berti_r/Motion_test
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Capitalise variable names of eStartUp

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This commit is contained in:
Paul Barron
2019-12-09 12:25:01 +01:00
parent 892258bd84
commit a9dea34c41
1 changed files with 8 additions and 8 deletions
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16
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -39,7 +39,7 @@ VAR
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
eStartUp: (coldStart, readEncRefSys, checkRead, checkFeedbackType, executePosRestore, checkFinished, finsishSetPosition);
eStartUp: (ColdStart, ReadEncRefSys, CheckRead, CheckFeedbackType, ExecutePosRestore, CheckFinished, FinsishSetPosition);
bColdstartDone : BOOL := FALSE; // First cycle of the PLC after being reset/power cycled
bExecuteReadEncRefSys : BOOL := TRUE;
tmrRetry : TON;
@@ -158,16 +158,16 @@ END_FOR
IF bColdstartDone = FALSE THEN
CASE eStartUp OF
coldStart: // First cycle
ColdStart: // First cycle
IF NOT bColdstartDone THEN
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
readEncRefSys: // Read Enc Ref Sys - incremental or absolute
ReadEncRefSys: // Read Enc Ref Sys - incremental or absolute
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
tmrRetry(in:=FALSE);
checkRead: // Check if Enc Ref Sys has been read for all axis -> if not read again
CheckRead: // Check if Enc Ref Sys has been read for all axis -> if not read again
tmrRetry(in:=TRUE, pt:=T#100MS);
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
@@ -182,7 +182,7 @@ IF bColdstartDone = FALSE THEN
EXIT;
END_IF
END_FOR
checkFeedbackType: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore
CheckFeedbackType: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) THEN
IF gvl.axes[i].config.iRestorePosition=2 THEN
@@ -192,7 +192,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
executePosRestore: // Execute position restore with or without bHome set
ExecutePosRestore: // Execute position restore with or without bHome set
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.iRestorePosition OF
@@ -202,7 +202,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
checkFinished: // Check set position or direct homing is finished on axes that were opt-in
CheckFinished: // Check set position or direct homing is finished on axes that were opt-in
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.iRestorePosition OF
@@ -218,7 +218,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
finsishSetPosition: // Reset set position FBs and Finish
FinsishSetPosition: // Reset set position FBs and Finish
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR