From 7d007f92497f467dc59dd49f634a2b5398bba0e3 Mon Sep 17 00:00:00 2001 From: SCooper Date: Mon, 11 Apr 2022 14:47:46 +0100 Subject: [PATCH 01/17] WIP new slit code --- solution.sln | 4 +- solution/_Config/IO/Device 1 (EtherCAT).xti | 46 + .../Device 1 (EtherCAT)/Term 1 (EK1200).xti | 32 + .../Term 1 (EK1200)/Term 2 (EL1808).xti | 51 + .../Term 1 (EK1200)/Term 3 (EL2819).xti | 308 ++++ .../Term 1 (EK1200)/Term 4 (EL5002).xti | 94 + .../Term 1 (EK1200)/Term 5 (EL2014).xti | 102 ++ .../Term 1 (EK1200)/Term 6 (EL7041-0052).xti | 486 ++++++ .../Term 1 (EK1200)/Term 7 (EL7041-0052).xti | 486 ++++++ .../Term 1 (EK1200)/Term 8 (EK1110).xti | 11 + solution/_Config/NC/Axes/North.xti | 1547 ++++++++++++++++ solution/_Config/NC/Axes/North_Offset.xti | 1505 ++++++++++++++++ solution/_Config/NC/Axes/South.xti | 1549 +++++++++++++++++ solution/_Config/NC/Axes/South_Offset.xti | 1505 ++++++++++++++++ solution/_Config/NC/Axes/VC.xti | 1510 ++++++++++++++++ solution/_Config/NC/Axes/VG.xti | 1509 ++++++++++++++++ solution/_Config/NC/NC.xti | 6 + solution/_Config/PLC/tc_project_app.xti | 1161 ++++++++++++ solution/solution.tsproj | 10 +- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 10 +- .../Applications/Application_Template.TcPOU | 18 - .../Applications/FB_SlitPairV2.TcPOU | 57 + .../Applications/limitsPower.TcPOU | 19 + .../Applications/testSlitApp.TcPOU | 341 ++++ .../Axes/Axis_Template.TcPOU | 40 - .../Axes/Pneumatics_Template.TcPOU | 33 - .../Application_Specific/Axes/testProg.TcPOU | 15 + solution/tc_project_app/POUs/MAIN.TcPOU | 22 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 6 +- 30 files changed, 12364 insertions(+), 121 deletions(-) create mode 100644 solution/_Config/IO/Device 1 (EtherCAT).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 2 (EL1808).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 3 (EL2819).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 4 (EL5002).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 5 (EL2014).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 6 (EL7041-0052).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 7 (EL7041-0052).xti create mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 8 (EK1110).xti create mode 100644 solution/_Config/NC/Axes/North.xti create mode 100644 solution/_Config/NC/Axes/North_Offset.xti create mode 100644 solution/_Config/NC/Axes/South.xti create mode 100644 solution/_Config/NC/Axes/South_Offset.xti create mode 100644 solution/_Config/NC/Axes/VC.xti create mode 100644 solution/_Config/NC/Axes/VG.xti delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU diff --git a/solution.sln b/solution.sln index 2694336..c0607dd 100644 --- a/solution.sln +++ b/solution.sln @@ -1,7 +1,7 @@  Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 2013 -VisualStudioVersion = 12.0.21005.1 +# TcXaeShell Solution File, Format Version 11.00 +VisualStudioVersion = 15.0.28010.2050 MinimumVisualStudioVersion = 10.0.40219.1 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" EndProject diff --git a/solution/_Config/IO/Device 1 (EtherCAT).xti b/solution/_Config/IO/Device 1 (EtherCAT).xti new file mode 100644 index 0000000..150efbd --- /dev/null +++ b/solution/_Config/IO/Device 1 (EtherCAT).xti @@ -0,0 +1,46 @@ + + + + __FILENAME__ + + +
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+ + + + + + + + + + + + + + + + diff --git a/solution/_Config/NC/Axes/South_Offset.xti b/solution/_Config/NC/Axes/South_Offset.xti new file mode 100644 index 0000000..8a8b86c --- /dev/null +++ b/solution/_Config/NC/Axes/South_Offset.xti @@ -0,0 +1,1505 @@ + + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 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diff --git a/solution/_Config/NC/Axes/VC.xti b/solution/_Config/NC/Axes/VC.xti new file mode 100644 index 0000000..41f52e4 --- /dev/null +++ b/solution/_Config/NC/Axes/VC.xti @@ -0,0 +1,1510 @@ + + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + 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NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + + __FILENAME__ + + + + + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 6016 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 10112 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 6336 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 10432 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 4992 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 8064 + + + + diff --git a/solution/_Config/NC/Axes/VG.xti b/solution/_Config/NC/Axes/VG.xti new file mode 100644 index 0000000..ea349e9 --- /dev/null +++ b/solution/_Config/NC/Axes/VG.xti @@ -0,0 +1,1509 @@ + + + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + + __FILENAME__ + + + + + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 4352 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 7424 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 4672 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 7744 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 3328 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 5376 + + + + diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 32cccdf..293afa0 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -16,5 +16,11 @@ NC-Task 1 SVB + + + + + + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 9067711..c1bf9f0 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,9 +1,1124 @@ + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + tc_project_app Instance {08500001-0000-0000-F000-000000000064} + + PlcTask Inputs + + GVL.astAxes[1].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[1].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[1].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[1].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[1].