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

Some Homing sequences implmentation

Browse Source 
Limit switch and direct homing are implemneted, the same with homing to a home snesor
Missing referencing to encoder index or external signal.
This commit is contained in:
Federico Rojas
2019-03-27 11:57:24 +01:00
parent 6dbf29a0c4
commit c1930b89fd
4 changed files with 30 additions and 63 deletions
Download Patch File Download Diff File Expand all files Collapse all files

45
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -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" />

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 6c44546e82...37f4971808

5
solution/tc_project_app/tc_project_app.plcproj
View File

@@ -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>