Add actions in FB Pneumatic Axis
Added actions for single solenoid state machine.
This commit is contained in:
Kristina Jurisic
@@ -28,49 +28,36 @@ END_VAR
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CASE ePneumaticAxisState OF
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E_PneumaticMode.SINGLE_SOLENOID_PLC:
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IF (stPneumaticAxisControl.bStartExtend AND stPneumaticAxisInputs.bPermit) AND NOT stPneumaticAxisInputs.bLimitFwd THEN
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stPneumaticAxisStatus.bExtendMoving := TRUE;
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stPneumaticAxisStatus.bMoving := TRUE;
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fbTimerExtend (IN := stPneumaticAxisStatus.bExtendMoving, PT := T#20S);
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IF fbTimerExtend.Q THEN
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ePneumaticAxisState := E_PneumaticMode.ERROR;
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END_IF
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END_IF
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Single_Solenoid_PLC();
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// Extraction of the cylinder finished, reset timer
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IF stPneumaticAxisInputs.bLimitFwd AND NOT stPneumaticAxisInputs.bLimitBwd THEN
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stPneumaticAxisStatus.sStatus := 'EXTRACTED';
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stPneumaticAxisStatus.bExtracted := TRUE;
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bStateChange := TRUE;
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stPneumaticAxisStatus.bExtendMoving := FALSE;
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stPneumaticAxisStatus.bMoving := FALSE;
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fbTimerExtend (IN := stPneumaticAxisStatus.bExtendMoving, PT := T#20S);
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END_IF
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E_PneumaticMode.SINGLE_SOLENOID_MANUAL:
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Single_Solenoid_Manual();
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//Starting the retraction movement and retraction timing
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IF NOT stPneumaticAxisControl.bStartExtend AND NOT stPneumaticAxisInputs.bLimitBwd AND bStateChange THEN
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stPneumaticAxisStatus.bRetractMoving := TRUE;
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stPneumaticAxisStatus.bMoving := TRUE;
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stPneumaticAxisStatus.bExtracted := FALSE;
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fbTimerRetract (IN := stPneumaticAxisStatus.bRetractMoving, PT := T#20S);
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IF fbTimerRetract.Q THEN
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ePneumaticAxisState := E_PneumaticMode.ERROR;
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END_IF
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END_IF
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E_PneumaticMode.ERROR:
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Single_Solenoid_Error();
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// Retraction of the cylinder finished, reset timer
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IF NOT stPneumaticAxisControl.bStartExtend AND stPneumaticAxisInputs.bLimitBwd THEN
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stPneumaticAxisStatus.sStatus := 'RETRACTED';
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stPneumaticAxisStatus.bRetracted := TRUE;
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bStateChange := FALSE;
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stPneumaticAxisStatus.bRetractMoving := FALSE;
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stPneumaticAxisStatus.bMoving := FALSE;
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fbTimerRetract (IN := stPneumaticAxisStatus.bRetractMoving, PT := T#20S);
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END_IF
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E_PneumaticMode.SINGLE_SOLENOID_MANUAL:
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//Manual control of single solenoid pneumatic actuator
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E_PneumaticMode.RESET:
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Reset();
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END_CASE ]]></ST>
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</Implementation>
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<Action Name="Reset" Id="{68a6c9d7-8606-401b-9168-ec931e79f0f6}">
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<Implementation>
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<ST><![CDATA[ stPneumaticAxisControl.bStartExtend := FALSE;
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stPneumaticAxisInputs.bExtendCylinderManual := FALSE;
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fbTimerExtend.IN := FALSE;
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fbTimerRetract.IN := FALSE;
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fbTimerExtendManual.IN := FALSE;
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fbTimerRetractManual.IN := FALSE;]]></ST>
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</Implementation>
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</Action>
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<Action Name="Single_Solenoid_Error" Id="{f8e38dc6-971b-478e-a924-9eec8537d2f1}">
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<Implementation>
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<ST><![CDATA[stPneumaticAxisStatus.sStatus := 'ERROR: COMMAND TIMED OUT';]]></ST>
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</Implementation>
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</Action>
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<Action Name="Single_Solenoid_Manual" Id="{e31de170-18f1-4f95-8712-ce861e79ff7b}">
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<Implementation>
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<ST><![CDATA[//Manual control of single solenoid pneumatic actuator
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//Extend cylinder
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IF stPneumaticAxisInputs.bExtendCylinderManual AND NOT stPneumaticAxisInputs.bLimitFwd THEN
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stPneumaticAxisStatus.bExtendMoving := TRUE;
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@@ -106,22 +93,52 @@ CASE ePneumaticAxisState OF
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fbTimerRetractManual (IN := stPneumaticAxisStatus.bRetractMoving, PT := T#20S);
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stPneumaticAxisInputs.bRetractCylinderManual := FALSE;
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END_IF
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E_PneumaticMode.ERROR:
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stPneumaticAxisStatus.sStatus := 'ERROR: COMMAND TIMED OUT';
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E_PneumaticMode.RESET:
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stPneumaticAxisControl.bStartExtend := FALSE;
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stPneumaticAxisInputs.bExtendCylinderManual := FALSE;
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fbTimerExtend.IN := FALSE;
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fbTimerRetract.IN := FALSE;
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fbTimerExtendManual.IN := FALSE;
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fbTimerRetractManual.IN := FALSE;
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END_CASE ]]></ST>
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</Implementation>
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<Action Name="Single_Solenoid" Id="{a75a03ea-ec30-403c-91eb-96684f17a503}">
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]]></ST>
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</Implementation>
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</Action>
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<Action Name="Single_Solenoid_PLC" Id="{a75a03ea-ec30-403c-91eb-96684f17a503}">
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<Implementation>
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<ST><![CDATA[]]></ST>
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<ST><![CDATA[IF (stPneumaticAxisControl.bStartExtend AND stPneumaticAxisInputs.bPermit) AND NOT stPneumaticAxisInputs.bLimitFwd THEN
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stPneumaticAxisStatus.bExtendMoving := TRUE;
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stPneumaticAxisStatus.bMoving := TRUE;
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fbTimerExtend (IN := stPneumaticAxisStatus.bExtendMoving, PT := T#20S);
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IF fbTimerExtend.Q THEN
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ePneumaticAxisState := E_PneumaticMode.ERROR;
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END_IF
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END_IF
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// Extraction of the cylinder finished, reset timer
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IF stPneumaticAxisInputs.bLimitFwd AND NOT stPneumaticAxisInputs.bLimitBwd THEN
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stPneumaticAxisStatus.sStatus := 'EXTRACTED';
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stPneumaticAxisStatus.bExtracted := TRUE;
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bStateChange := TRUE;
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stPneumaticAxisStatus.bExtendMoving := FALSE;
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stPneumaticAxisStatus.bMoving := FALSE;
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fbTimerExtend (IN := stPneumaticAxisStatus.bExtendMoving, PT := T#20S);
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END_IF
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//Starting the retraction movement and retraction timing
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IF NOT stPneumaticAxisControl.bStartExtend AND NOT stPneumaticAxisInputs.bLimitBwd AND bStateChange THEN
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stPneumaticAxisStatus.bRetractMoving := TRUE;
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stPneumaticAxisStatus.bMoving := TRUE;
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stPneumaticAxisStatus.bExtracted := FALSE;
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fbTimerRetract (IN := stPneumaticAxisStatus.bRetractMoving, PT := T#20S);
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IF fbTimerRetract.Q THEN
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ePneumaticAxisState := E_PneumaticMode.ERROR;
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END_IF
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END_IF
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// Retraction of the cylinder finished, reset timer
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IF NOT stPneumaticAxisControl.bStartExtend AND stPneumaticAxisInputs.bLimitBwd THEN
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stPneumaticAxisStatus.sStatus := 'RETRACTED';
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stPneumaticAxisStatus.bRetracted := TRUE;
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bStateChange := FALSE;
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stPneumaticAxisStatus.bRetractMoving := FALSE;
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stPneumaticAxisStatus.bMoving := FALSE;
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fbTimerRetract (IN := stPneumaticAxisStatus.bRetractMoving, PT := T#20S);
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END_IF
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]]></ST>
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</Implementation>
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</Action>
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<LineIds Name="FB_PNEUMATIC_AXIS">
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@@ -130,52 +147,33 @@ END_CASE ]]></ST>
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<LineId Id="138" Count="0" />
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<LineId Id="135" Count="0" />
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<LineId Id="166" Count="2" />
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<LineId Id="24" Count="4" />
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<LineId Id="200" Count="1" />
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<LineId Id="209" Count="0" />
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<LineId Id="9" Count="0" />
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</LineIds>
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<LineIds Name="FB_PNEUMATIC_AXIS.Single_Solenoid">
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<LineIds Name="FB_PNEUMATIC_AXIS.Reset">
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<LineId Id="2" Count="4" />
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="FB_PNEUMATIC_AXIS.Single_Solenoid_Error">
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="FB_PNEUMATIC_AXIS.Single_Solenoid_Manual">
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<LineId Id="2" Count="35" />
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="FB_PNEUMATIC_AXIS.Single_Solenoid_PLC">
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<LineId Id="2" Count="6" />
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<LineId Id="1" Count="0" />
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<LineId Id="9" Count="1" />
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</LineIds>
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</POU>
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</TcPlcObject>
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