berti_r/Motion_test
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Added saving of position values throughout the normal PLC cycle

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Added a check in MAIN.SHUTDOWN that makes sure the restore  has been
done first before starting to save values again.
Probably should change the name from MAIN.SHUTDOWN to MAIN.SAVEVALUES or something.
This commit is contained in:
Paul Barron
2019-12-11 15:17:59 +01:00
parent 10ef1a594d
commit a9d5e51ac0
1 changed files with 21 additions and 20 deletions
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solution/tc_project_app/POUs/MAIN.TcPOU
+21 -20
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@@ -69,19 +69,17 @@ END_IF
STARTUP();
PROG();
AXES();
ERROR();]]></ST>
ERROR();
SHUTDOWN();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.DontRestore;
gvl.axes[2].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
gvl.axes[2].config.eRestorePosition:=RestorePosition.DontRestore;
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR
]]></ST>
END_FOR]]></ST>
</Implementation>
</Action>
<Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
@@ -134,15 +132,17 @@ fbEL1808(
</Action>
<Action Name="SHUTDOWN" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}">
<Implementation>
<ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
iPositionAtShutdown[i]:=gvl.axes[i].Axis.NcToPlc.ActPos;
IF gvl.axes[i].Axis.NcToPlc.ActVelo <> 0 THEN
bMovingAtShutdown[i]:=TRUE;
ELSE
bMovingAtShutdown[i]:=FALSE;
END_IF
bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
END_FOR]]></ST>
<ST><![CDATA[IF bPositionRestoreDone = TRUE THEN
FOR i:=1 TO gvl_app.axisNum DO
iPositionAtShutdown[i]:=gvl.axes[i].Axis.NcToPlc.ActPos;
IF gvl.axes[i].Axis.NcToPlc.ActVelo <> 0 THEN
bMovingAtShutdown[i]:=TRUE;
ELSE
bMovingAtShutdown[i]:=FALSE;
END_IF
bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
END_FOR
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="STARTUP" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
@@ -278,6 +278,7 @@ END_IF]]></ST>
<LineId Id="135" Count="0" />
<LineId Id="134" Count="0" />
<LineId Id="81" Count="1" />
<LineId Id="293" Count="0" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="19" Count="1" />
@@ -285,9 +286,6 @@ END_IF]]></ST>
<LineId Id="1" Count="0" />
<LineId Id="4" Count="0" />
<LineId Id="10" Count="0" />
<LineId Id="7" Count="0" />
<LineId Id="16" Count="0" />
<LineId Id="11" Count="0" />
</LineIds>
<LineIds Name="MAIN.ERROR">
<LineId Id="31" Count="0" />
@@ -312,12 +310,15 @@ END_IF]]></ST>
<LineId Id="3" Count="0" />
</LineIds>
<LineIds Name="MAIN.SHUTDOWN">
<LineId Id="2" Count="1" />
<LineId Id="2" Count="0" />
<LineId Id="10" Count="0" />
<LineId Id="3" Count="0" />
<LineId Id="5" Count="1" />
<LineId Id="8" Count="1" />
<LineId Id="7" Count="0" />
<LineId Id="4" Count="0" />
<LineId Id="1" Count="0" />
<LineId Id="13" Count="0" />
</LineIds>
<LineIds Name="MAIN.STARTUP">
<LineId Id="99" Count="0" />