT + + + + + + + + Term 5 (EL2014) + 1001 + + 001080002600010001000000800080008000001026010000 + 801080002200010002000000800080008000801022010000 + 001101002400010003000000000000000100001124010000 + 801103002000010004000000000000000300801120010000 + 0000000000000000001100020100000001000000000000000000000000000000 + 0000000000000000801100010100000002000000000000000000000000000000 + 00000000000000000d0800010100000003000000000000000000000000000000 + 0010f400f410f400 + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + + + BIT + + + BIT + + + BIT + + + BIT + + + + + BIT + + + BIT + + + BIT + + + BIT + + + + + + + + + + Term 6 (EL7041-0052) + 1003 + + 001080002600010001000000400080008000001026010000 + 801080002200010002000000400080008000801022010000 + 00110a002400010003000000000000000800001124010000 + 80110c002000010004000000000000000800801120010000 + 0000000000000000001100020100000001000000000000000000000000000000 + 0000000000000000801100010100000002000000000000000000000000000000 + 00000000000000000d0800010100000003000000000000000000000000000000 + 0010f400f410f400 + 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 + 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000 + 004003000c0000000000000000000000000000000000000000000000000000002081f001040000003400100000 + 004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000 + 020003000a0000000f00000000000000000000000000000000000000000000002010800102000000dc054d6178696d616c2063757272656e7400 + 020003000a0000000f00000000000000000000000000000000000000000000002010800202000000f401526564756365642063757272656e7400 + 020003000a0000000f00000000000000000000000000000000000000000000002010800302000000c05d4e6f6d696e616c20766f6c7461676500 + 02000300090000000b000000000000000000000000000000000000000000000020128005010000000153706565642072616e676500 + + #x1a01 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..2] OF BIT + + + ARRAY [0..3] OF BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + BIT + + + UINT + + + UINT + + + + #x1a00 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..2] OF BIT + + + ARRAY [0..3] OF BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + BIT + + + UDINT + + + UDINT + + + + + UDINT + + + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + ARRAY [0..2] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + BIT + + + + + UINT + + + UINT + + + + #x1a06 + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BYTE + + + + #x1a05 + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + INT + + + UDINT + + + + + UDINT + + + + + UDINT + + + + + DINT + + + + #x1601 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..3] OF BIT + + + ARRAY [0..0] OF BYTE + + + UINT + + + + #x1600 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..3] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + + + BIT + + + BIT + + + BIT + + + ARRAY [0..4] OF BIT + + + ARRAY [0..0] OF BYTE + + + + #x1604 + #x1605 + #x1606 + + UDINT + + + + #x1603 + #x1605 + #x1606 + + INT + + + + #x1603 + #x1604 + #x1606 + + BIT + + + BIT + + + ARRAY [0..5] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + + #x1603 + #x1604 + #x1605 + + BIT + + + BIT + + + ARRAY [0..5] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + INT + + + UINT + + + UINT + + + UINT + + + + #x1603 + #x1604 + #x1605 + + ARRAY [0..1] OF BIT + + + BIT + + + ARRAY [0..4] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + INT + + + UINT + + + UINT + + + UINT + + + + + + + + + Term 7 (EL7041-0052) + 1003 + + 001080002600010001000000400080008000001026010000 + 801080002200010002000000400080008000801022010000 + 00110a002400010003000000000000000800001124010000 + 80110c002000010004000000000000000800801120010000 + 0000000000000000001100020100000001000000000000000000000000000000 + 0000000000000000801100010100000002000000000000000000000000000000 + 00000000000000000d0800010100000003000000000000000000000000000000 + 0010f400f410f400 + 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 + 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000 + 004003000c0000000000000000000000000000000000000000000000000000002081f001040000003400100000 + 004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000 + 020003000a0000000f00000000000000000000000000000000000000000000002010800102000000dc054d6178696d616c2063757272656e7400 + 020003000a0000000f00000000000000000000000000000000000000000000002010800202000000f401526564756365642063757272656e7400 + 020003000a0000000f00000000000000000000000000000000000000000000002010800302000000c05d4e6f6d696e616c20766f6c7461676500 + 02000300090000000b000000000000000000000000000000000000000000000020128005010000000153706565642072616e676500 + + #x1a01 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..2] OF BIT + + + ARRAY [0..3] OF BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + BIT + + + UINT + + + UINT + + + + #x1a00 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..2] OF BIT + + + ARRAY [0..3] OF BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + BIT + + + UDINT + + + UDINT + + + + + UDINT + + + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + ARRAY [0..2] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BIT + + + BIT + + + + + UINT + + + UINT + + + + #x1a06 + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BYTE + + + + #x1a05 + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + INT + + + UDINT + + + + + UDINT + + + + + UDINT + + + + + DINT + + + + #x1601 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..3] OF BIT + + + ARRAY [0..0] OF BYTE + + + UINT + + + + #x1600 + + ARRAY [0..0] OF BIT + + + BIT + + + BIT + + + BIT + + + ARRAY [0..3] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + + + BIT + + + BIT + + + BIT + + + ARRAY [0..4] OF BIT + + + ARRAY [0..0] OF BYTE + + + + #x1604 + #x1605 + #x1606 + + UDINT + + + + #x1603 + #x1605 + #x1606 + + INT + + + + #x1603 + #x1604 + #x1606 + + BIT + + + BIT + + + ARRAY [0..5] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + + #x1603 + #x1604 + #x1605 + + BIT + + + BIT + + + ARRAY [0..5] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + INT + + + UINT + + + UINT + + + UINT + + + + #x1603 + #x1604 + #x1605 + + ARRAY [0..1] OF BIT + + + BIT + + + ARRAY [0..4] OF BIT + + + ARRAY [0..0] OF BYTE + + + UDINT + + + INT + + + UINT + + + UINT + + + UINT + + + + + + + + + Term 8 (EK1110) + 1004 + + + + + + + + + + + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index 8a98ec7..b6de221 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -2,13 +2,14 @@ \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU deleted file mode 100644 index dbf45fb..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU new file mode 100644 index 0000000..6ec3f3f --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU @@ -0,0 +1,19 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU deleted file mode 100644 index dfff176..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU new file mode 100644 index 0000000..6326633 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 2f0aeff..0773ba8 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -78,14 +78,9 @@ END_IF]]> - + @@ -233,12 +228,7 @@ END_FOR]]> - - - - - - + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index bc5e78c..735c9fe 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit bc5e78c637180c1baec5294f4974dbd5dd4a9bed +Subproject commit 735c9fed018b15461215dc17cac36b88494d1c00 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 2d792b5..ed41398 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -27,10 +27,10 @@ Code - + Code - + Code @@ -93,6 +93,9 @@ Code + + Code + Code From 6a79f654f16f1a3a70cd1c16e314d9dc656f5b89 Mon Sep 17 00:00:00 2001 From: SCooper Date: Tue, 27 Jul 2021 09:22:14 +0100 Subject: [PATCH 2/8] Add test program for implementing slit set, add hardware for testing slit set implementation. Update solution to point at new tc_mca_Std_lib files --- solution/_Config/NC/NC.xti | 208 ++++++++++++++++-- solution/_Config/PLC/tc_project_app.xti | 38 ++++ solution/solution.tsproj | 12 +- .../Application_Specific/Axes/testProg.TcPOU | 8 +- solution/tc_project_app/POUs/MAIN.TcPOU | 57 ++++- solution/tc_project_app/tc_mca_std_lib | 2 +- 6 files changed, 300 insertions(+), 25 deletions(-) diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 8f756c9..df2c56f 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1360,16 +1360,16 @@ External Setpoint Generation: bladeNeg - + - + - - - + + + Inputs @@ -1503,10 +1503,10 @@ External Setpoint Generation: - + - + @@ -1528,14 +1528,17 @@ External Setpoint Generation: bladePos - + - + - + + + + Inputs @@ -1671,7 +1674,7 @@ External Setpoint Generation: - + @@ -1695,9 +1698,16 @@ External Setpoint Generation: gapSize + + + - + + + + + Inputs @@ -1759,6 +1769,7 @@ External Setpoint Generation: + Inputs @@ -1831,6 +1842,8 @@ External Setpoint Generation: + + @@ -1854,9 +1867,16 @@ External Setpoint Generation: gapCentre + + + - + + + + + Inputs @@ -1918,6 +1938,7 @@ External Setpoint Generation: + Inputs @@ -1990,6 +2011,8 @@ External Setpoint Generation: + + @@ -2010,6 +2033,165 @@ External Setpoint Generation: + + Axis 5 + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 7680 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 12800 