From c1930b89fddad7fc9a7c3fa899261c6bc3223e93 Mon Sep 17 00:00:00 2001
From: Federico Rojas <federicorojas@esss.se>
Date: Wed, 27 Mar 2019 11:57:24 +0100
Subject: [PATCH] Some Homing sequences implmentation

Limit switch and direct homing are implemneted, the same with homing to a home snesor
Missing referencing to encoder index or external signal.
---
 solution/solution.tsproj                      | 41 +++++++++--------
 solution/tc_project_app/POUs/MAIN.TcPOU       | 45 ++-----------------
 solution/tc_project_app/tc_mca_std_lib        |  2 +-
 .../tc_project_app/tc_project_app.plcproj     |  5 ++-
 4 files changed, 30 insertions(+), 63 deletions(-)

diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 6ff48ec..f9b50c8 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1330,7 +1330,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
 			<BitSize>4</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1339,7 +1339,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000006}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..5] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000006}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..5] OF BIT</Name>
 			<BitSize>6</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1357,7 +1357,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
 			<BitSize>2</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1366,7 +1366,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
 			<BitSize>1</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1375,7 +1375,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000003}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..2] OF BIT</Name>
 			<BitSize>3</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1384,7 +1384,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000009}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..8] OF BIT</Name>
 			<BitSize>9</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1393,7 +1393,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
 			<BitSize>12</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1402,7 +1402,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
 			<BitSize>14</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1411,7 +1411,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
 			<BitSize>13</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1464,7 +1464,7 @@ External Setpoint Generation:
 				<Axis CreateSymbols="true" AxisType="1" Id="1">
 					<Name>Axis 1</Name>
 					<AxisPara>
-						<Dynamic AccelerationMaximum="1500" DecelerationMaximum="1500" Acceleration="984.001" Deceleration="984.001" Jerk="5043"/>
+						<Dynamic AccelerationMaximum="1500" DecelerationMaximum="1500" Acceleration="567.693" Deceleration="567.693" Jerk="5371.25"/>
 						<Velo RefSearch="10" RefSync="10" SlowManual="20" FastManual="100" Maximum="120"/>
 						<PositionAreaControl Range="0.05"/>
 						<TargetPosControl Range="0.1" Time="0.5"/>
@@ -1472,9 +1472,9 @@ External Setpoint Generation:
 					</AxisPara>
 					<Encoder Name="Enc" EncType="4">
 						<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="2000" Inverse="true" MaxCount="#x0000ffff">
-							<SoftEndMinControl Range="5"/>
-							<SoftEndMaxControl Range="175"/>
-							<Inc RefMode="4" RefSoftSyncMask="#x0000ffff"/>
+							<SoftEndMinControl Enable="true" Range="5"/>
+							<SoftEndMaxControl Enable="true" Range="175"/>
+							<Inc RefSoftSyncMask="#x0000ffff"/>
 						</EncPara>
 						<Vars VarGrpType="1">
 							<Name>Inputs</Name>
@@ -1488,6 +1488,9 @@ External Setpoint Generation:
 								<SubVar TypeFormatIndex="2">
 									<Name>nDataIn2</Name>
 								</SubVar>
+								<SubVar TypeFormatIndex="2">
+									<Name>nState1</Name>
+								</SubVar>
 								<SubVar>
 									<Name>nState4</Name>
 									<Comment>
@@ -2052,10 +2055,10 @@ bHomeSensor8 AT %I*: BOOL;
 								<ExcludePdo>#x1a00</ExcludePdo>
 								<ExcludePdo>#x1a01</ExcludePdo>
 								<ExcludePdo>#x1a02</ExcludePdo>
-								<Entry Name="Status__Latch C valid" Index="#x6010" Sub="#x01">
+								<Entry Name="Status__Latch C valid" Index="#x6010" Sub="#x01" Flags="#x00008020">
 									<Type>BIT</Type>
 								</Entry>
-								<Entry Name="Status__Latch extern valid" Index="#x6010" Sub="#x02">
+								<Entry Name="Status__Latch extern valid" Index="#x6010" Sub="#x02" Flags="#x00008020">
 									<Type>BIT</Type>
 								</Entry>
 								<Entry Name="Status__Set counter done" Index="#x6010" Sub="#x03">
@@ -2082,13 +2085,13 @@ bHomeSensor8 AT %I*: BOOL;
 								<Entry Name="Status__Status of input B" Index="#x6010" Sub="#x0a">
 									<Type>BIT</Type>
 								</Entry>
-								<Entry Name="Status__Status of input C" Index="#x6010" Sub="#x0b">
+								<Entry Name="Status__Status of input C" Index="#x6010" Sub="#x0b" Flags="#x00008020">
 									<Type>BIT</Type>
 								</Entry>
 								<Entry Name="Status__Status of input gate" Index="#x6010" Sub="#x0c">
 									<Type>BIT</Type>
 								</Entry>
-								<Entry Name="Status__Status of extern latch" Index="#x6010" Sub="#x0d">
+								<Entry Name="Status__Status of extern latch" Index="#x6010" Sub="#x0d" Flags="#x00008020">
 									<Type>BIT</Type>
 								</Entry>
 								<Entry Name="Status__Sync error" Index="#x6010" Sub="#x0e">
@@ -2232,10 +2235,10 @@ bHomeSensor8 AT %I*: BOOL;
 								<ExcludePdo>#x1603</ExcludePdo>
 								<ExcludePdo>#x1600</ExcludePdo>
 								<ExcludePdo>#x1601</ExcludePdo>
-								<Entry Name="Control__Enable latch C" Index="#x7010" Sub="#x01">
+								<Entry Name="Control__Enable latch C" Index="#x7010" Sub="#x01" Flags="#x00008020">
 									<Type>BIT</Type>
 								</Entry>
-								<Entry Name="Control__Enable latch extern on positive edge" Index="#x7010" Sub="#x02">
+								<Entry Name="Control__Enable latch extern on positive edge" Index="#x7010" Sub="#x02" Flags="#x00008020">
 									<Type>BIT</Type>
 								</Entry>
 								<Entry Name="Control__Set counter" Index="#x7010" Sub="#x03">
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 2becb66..fb53fe5 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -71,7 +71,6 @@ VAR
 	
