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Add comments to MAIN.STARTUP

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Slight tidy of code but no structural changes.
This commit is contained in:
Paul Barron
2019-12-10 13:27:05 +01:00
parent dbd145ed68
commit ac37748fbe
1 changed files with 51 additions and 16 deletions
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solution/tc_project_app/POUs/MAIN.TcPOU
+51 -16
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@@ -143,7 +143,20 @@ END_FOR]]></ST>
</Action>
<Action Name="STARTUP" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
<Implementation>
<ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
<ST><![CDATA[///#########################################################
// This module will restore the position of an incremental axis on startup with the act position it read before losing power.
// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.axes[i].config.eRestorePosition is non-zero.
// There are two modes for position restore:
// 1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
// 2 'RestoreWithHome' -restores the position using a normal direct home routine and should set the home bit to TRUE in the axis struct.
// Note: 0 'DontRestore'
// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
///#########################################################
// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
FOR i:=1 TO gvl_app.axisNum DO
fbReadEncRefSys[i](
Axis:= gvl.axes[i].Axis,
Enable:= bExecuteReadEncRefSys,
@@ -152,6 +165,8 @@ END_FOR]]></ST>
ReadMode:= E_READMODE.READMODE_ONCE);
END_FOR
// Cycle through set position function blocks for each axis
// Only axes with RestorePosition=RestoreWithoutHome (mode 1) will be utilised
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
@@ -159,19 +174,21 @@ FOR i:=1 TO gvl_app.axisNum DO
Position:= iPositionAtShutdown[i]);
END_FOR
// Upon startup bColdStartDone will be set to FALSE, after the following initialisation it is set to TRUE
// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once
IF bColdstartDone = FALSE THEN
CASE eStartUp OF
ColdStart: // First cycle
ColdStart: // First cycle of the PLC, do nothing just give one cycle for variables to initialise
IF NOT bColdstartDone THEN
eStartUp:=eStartUp+1;
iRetry:=0;
END_IF
ReadEncRefSys: // Read Enc Ref Sys - incremental or absolute
ReadEncRefSys: // Exectute the function blocks to read the encoder reference system (inc or abs)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
tmrRetry(in:=FALSE);
CheckRead: // Check if Enc Ref Sys has been read for all axis -> if not read again
tmrRetry(in:=TRUE, pt:=T#100MS);
CheckRead: // Check encoder reference system has been read for all axis -> if not read again
tmrRetry(in:=TRUE, pt:=T#100MS); // Timer gives the axis enough PLC cycles to initialise
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF tmrretry.Q THEN
@@ -185,17 +202,15 @@ 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: // Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) THEN
IF gvl.axes[i].config.eRestorePosition=2 THEN
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].control.eCommand:=10;
END_IF
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].control.eCommand:=10;
END_IF
END_FOR
eStartUp:=eStartUp+1;
ExecutePosRestore: // Execute position restore with or without bHome set
ExecutePosRestore: // Execute position restore using either fbRestorePosition or normal direct homing (depending on mode)
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.eRestorePosition OF
@@ -205,7 +220,7 @@ 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 mode 1: fbRestorePosition or mode 2: 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.eRestorePosition OF
@@ -221,7 +236,7 @@ IF bColdstartDone = FALSE THEN
END_IF
END_FOR
eStartUp:=eStartUp+1;
FinsishSetPosition: // Reset set position FBs and Finish
FinsishSetPosition: // Remove execute = TRUE for fbRestorePosition
FOR i:=1 TO gvl_app.axisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
@@ -275,8 +290,28 @@ END_IF]]></ST>
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.STARTUP">
<LineId Id="2" Count="47" />
<LineId Id="52" Count="35" />
<LineId Id="99" Count="0" />
<LineId Id="94" Count="0" />
<LineId Id="98" Count="0" />
<LineId Id="101" Count="1" />
<LineId Id="104" Count="0" />
<LineId Id="103" Count="0" />
<LineId Id="105" Count="0" />
<LineId Id="109" Count="0" />
<LineId Id="95" Count="0" />
<LineId Id="100" Count="0" />
<LineId Id="91" Count="1" />
<LineId Id="2" Count="7" />
<LineId Id="96" Count="0" />
<LineId Id="10" Count="0" />
<LineId Id="97" Count="0" />
<LineId Id="11" Count="5" />
<LineId Id="106" Count="0" />
<LineId Id="17" Count="0" />
<LineId Id="107" Count="0" />
<LineId Id="18" Count="28" />
<LineId Id="48" Count="1" />
<LineId Id="53" Count="34" />
<LineId Id="1" Count="0" />
</LineIds>
</POU>