diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 5c22cd3..4545be0 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -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