Changed FB_Axis and refernces to follow code standards
This commit is contained in:
Federico Rojas
@@ -24,6 +24,7 @@ VAR
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bRestoreExecute: BOOL := FALSE;
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bExecuteReadEncRefSys: BOOL := FALSE;
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nRetry: INT;
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iAxes : UINT; //index for for loops in Position recovery actions
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aFbReadEncRefSys: ARRAY [1..gvl_app.nAxisNum] OF MC_ReadParameter;
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aFbRestorePosition: ARRAY [1..GVL_app.nAxisNum] OF MC_SetPosition;
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fbGetDeviceIdentification: FB_GetDeviceIdentification;
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@@ -83,7 +84,7 @@ END_IF]]></ST>
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// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
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// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
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// Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
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// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.aAxes[GVL.iAxis].stConfig.eRestorePosition is non-zero.
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// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.aAxes[iAxes].stConfig.eRestorePosition is non-zero.
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// This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
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// A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
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// There is a enum to allow for different types of restore modes, currently only one is implemented.
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@@ -102,9 +103,9 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
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// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
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FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
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aFbReadEncRefSys[GVL.iAxis](
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Axis := gvl.aAxes[GVL.iAxis].Axis,
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aFbReadEncRefSys[iAxes](
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Axis := gvl.aAxes[iAxes].Axis,
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Enable := bExecuteReadEncRefSys,
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ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
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Value=>,
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@@ -112,11 +113,11 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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END_FOR
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// Cycle through set position function blocks for each axis
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FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
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aFbRestorePosition[GVL.iAxis](
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Axis := gvl.aAxes[GVL.iAxis].Axis,
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aFbRestorePosition[iAxes](
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Axis := gvl.aAxes[iAxes].Axis,
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Execute := ,
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Position := aAxesPersistent[GVL.iAxis].fPositionAtShutdown);
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Position := aAxesPersistent[iAxes].fPositionAtShutdown);
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END_FOR
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CASE eStartUp OF
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@@ -136,13 +137,13 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
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// If aFbReadEncRefSys not started then go back a step.
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// If any axes result in an error the code will get stuck here, this happens if gvl_app.nAxisNum is not set correctly
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FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[GVL.iAxis].Valid = FALSE THEN
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IF aFbReadEncRefSys[GVL.iAxis].Busy = TRUE THEN
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[iAxes].Valid = FALSE THEN
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IF aFbReadEncRefSys[iAxes].Busy = TRUE THEN
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// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
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RETURN;
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ELSE
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// Sometimes the code gets here and the aFbReadEncRefSys[GVL.iAxis] misses the rising edge. If the code gets here it means
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// Sometimes the code gets here and the aFbReadEncRefSys[iAxes] misses the rising edge. If the code gets here it means
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// .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
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// Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
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bExecuteReadEncRefSys := FALSE;
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@@ -157,10 +158,10 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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eExecuteRestore:
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// Execute position restore by setting aFbRestorePosition.execute = TRUE
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FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(aAxesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
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IF GVL.aAxes[GVL.iAxis].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
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aFbRestorePosition[GVL.iAxis].Execute := TRUE;
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[iAxes].Valid = TRUE AND aFbReadEncRefSys[iAxes].Value = 0 AND NOT(aAxesPersistent[iAxes].bMovingAtShutdown) THEN
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IF GVL.aAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
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aFbRestorePosition[iAxes].Execute := TRUE;
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END_IF
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END_IF
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END_FOR
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@@ -170,10 +171,10 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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// Check the set position fbs are finished
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// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
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// bPositionRestoreDone will never get set to TRUE and will take up cycle time
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FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(aAxesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
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IF GVL.aAxes[GVL.iAxis].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
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IF NOT aFbRestorePosition[GVL.iAxis].Done THEN
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[iAxes].Valid = TRUE AND aFbReadEncRefSys[iAxes].Value = 0 AND NOT(aAxesPersistent[iAxes].bMovingAtShutdown) THEN
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IF GVL.aAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
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IF NOT aFbRestorePosition[iAxes].Done THEN
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RETURN;
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END_IF
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END_IF
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@@ -183,8 +184,8 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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eFinishRestore:
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// Remove execute = TRUE for aFbRestorePosition
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FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
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aFbRestorePosition[GVL.iAxis].Execute := FALSE;
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aFbRestorePosition[iAxes].Execute := FALSE;
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END_FOR
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bPositionRestoreDone := TRUE;
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bRestoreExecute := FALSE;
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@@ -194,14 +195,14 @@ END_IF]]></ST>
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</Action>
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<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
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aAxesPersistent[GVL.iAxis].fPositionAtShutdown := gvl.aAxes[GVL.iAxis].Axis.NcToPlc.ActPos;
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IF gvl.aAxes[GVL.iAxis].Axis.NcToPlc.ActVelo <> 0 THEN
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aAxesPersistent[GVL.iAxis].bMovingAtShutdown := TRUE;
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<ST><![CDATA[FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aAxesPersistent[iAxes].fPositionAtShutdown := gvl.aAxes[iAxes].Axis.NcToPlc.ActPos;
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IF gvl.aAxes[iAxes].Axis.NcToPlc.ActVelo <> 0 THEN
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aAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
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ELSE
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aAxesPersistent[GVL.iAxis].bMovingAtShutdown := FALSE;
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aAxesPersistent[iAxes].bMovingAtShutdown := FALSE;
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END_IF
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aAxesPersistent[GVL.iAxis].bMovingAtShutdown := aAxesPersistent[GVL.iAxis].bMovingAtShutdown OR gvl.aAxes[GVL.iAxis].Axis.Status.Moving;
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aAxesPersistent[iAxes].bMovingAtShutdown := aAxesPersistent[iAxes].bMovingAtShutdown OR gvl.aAxes[iAxes].Axis.Status.Moving;
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END_FOR]]></ST>
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</Implementation>
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</Action>
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Submodule solution/tc_project_app/tc_mca_std_lib updated: 8562f04c5b...d16fa54e4c
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