berti_r/Motion_test
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change axisNum to nAxisNum in GVL.APP and their references

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This commit is contained in:
Federico Rojas
2020-03-11 13:01:52 +01:00
parent 5dfc715221
commit c504ae6ea3
3 changed files with 14 additions and 14 deletions
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2
solution/tc_project_app/GVLs/GVL_APP.TcGVL
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@@ -7,7 +7,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
axisNum : UINT:=0;
nAxisNum : UINT:=0;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>

24
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -5,7 +5,7 @@
VAR
sVersion: STRING:='1.0.0';
i : UINT; //index variable for AXES()
aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
aFbAxes: ARRAY [1..gvl_app.nAxisNum] OF FB_Axis;
hmiAxisSelection : INT:=1; //Not possible to use local hmi variables for array indexes
@@ -34,8 +34,8 @@ VAR
bRestoreExecute : BOOL := FALSE;
bExecuteReadEncRefSys : BOOL := FALSE;
iRetry : INT;
fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
fbReadEncRefSys : ARRAY [1..gvl_app.nAxisNum] OF MC_ReadParameter;
fbRestorePosition : ARRAY [1..GVL_app.nAxisNum] OF MC_SetPosition;
fbGetDeviceIdentification : FB_GetDeviceIdentification;
END_VAR
@@ -51,7 +51,7 @@ AXES();]]></ST>
<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
<ST><![CDATA[FOR GVL.iAxis:=1 TO gvl_app.nAxisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR]]></ST>
</Implementation>
@@ -115,7 +115,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
FOR i:=1 TO gvl_app.axisNum DO
FOR i:=1 TO gvl_app.nAxisNum DO
fbReadEncRefSys[i](
Axis:= gvl.axes[i].Axis,
Enable:= bExecuteReadEncRefSys,
@@ -125,7 +125,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
END_FOR
// Cycle through set position function blocks for each axis
FOR i:=1 TO gvl_app.axisNum DO
FOR i:=1 TO gvl_app.nAxisNum DO
fbRestorePosition[i](
Axis:= gvl.axes[i].Axis,
Execute:= ,
@@ -148,8 +148,8 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
CheckReadDone:
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
// If fbReadEncRefSys not started then go back a step.
// If any axes result in an error the code will get stuck here, this happens if gvl_app.axisNum is not set correctly
FOR i:=1 TO gvl_app.axisNum DO
// If any axes result in an error the code will get stuck here, this happens if gvl_app.nAxisNum is not set correctly
FOR i:=1 TO gvl_app.nAxisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF fbReadEncRefSys[i].Busy = TRUE THEN
// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
@@ -170,7 +170,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
ExecuteRestore:
// Execute position restore by setting fbRestorePosition.execute = TRUE
FOR i:=1 TO gvl_app.axisNum DO
FOR i:=1 TO gvl_app.nAxisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
fbRestorePosition[i].Execute:=TRUE;
@@ -183,7 +183,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Check the set position fbs are finished
// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
// bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR i:=1 TO gvl_app.axisNum DO
FOR i:=1 TO gvl_app.nAxisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 AND NOT(axesPersistent[i].bMovingAtShutdown) THEN
IF GVL.axes[i].config.eRestorePosition = RestorePosition.RestoreWithoutHome THEN
IF NOT fbRestorePosition[i].Done THEN
@@ -196,7 +196,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
FinishRestore:
// Remove execute = TRUE for fbRestorePosition
FOR i:=1 TO gvl_app.axisNum DO
FOR i:=1 TO gvl_app.nAxisNum DO
fbRestorePosition[i].Execute:=FALSE;
END_FOR
bPositionRestoreDone:=TRUE;
@@ -207,7 +207,7 @@ END_IF]]></ST>
</Action>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
<ST><![CDATA[FOR i:=1 TO gvl_app.nAxisNum DO
axesPersistent[i].iPositionAtShutdown:=gvl.axes[i].Axis.NcToPlc.ActPos;
IF gvl.axes[i].Axis.NcToPlc.ActVelo <> 0 THEN
axesPersistent[i].bMovingAtShutdown:=TRUE;

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 88668447be...100574565b