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 8000 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 13120 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 6656 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 10752 + + + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 7e94b07..6c673bb 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -905,6 +905,10 @@ External Setpoint Generation: {08500001-0000-0000-F000-000000000064} PlcTask Inputs + + MAIN.axisBladeNeg.NcToPlc + NCTOPLC_AXIS_REF + GVL.astAxes[1].stInputs.bLimitFwd BOOL @@ -973,6 +977,14 @@ External Setpoint Generation: GVL.astAxes[4].Axis.NcToPlc NCTOPLC_AXIS_REF + + MAIN.axisBladePos.NcToPlc + NCTOPLC_AXIS_REF + + + MAIN.axisGap.NcToPlc + NCTOPLC_AXIS_REF + PlcTask Outputs @@ -997,6 +1009,10 @@ External Setpoint Generation: limitsPower.bEnableAxis2Enc BOOL + + MAIN.axisBladeNeg.PlcToNc + PLCTONC_AXIS_REF + GVL.astAxes[1].Axis.PlcToNc PLCTONC_AXIS_REF @@ -1013,6 +1029,22 @@ External Setpoint Generation: GVL.astAxes[4].Axis.PlcToNc PLCTONC_AXIS_REF + + testProg.myFirstSlits.iGapSizePosition + UDINT + + + testProg.myFirstSlits.iGapCentrePosition + UDINT + + + MAIN.axisBladePos.PlcToNc + PLCTONC_AXIS_REF + + + MAIN.axisGap.PlcToNc + PLCTONC_AXIS_REF + @@ -1048,6 +1080,10 @@ External Setpoint Generation: + + + + @@ -1059,10 +1095,12 @@ External Setpoint Generation: + + diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 3d5ac78..c3d9622 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -11,7 +11,7 @@ - ARRAY [0..8] OF BIT + ARRAY [0..8] OF BIT 9 BIT @@ -20,7 +20,7 @@ - ARRAY [0..0] OF BIT + ARRAY [0..0] OF BIT 1 BIT @@ -29,7 +29,7 @@ - ARRAY [0..2] OF BIT + ARRAY [0..2] OF BIT 3 BIT @@ -47,7 +47,7 @@ - ARRAY [0..4] OF BIT + ARRAY [0..4] OF BIT 5 BIT @@ -56,7 +56,7 @@ - ARRAY [0..5] OF BIT + ARRAY [0..5] OF BIT 6 BIT @@ -65,7 +65,7 @@ - ARRAY [0..1] OF BIT + ARRAY [0..1] OF BIT 2 BIT diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU index 6326633..75161ad 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU @@ -8,11 +8,12 @@ END_VAR ]]> +myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4); +]]> @@ -20,6 +21,7 @@ myFirstSlits(iBladeNegative:=2,iBladePositive:=1, iGapSize:=3, iGapCentre:=4);]] + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 0773ba8..0ae9bb8 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -32,11 +32,48 @@ END_VAR VAR PERSISTENT bRestoreOnStartup: BOOL; +END_VAR + + +VAR +//all for testing + +axisBladeNeg : AXIS_REF; +axisBladePos : AXIS_REF; +axisGap : AXIS_REF; +powerBladeNeg : MC_POWER; +powerBladePos : MC_POWER; +powerAxisGap : MC_POWER; + +mcGearIn : MC_GEARIN; +mcGearInMulti : MC_GEARINMULTIMASTER; +mcGearOut : MC_GEAROUT; + +mcMoveAbs : MC_MOVEABSOLUTE; + END_VAR]]> - +PROG(); + +powerBladeNeg.Enable_Negative := GVL.astAxes[1].stInputs.bLimitBwd; +powerBladeNeg.Enable_Positive := GVL.astAxes[1].stInputs.bLimitFwd; +powerBladePos.Enable_Negative := GVL.astAxes[2].stInputs.bLimitBwd; +powerBladePos.Enable_Positive := GVL.astAxes[2].stInputs.bLimitFwd; +powerAxisGap.Enable_Negative:= TRUE; +powerAxisGap.Enable_Positive:= TRUE; + +powerBladeNeg(Axis:=axisBladeNeg); +powerBladePos(Axis:=axisBladePos); +powerAxisGap(Axis:=axisGap); +mcGearIn(Slave:= axisBladeNeg, Master:=axisBladePos); +mcGearInMulti(Master1:=axisBladePos,Master2:=axisGap,Slave:=axisBladeNeg); + +mcGearOut(Slave:=axisBladeNeg); + +mcMoveAbs(Axis:=axisBladeNeg); +]]> @@ -211,6 +248,22 @@ END_FOR]]> + + + + + + + + + + + + + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 735c9fe..2b22c81 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 735c9fed018b15461215dc17cac36b88494d1c00 +Subproject commit 2b22c8199b139687fe8ba11e4389ee1fdcb6054f From d982c3585edd1974a2d16b17f7c676efeb6697f7 Mon Sep 17 00:00:00 2001 From: SCooper Date: Tue, 27 Jul 2021 13:53:07 +0100 Subject: [PATCH 3/8] Clean up formatting and whitespace. Add ENUM states for slits. Improve error handling --- solution/_Config/PLC/tc_project_app.xti | 48 +++++++++--------- .../Application_Specific/Axes/testProg.TcPOU | 6 +-- solution/tc_project_app/POUs/MAIN.TcPOU | 49 ------------------- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 3 ++ 5 files changed, 30 insertions(+), 78 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 6c673bb..be2f7fe 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -909,6 +909,14 @@ External Setpoint Generation: MAIN.axisBladeNeg.NcToPlc NCTOPLC_AXIS_REF + + MAIN.axisBladePos.NcToPlc + NCTOPLC_AXIS_REF + + + MAIN.axisGap.NcToPlc + NCTOPLC_AXIS_REF + GVL.astAxes[1].stInputs.bLimitFwd BOOL @@ -977,14 +985,6 @@ External Setpoint Generation: GVL.astAxes[4].Axis.NcToPlc NCTOPLC_AXIS_REF - - MAIN.axisBladePos.NcToPlc - NCTOPLC_AXIS_REF - - - MAIN.axisGap.NcToPlc - NCTOPLC_AXIS_REF - PlcTask Outputs @@ -1013,6 +1013,22 @@ External Setpoint Generation: MAIN.axisBladeNeg.PlcToNc PLCTONC_AXIS_REF + + MAIN.axisBladePos.PlcToNc + PLCTONC_AXIS_REF + + + MAIN.axisGap.PlcToNc + PLCTONC_AXIS_REF + + + testProg.myFirstSlits.iGapSizePosition + UDINT + + + testProg.myFirstSlits.iGapCentrePosition + UDINT + GVL.astAxes[1].Axis.PlcToNc PLCTONC_AXIS_REF @@ -1029,22 +1045,6 @@ External Setpoint Generation: GVL.astAxes[4].Axis.PlcToNc PLCTONC_AXIS_REF - - testProg.myFirstSlits.iGapSizePosition - UDINT - - - testProg.myFirstSlits.iGapCentrePosition - UDINT - - - MAIN.axisBladePos.PlcToNc - PLCTONC_AXIS_REF - - - MAIN.axisGap.PlcToNc - PLCTONC_AXIS_REF - diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU index 75161ad..c9a3e1c 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU @@ -3,7 +3,7 @@ @@ -12,8 +12,7 @@ GVL.astAxes[1].stConfig.fHomePosition:=-30; GVL.astAxes[2].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Fwd; GVL.astAxes[2].stConfig.fHomePosition:=30; -myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4); -]]> +myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4, bEnable :=TRUE);]]> @@ -21,7 +20,6 @@ myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4); - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 0ae9bb8..3af7fab 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -32,47 +32,12 @@ END_VAR VAR PERSISTENT bRestoreOnStartup: BOOL; -END_VAR - - -VAR -//all for testing - -axisBladeNeg : AXIS_REF; -axisBladePos : AXIS_REF; -axisGap : AXIS_REF; -powerBladeNeg : MC_POWER; -powerBladePos : MC_POWER; -powerAxisGap : MC_POWER; - -mcGearIn : MC_GEARIN; -mcGearInMulti : MC_GEARINMULTIMASTER; -mcGearOut : MC_GEAROUT; - -mcMoveAbs : MC_MOVEABSOLUTE; - END_VAR]]> @@ -248,20 +213,6 @@ END_FOR]]> - - - - - - - - - - - - - - diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 2b22c81..3ccc0a7 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 2b22c8199b139687fe8ba11e4389ee1fdcb6054f +Subproject commit 3ccc0a747957608e6221954f8c1330fe14f2340e diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index ed41398..b034e20 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -57,6 +57,9 @@ Code + + Code + Code From cc7d2233a770cada9334e9735108d80ee18c2849 Mon Sep 17 00:00:00 2001 From: SCooper Date: Thu, 29 Jul 2021 11:23:29 +0100 Subject: [PATCH 4/8] re add axis and application templates --- solution/_Config/PLC/tc_project_app.xti | 28 --------------- .../Applications/Application_Template.TcPOU | 18 ++++++++++ .../Axes/Axis_Template.TcPOU | 34 +++++++++++++++++++ .../Application_Specific/Axes/testProg.TcPOU | 5 ++- solution/tc_project_app/POUs/MAIN.TcPOU | 2 +- 5 files changed, 57 insertions(+), 30 deletions(-) create mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index be2f7fe..a7d093c 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -905,18 +905,6 @@ External Setpoint Generation: {08500001-0000-0000-F000-000000000064} PlcTask Inputs - - MAIN.axisBladeNeg.NcToPlc - NCTOPLC_AXIS_REF - - - MAIN.axisBladePos.NcToPlc - NCTOPLC_AXIS_REF - - - MAIN.axisGap.NcToPlc - NCTOPLC_AXIS_REF - GVL.astAxes[1].stInputs.bLimitFwd BOOL @@ -1009,18 +997,6 @@ External Setpoint Generation: limitsPower.bEnableAxis2Enc BOOL - - MAIN.axisBladeNeg.PlcToNc - PLCTONC_AXIS_REF - - - MAIN.axisBladePos.PlcToNc - PLCTONC_AXIS_REF - - - MAIN.axisGap.PlcToNc - PLCTONC_AXIS_REF - testProg.myFirstSlits.iGapSizePosition UDINT @@ -1080,10 +1056,6 @@ External Setpoint Generation: - - - - diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU new file mode 100644 index 0000000..dbf45fb --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU @@ -0,0 +1,18 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU new file mode 100644 index 0000000..dfff176 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU index c9a3e1c..a9d2648 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU @@ -4,6 +4,7 @@ @@ -12,7 +13,8 @@ GVL.astAxes[1].stConfig.fHomePosition:=-30; GVL.astAxes[2].