berti_r/Motion_test
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resolved merge conflicts

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This commit is contained in:
aaronlong
2020-03-04 10:59:33 +00:00
parent 18125e42ba 71da3cce15
commit b984376f15
4 changed files with 4 additions and 196 deletions
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3
solution/tc_project_app/GVLs/GVL_APP.TcGVL
View File

@@ -7,8 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
axisNum : UINT:=1;
//axisCoupleMax : UINT:=4;
axisNum : UINT:=0;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>

74
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -26,19 +26,6 @@ VAR
//bOutput24 AT %Q*: BOOL:= TRUE;
//bOutput28 AT %Q*: BOOL:= TRUE;
(******Error Handling********)
fbErrorSystem: FB_ErrorSystem;
aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;
//fbEL1018 : EL1018;
//fbEL2808 : EL2808;
//fbEL5101 : EL5101;
//fbEL9505 : EL9505;
//fbEL1252 : EL1252;
//fbEL9410 : EL9410;
//fbEL7037 : EL7037;
//fbEK1110 : EK1110;
(******Startup, Shutdown and UPS********)
fbUPS : FB_S_UPS_CX51x0;
eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
@@ -59,8 +46,7 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[POSITION_RECOVERY();
PROG();
AXES();
ERROR();]]></ST>
AXES();]]></ST>
</Implementation>
<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
@@ -87,46 +73,6 @@ ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
END_IF]]></ST>
</Implementation>
</Action>
<Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
<Implementation>
<ST><![CDATA[//
(****FB containting the log of the errors****)
//
fbErrorSystem(
En:= TRUE,
bReset:= ,
nErrorNum:= ,
bACK:= ,
bValidSelection:= ,
nTableRowIndex:= ,
EnO=> ,
nSelectedError=> ,
pErrorSystem=> );
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxesError[gvl.iAxis](EN:=TRUE,
nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
ErrorSystem:= fbErrorSystem.pErrorSystem);
END_FOR
(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
fbEL1808(
En:= TRUE,
iTerminal_ID:= 01,
ErrorSystem:= fbErorSystem.pErrorSystem,
EnO=> ,
bError=> );
*)
]]></ST>
</Implementation>
</Action>
<Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[fbGetDeviceIdentification(bExecute:=TRUE);
@@ -275,7 +221,7 @@ END_FOR]]></ST>
<LineIds Name="MAIN">
<LineId Id="505" Count="0" />
<LineId Id="134" Count="0" />
<LineId Id="81" Count="1" />
<LineId Id="81" Count="0" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="1" Count="0" />
@@ -286,22 +232,6 @@ END_FOR]]></ST>
<LineId Id="2" Count="11" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.ERROR">
<LineId Id="31" Count="0" />
<LineId Id="10" Count="1" />
<LineId Id="34" Count="8" />
<LineId Id="1" Count="0" />
<LineId Id="90" Count="1" />
<LineId Id="88" Count="1" />
<LineId Id="92" Count="2" />
<LineId Id="87" Count="0" />
<LineId Id="79" Count="1" />
<LineId Id="12" Count="0" />
<LineId Id="44" Count="8" />
<LineId Id="62" Count="0" />
<LineId Id="14" Count="0" />
<LineId Id="33" Count="0" />
</LineIds>
<LineIds Name="MAIN.POSITION_RECOVERY">
<LineId Id="2" Count="3" />
<LineId Id="1" Count="0" />

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 852ea37aa8...85f11c08bc

121
solution/tc_project_app/tc_project_app.plcproj
View File

@@ -80,117 +80,6 @@
<Compile Include="tc_mca_std_lib\POUs\ChangeConfig\FB_WriteParameterInNc_v1_00.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\ErrorHandling\DUT_ErrorState.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_ErrorSystem.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_GenericError.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_NC_Error.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\ErrorHandling\FB_TerminalError.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\ErrorHandling\ST_ErrorEntry.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\ErrorHandling\ST_ErrorSystem.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3174_0002.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3214.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs\EL3255.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1008.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1018.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1252.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1808.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1809.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs\EL1819.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2014.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2252.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2808.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\EL2819.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types\dutEL2521_Ctrl.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types\dutEL2521_Status.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL2522.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL4134.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7037.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7041_0052.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7047.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives\EL7211.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5002.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5021.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5042.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL5101.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals\EL7201.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EK1100.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EK1110.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EL9410.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System\EL9505.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
<SubType>Code</SubType>
</Compile>
@@ -260,18 +149,8 @@
<Folder Include="tc_mca_std_lib\POUs" />
<Folder Include="tc_mca_std_lib\POUs\ChangeConfig" />
<Folder Include="tc_mca_std_lib\POUs\Hardware" />
<Folder Include="tc_mca_std_lib\POUs\Hardware" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Analog_Inputs" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Inputs" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Digital_Outputs\External_Types" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Drives" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\Feedback_Terminals" />
<Folder Include="tc_mca_std_lib\POUs\Hardware\EtherCAT_Terminals\System" />
<Folder Include="tc_mca_std_lib\POUs\Motion" />
<Folder Include="tc_mca_std_lib\POUs\Hardware" />
<Folder Include="tc_mca_std_lib\POUs\ErrorHandling" />
<Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
<Folder Include="tc_mca_std_lib\POUs\VISUs" />
<Folder Include="Test\standard_library_tests" />