 (******Error Handling********)
 	fbErrorList: FB_ErrorList;
-	fbHome: MC_Home;
 	//fbEL3214: EL3214;
 	//fbEL1808: EL1808;
 	//fbEL2819: EL2819;
@@ -92,7 +91,7 @@ ERROR();]]></ST>
       <Implementation>
         <ST><![CDATA[
 FOR i:=1 TO gvl.axisNum DO
-	aFBAxes[i](stAxisStruct:=gvl.axes[i]);
+	aFBAxes[i](En:= TRUE, stAxisStruct:=gvl.axes[i]);
 END_FOR
 
 gvl.axes[1].bLimitFwd:=bLimitFwd1;
@@ -142,45 +141,6 @@ fbEL1808(
 //]]></ST>
       </Implementation>
     </Action>
-    <Action Name="test" Id="{15076cb2-147c-449c-9647-4174a90b8448}">
-      <Implementation>
-        <NWL>
-          <XmlArchive>
-            <Data>
-              <o xml:space="preserve" t="NWLImplementationObject">
-                <v n="NetworkListComment">""</v>
-                <v n="DefaultViewMode">"Fbd"</v>
-                <l2 n="NetworkList" cet="Network">
-                  <o>
-                    <v n="ILActive">false</v>
-                    <v n="FBDValid">false</v>
-                    <v n="ILValid">false</v>
-                    <l2 n="ILLines" />
-                    <v n="Comment">""</v>
-                    <v n="Title">""</v>
-                    <v n="Label">""</v>
-                    <v n="OutCommented">false</v>
-                    <l2 n="NetworkItems" />
-                    <l2 n="Connectors" />
-                    <v n="Id">1L</v>
-                  </o>
-                </l2>
-                <v n="BranchCounter">1</v>
-                <v n="ValidIds">true</v>
-              </o>
-            </Data>
-            <TypeList>
-              <Type n="Boolean">System.Boolean</Type>
-              <Type n="Int32">System.Int32</Type>
-              <Type n="Int64">System.Int64</Type>
-              <Type n="Network">{d9a99d73-b633-47db-b876-a752acb25871}</Type>
-              <Type n="NWLImplementationObject">{25e509de-33d4-4447-93f8-c9e4ea381c8b}</Type>
-              <Type n="String">System.String</Type>
-            </TypeList>
-          </XmlArchive>
-        </NWL>
-      </Implementation>
-    </Action>
     <LineIds Name="MAIN">
       <LineId Id="2" Count="0" />
       <LineId Id="81" Count="1" />
@@ -188,7 +148,8 @@ fbEL1808(
     <LineIds Name="MAIN.AXES">
       <LineId Id="3" Count="0" />
       <LineId Id="1" Count="0" />
-      <LineId Id="4" Count="1" />
+      <LineId Id="4" Count="0" />
+      <LineId Id="10" Count="0" />
       <LineId Id="7" Count="0" />
       <LineId Id="9" Count="0" />
       <LineId Id="8" Count="0" />
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index 6c44546..37f4971 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit 6c44546e8261df4a969514197259453428e53d35
+Subproject commit 37f49718089ec4ca8296b2bf4d4203e87980f549
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 4db64da..cdbc8b6 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -22,7 +22,7 @@
     <Compile Include="POUs\MAIN.TcPOU">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\AxisStruct.TcDUT">
+    <Compile Include="tc_mca_std_lib\DUTs\ST_AxisStruct.TcDUT">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\CommStates.TcDUT">
@@ -154,6 +154,9 @@
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_DriveVirtual_V2.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Motion\FB_HomingSeq.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_NcAxis.TcPOU">
       <SubType>Code</SubType>
     </Compile>