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Fwd; GVL.astAxes[2].stConfig.fHomePosition:=30; -myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4, bEnable :=TRUE);]]> +myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4); +]]> @@ -20,6 +22,7 @@ myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4, bE + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 3af7fab..7ef245d 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -34,7 +34,7 @@ VAR PERSISTENT bRestoreOnStartup: BOOL; END_VAR]]> - Date: Thu, 29 Jul 2021 11:33:08 +0100 Subject: [PATCH 5/8] Remove ISIS test crate hardware to make branch hardware independent --- solution/_Config/NC/NC.xti | 2244 ----------------- solution/_Config/PLC/tc_project_app.xti | 1048 -------- solution/solution.tsproj | 1483 +---------- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 6 +- .../Applications/limitsPower.TcPOU | 19 - .../Application_Specific/Axes/testProg.TcPOU | 28 - solution/tc_project_app/POUs/MAIN.TcPOU | 33 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 4 +- 9 files changed, 22 insertions(+), 4845 deletions(-) delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index df2c56f..32cccdf 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,1346 +1,5 @@ - - - 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 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - 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 - - - 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_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 - DWORD - 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 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - NC-Task 1 SAF @@ -1357,908 +16,5 @@ External Setpoint Generation: NC-Task 1 SVB - - bladeNeg - - - - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 1024 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 2048 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 1344 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 2368 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - - - - - bladePos - - - - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 2688 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 4736 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 3008 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 5056 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 1664 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 2688 - - - - - gapSize - - - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 4352 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 7424 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 4672 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 7744 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 3328 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 5376 - - - - - gapCentre - - - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 6016 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 10112 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 6336 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 10432 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 4992 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 8064 - - - - - Axis 5 - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 7680 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 12800 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 8000 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 13120 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 6656 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 10752 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index a7d093c..dbf21f9 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,979 +1,9 @@ - - - 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 - - - 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_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 - DWORD - 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 - - - - 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 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.astAxes[1].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[1].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[1].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[2].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[2].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[2].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[3].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[3].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[3].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[3].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[4].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[4].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[4].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[4].Axis.NcToPlc - NCTOPLC_AXIS_REF - - PlcTask Outputs @@ -981,46 +11,6 @@ External Setpoint Generation: BOOL - - limitsPower.bEnableAxis1Limits - BOOL - - - limitsPower.bEnableAxis2Limits - BOOL - - - limitsPower.bEnableAxis1Enc - BOOL - - - limitsPower.bEnableAxis2Enc - BOOL - - - testProg.myFirstSlits.iGapSizePosition - UDINT - - - testProg.myFirstSlits.iGapCentrePosition - UDINT - - - GVL.astAxes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[3].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[4].Axis.PlcToNc - PLCTONC_AXIS_REF - @@ -1038,42 +28,4 @@ External Setpoint Generation: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/solution/solution.tsproj b/solution/solution.tsproj index c3d9622..526183e 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,86 +1,5 @@ - - - ARRAY [0..3] OF BIT - 4 - BIT - - 0 - 4 - - - - ARRAY [0..8] OF BIT - 9 - BIT - - 0 - 9 - - - - ARRAY [0..0] OF BIT - 1 - BIT - - 0 - 1 - - - - ARRAY [0..2] OF BIT - 3 - BIT - - 0 - 3 - - - - ARRAY [0..0] OF BYTE - 8 - BYTE - - 0 - 1 - - - - ARRAY [0..4] OF BIT - 5 - BIT - - 0 - 5 - - - - ARRAY [0..5] OF BIT - 6 - BIT - - 0 - 6 - - - - ARRAY [0..1] OF BIT - 2 - BIT - - 0 - 2 - - - - - 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ff808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ff0000c00000c0ffffffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff - 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000120b0000120b00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff0000ff0000ff0000ff0000ff0000ff0000ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff - 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000000000ff00ffff00ffff00ff000000ff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c000ffffc0c0c000ffff808080ff00ffff00ffff00ffff00ffff00ff000000ff00ff000000ff00ff000000ff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff000000000000ff00ff000000000000ff00ffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff000000ff00ffff00ffff00ff000000ff00ffc0c0c0ff0000c0c0c0ff0000808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c00000ffc0c0c00000ff808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0000000c0c0c0000000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0008000c0c0c0008000808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff - 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080 - 424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ffff00ffff00ff808080808080808080808080808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ff00bfffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c080808000bfff00bfff00bfff00bfff00bfffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ff00bfffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff007fff007fff007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffff00ff - @@ -98,1407 +17,9 @@ - - - Device 1 (EtherCAT) - - -
-801112064
- 131072 - 8192 - 0 - 3 - 0 - 5612 - 20480 - -
0
- 4096 - 12288 - 2 - 0 - 1 - - 128 - 1024 - 32 - 768 - 32 - 512 - 16 - 640 - - 1795167326 - 1 - 256 - - - - - Image - - - Image-2 - - - Term 1 (EK1200) - 1000 - - - Term 2 (EL1808) - 7 - - 001001000000010004000000000000000100001000010000 - 0000000000000000001000010100000002000000000000000000000000000000 - - - BIT - - - - - BIT - - - - - BIT - - - - - BIT - - - - - BIT - - - - - BIT - - - - - BIT - - - - - BIT - - - - - - Term 3 (EL2819) - 1001 - - 001080002600010001000000800080008000001026010000 - 801080002200010002000000800080008000801022010000 - 001102002400010003000000000000000200001124010000 - 801109002000010004000000000000000800801120010000 - 0000000000000000001100020100000001000000000000000000000000000000 - 0000000000000000801100010100000002000000000000000000000000000000 - 00000000000000000d0800010100000003000000000000000000000000000000 - 0010f400f410f400 - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..3] OF BIT - - - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - - - - - - - - - - - - - - - - - - - - Term 4 (EL5002) - 1002 - - 001080002600010001000000800080008000001026010000 - 801080002200010002000000800080008000801022010000 - 001100000400000003000000000000000000001104000000 - 80110c002000010004000000000000000c00801120010000 - 0000000000000000801100010100000002000000000000000000000000000000 - 00000000000000000d0800010100000003000000000000000000000000000000 - 0010f400f410f400 - 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 - 4443000000000000000000000000000044432d53796e6368726f6e0000000000000000000000000000000000000000000000000000000000983a0000000000070100000000000000000000000000000000000000000000000000000000000000 - 4443494e00000000000000000000000044432d53796e6368726f6e2028696e70757420626173656429000000000000000000000000000000983a0000000000070100000000000000000001000000000000000000000000000000000000000000 - 02000300090000000000000000000000000000000000000000000000000000002082f001010000000000 - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..8] OF BIT - - - BIT - - - BIT - - - BIT - - - UDINT - - - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..8] OF BIT - - - BIT - - - BIT - - - BIT - - - UDINT - - - - - - - - Term 5 (EL2014) - 1001 - - 001080002600010001000000800080008000001026010000 - 801080002200010002000000800080008000801022010000 - 001101002400010003000000000000000100001124010000 - 801103002000010004000000000000000300801120010000 - 0000000000000000001100020100000001000000000000000000000000000000 - 0000000000000000801100010100000002000000000000000000000000000000 - 00000000000000000d0800010100000003000000000000000000000000000000 - 0010f400f410f400 - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - - - BIT - - - BIT - - - BIT - - - BIT - - - - - BIT - - - BIT - - - BIT - - - BIT - - - - - - - - - - Term 6 (EL7041-0052) - 1003 - - 001080002600010001000000400080008000001026010000 - 801080002200010002000000400080008000801022010000 - 00110a002400010003000000000000000800001124010000 - 80110c002000010004000000000000000800801120010000 - 0000000000000000001100020100000001000000000000000000000000000000 - 0000000000000000801100010100000002000000000000000000000000000000 - 00000000000000000d0800010100000003000000000000000000000000000000 - 0010f400f410f400 - 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 - 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000 - 004003000c0000000000000000000000000000000000000000000000000000002081f001040000003400100000 - 004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000 - 020003000a0000000f00000000000000000000000000000000000000000000002010800102000000dc054d6178696d616c2063757272656e7400 - 020003000a0000000f00000000000000000000000000000000000000000000002010800202000000f401526564756365642063757272656e7400 - 020003000a0000000f00000000000000000000000000000000000000000000002010800302000000c05d4e6f6d696e616c20766f6c7461676500 - 02000300090000000b000000000000000000000000000000000000000000000020128005010000000153706565642072616e676500 - - #x1a01 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..2] OF BIT - - - ARRAY [0..3] OF BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - BIT - - - UINT - - - UINT - - - - #x1a00 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..2] OF BIT - - - ARRAY [0..3] OF BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - BIT - - - UDINT - - - UDINT - - - - - UDINT - - - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - ARRAY [0..2] OF BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - BIT - - - - - UINT - - - UINT - - - - #x1a06 - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BYTE - - - - #x1a05 - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - INT - - - UDINT - - - - - UDINT - - - - - UDINT - - - - - DINT - - - - #x1601 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..3] OF BIT - - - ARRAY [0..0] OF BYTE - - - UINT - - - - #x1600 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..3] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - - - BIT - - - BIT - - - BIT - - - ARRAY [0..4] OF BIT - - - ARRAY [0..0] OF BYTE - - - - #x1604 - #x1605 - #x1606 - - UDINT - - - - #x1603 - #x1605 - #x1606 - - INT - - - - #x1603 - #x1604 - #x1606 - - BIT - - - BIT - - - ARRAY [0..5] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - - #x1603 - #x1604 - #x1605 - - BIT - - - BIT - - - ARRAY [0..5] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - INT - - - UINT - - - UINT - - - UINT - - - - #x1603 - #x1604 - #x1605 - - ARRAY [0..1] OF BIT - - - BIT - - - ARRAY [0..4] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - INT - - - UINT - - - UINT - - - UINT - - - - - - - - - Term 7 (EL7041-0052) - 1003 - - 001080002600010001000000400080008000001026010000 - 801080002200010002000000400080008000801022010000 - 00110a002400010003000000000000000800001124010000 - 80110c002000010004000000000000000800801120010000 - 0000000000000000001100020100000001000000000000000000000000000000 - 0000000000000000801100010100000002000000000000000000000000000000 - 00000000000000000d0800010100000003000000000000000000000000000000 - 0010f400f410f400 - 53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000 - 4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000 - 004003000c0000000000000000000000000000000000000000000000000000002081f001040000003400100000 - 004003000a00000000000000000000000000000000000000000000000000000020f3100502000000010000 - 020003000a0000000f00000000000000000000000000000000000000000000002010800102000000dc054d6178696d616c2063757272656e7400 - 020003000a0000000f00000000000000000000000000000000000000000000002010800202000000f401526564756365642063757272656e7400 - 020003000a0000000f00000000000000000000000000000000000000000000002010800302000000c05d4e6f6d696e616c20766f6c7461676500 - 02000300090000000b000000000000000000000000000000000000000000000020128005010000000153706565642072616e676500 - - #x1a01 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..2] OF BIT - - - ARRAY [0..3] OF BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - BIT - - - UINT - - - UINT - - - - #x1a00 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..2] OF BIT - - - ARRAY [0..3] OF BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - BIT - - - UDINT - - - UDINT - - - - - UDINT - - - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - ARRAY [0..2] OF BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BIT - - - BIT - - - - - UINT - - - UINT - - - - #x1a06 - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BYTE - - - - #x1a05 - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - INT - - - UDINT - - - - - UDINT - - - - - UDINT - - - - - DINT - - - - #x1601 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..3] OF BIT - - - ARRAY [0..0] OF BYTE - - - UINT - - - - #x1600 - - ARRAY [0..0] OF BIT - - - BIT - - - BIT - - - BIT - - - ARRAY [0..3] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - - - BIT - - - BIT - - - BIT - - - ARRAY [0..4] OF BIT - - - ARRAY [0..0] OF BYTE - - - - #x1604 - #x1605 - #x1606 - - UDINT - - - - #x1603 - #x1605 - #x1606 - - INT - - - - #x1603 - #x1604 - #x1606 - - BIT - - - BIT - - - ARRAY [0..5] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - - #x1603 - #x1604 - #x1605 - - BIT - - - BIT - - - ARRAY [0..5] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - INT - - - UINT - - - UINT - - - UINT - - - - #x1603 - #x1604 - #x1605 - - ARRAY [0..1] OF BIT - - - BIT - - - ARRAY [0..4] OF BIT - - - ARRAY [0..0] OF BYTE - - - UDINT - - - INT - - - UINT - - - UINT - - - UINT - - - - - - - - - Term 8 (EK1110) - 1004 - - - - - - + - - - + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index b6de221..75818b1 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -1,15 +1,13 @@  - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU deleted file mode 100644 index 6ec3f3f..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU deleted file mode 100644 index a9d2648..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 7ef245d..7254225 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -7,15 +7,6 @@ VAR afbAxes: ARRAY [1..GVL_APP.nAXIS_NUM] 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) - bOutput1 AT %Q*: BOOL:= TRUE; - //bOutput5 AT %Q*: BOOL:= TRUE; - //bOutput13 AT %Q*: BOOL:= TRUE; - //bOutput17 AT %Q*: BOOL:= TRUE; - //bOutput21 AT %Q*: BOOL:= TRUE; - //bOutput24 AT %Q*: BOOL:= TRUE; - //bOutput28 AT %Q*: BOOL:= TRUE; - //Startup, Shutdown and UPS fbUPS: FB_S_UPS_CX51x0; eUpsMode: E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown; @@ -36,9 +27,7 @@ END_VAR]]> +PROG();]]> @@ -80,9 +69,14 @@ END_IF]]> - + @@ -213,8 +207,6 @@ END_FOR]]> - - @@ -232,7 +224,12 @@ END_FOR]]> - + + + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 3ccc0a7..b561292 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 3ccc0a747957608e6221954f8c1330fe14f2340e +Subproject commit b5612924b331cccfaee181c168f6875a3445d59c diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index b034e20..f4bf6db 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -27,10 +27,10 @@ Code - + Code - + Code From 298c54c67f62aa8a8cb403ec90dff746bf3818f8 Mon Sep 17 00:00:00 2001 From: SCooper Date: Tue, 21 Sep 2021 12:55:25 +0100 Subject: [PATCH 6/8] mcaStdLib update for multimaster gear snyc mode --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index b561292..5db2ae0 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit b5612924b331cccfaee181c168f6875a3445d59c +Subproject commit 5db2ae04abf55b334d0253541e26400f0733abf2 From 29901054b7ed41d2a47af1a73b98d2701d14bb48 Mon Sep 17 00:00:00 2001 From: SCooper Date: Tue, 21 Sep 2021 13:01:36 +0100 Subject: [PATCH 7/8] Look at local system --- solution/solution.tsproj | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 526183e..357f4ec 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,6 +1,6 @@ - + @@ -17,9 +17,5 @@ - - - - From 91e5e592a0ac4c7c06049ba97992976fbe230ff2 Mon Sep 17 00:00:00 2001 From: federicorojas Date: Tue, 21 Sep 2021 14:32:16 +0200 Subject: [PATCH 8/8] Update submodule pointer --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 5db2ae0..bc5e78c 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 5db2ae04abf55b334d0253541e26400f0733abf2 +Subproject commit bc5e78c637180c1baec5294f4974dbd5dd4a9bed