berti_r/Motion_test
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'origin/master' into MBP-198_OOP

Browse Source 
Conflicts:
	solution/_Config/PLC/tc_project_app.xti
This commit is contained in:
Federico Rojas
2022-10-04 17:19:45 +02:00
parent 99a3efce66 0f741497d1
commit bbf233a637
2 changed files with 5 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
solution/_Config/NC/NC.xti
View File

@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.32" ClassName="CNcSafTaskDef" SubType="0">
<NC>
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true" AmsNetId="5.65.74.200.1.1">
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
<Name>NC-Task 1 SAF</Name>
<Vars VarGrpType="1" InsertType="1">
<Name>Inputs</Name>

8
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -20,7 +20,7 @@ VAR
iAxes: UINT; //index for for loops in Position recovery actions
afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition;
fbGetDeviceIdentification: FB_GetDeviceIdentification;
fbGetDeviceIdentification: FB_GetDeviceIdentificationEx;
END_VAR
VAR PERSISTENT
@@ -41,14 +41,14 @@ IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
aIAxes[GVL.iAxis] := afbAxes[GVL.iAxis];
END_FOR
//Custom axis types defined and linked to aiAxes here
//FB_CustomAxis extends FB_axis
//fbCustomAxis.stAxis REF= astAxes[x];
//FB_CustomAxis extends FB_axis
//fbCustomAxis.stAxis REF= astAxes[x];
//aIAxes[x] := fbCustomAxis;
END_IF
//Execute FB_Axis logic
FOR GVL.iAxis := 1 TO GVL_APP.nAXIS_NUM DO
aIAxes[GVL.iAxis].Run();
aIAxes[GVL.iAxis].Run();
END_FOR
//Execute Pneumatic Axis logic