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[1].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[2].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[2].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[2].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[2].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[2].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[2].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[3].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[3].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[3].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[3].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[3].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[3].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[4].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[4].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[4].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[4].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[4].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[4].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[5].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[5].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[5].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[5].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[5].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[5].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + GVL.astAxes[6].stStatus.nEncoderRawCounter + + UDINT + + + GVL.astAxes[6].stStatus.nStepperDriveCounter + + UDINT + + + GVL.astAxes[6].stInputs.bLimitFwd + BOOL + + + GVL.astAxes[6].stInputs.bLimitBwd + BOOL + + + GVL.astAxes[6].stInputs.bHomeSensor + + BOOL + + + GVL.astAxes[6].Axis.NcToPlc + NCTOPLC_AXIS_REF + + + + PlcTask Outputs + + GVL.astAxes[1].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[2].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[3].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[4].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[5].Axis.PlcToNc + PLCTONC_AXIS_REF + + + GVL.astAxes[6].Axis.PlcToNc + PLCTONC_AXIS_REF + + + limitsPower.bEnableAxis1Limits + BOOL + + + limitsPower.bEnableAxis2Limits + BOOL + + + limitsPower.bEnableAxis1Enc + BOOL + + + limitsPower.bEnableAxis2Enc + BOOL + + + testSlitApp.iGapSizePosition + UDINT + + + testSlitApp.iGapCentrePosition + UDINT + + 0 @@ -20,4 +1135,50 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 4bf7c31..5f5121a 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,8 +1,8 @@ - + - + @@ -18,5 +18,11 @@ + + + + + + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index f8c5309..b747a5d 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -1,16 +1,18 @@  - +END_VAR]]> \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU deleted file mode 100644 index dbf45fb..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU new file mode 100644 index 0000000..911f27e --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU @@ -0,0 +1,57 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU new file mode 100644 index 0000000..6ec3f3f --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU @@ -0,0 +1,19 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU new file mode 100644 index 0000000..11239e5 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU @@ -0,0 +1,341 @@ + + + + + + 0 THEN + northDir := 1; +ELSIF fNorthVelSp<0 THEN + northDir:=-1; +ELSE + northDir:=0; +END_IF +IF fSouthVelSp>0 THEN + SouthDir := 1; +ELSIF fSouthVelSp<0 THEN + SouthDir:=-1; +ELSE + SouthDir:=0; +END_IF + +fVgVelSp := GVL.astAxes[1].Axis.NcToPlc.SetVelo - GVL.astAxes[2].Axis.NcToPlc.SetVelo; +fVcVelSp := GVL.astAxes[1].Axis.NcToPlc.SetVelo + GVL.astAxes[2].Axis.NcToPlc.SetVelo; + +IF fVgVelSp>0 THEN + vgDir := 1; +ELSIF fVgVelSp<0 THEN + vgDir:=-1; +ELSE + vgDir:=0; +END_IF +IF fVcVelSp>0 THEN + vcDir := 1; +ELSIF fVcVelSp<0 THEN + vcDir:=-1; +ELSE + vcDir:=0; +END_IF + + +fVgSp := GVL.astAxes[northBlade_ID].Axis.NcToPlc.SetPos - GVL.astAxes[southBlade_ID].Axis.NcToPlc.SetPos; +fVcSp := (GVL.astAxes[northBlade_ID].Axis.NcToPlc.SetPos + GVL.astAxes[southBlade_ID].Axis.NcToPlc.SetPos) / 2; + + + +//IF northSpGenEnable.Enabled OR southSpGenEnable THEN + // +//END_IF + + CASE istate OF + 0: + IF GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving THEN + iState:=1; + END_IF + IF GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving THEN + iState:=10; + END_IF + + 1: + northSpGenEnable.Execute:=TRUE; + southSpGenEnable.Execute:=TRUE; + iState:=2; + 2: + IF NOT(GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving) THEN + iState:=3; + END_IF + 3: + northSpGenDisable.Execute:=TRUE; + southSpGenDisable.Execute:=TRUE; + iState:=0; + + 10: + vgSpGenEnable.Execute :=TRUE; + vcSpGenEnable.Execute:=TRUE; + iState:=11; + 11: + IF NOT(GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving) THEN + iState:=12; + END_IF + 12: + vgSpGenDisable.Execute :=TRUE; + vcSpGenDisable.Execute:=TRUE; + iState:=0; + + END_CASE +(*IF (GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving) AND NOT(vgSpGenEnable.Enabled OR vcSpGenEnable.Enabled) THEN + northSpGenEnable.Execute:=TRUE; + southSpGenEnable.Execute:=TRUE; +END_IF +IF NOT(GVL.astAxes[VG_ID].stStatus.bMoving) AND NOT(GVL.astAxes[VC_ID].stStatus.bMoving) THEN + northSpGenDisable.Execute:=TRUE; + southSpGenDisable.Execute:=TRUE; +END_IF +IF GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving AND NOT(northSpGenEnable.Enabled OR southSpGenEnable.Enabled) AND NOT(northSpGenEnable.Execute) THEN + vgSpGenEnable.Execute :=TRUE; + vcSpGenEnable.Execute:=TRUE; +END_IF +IF NOT(GVL.astAxes[1].stStatus.bMoving) AND NOT(GVL.astAxes[2].stStatus.bMoving) THEN + vgSpGenDisable.Execute :=TRUE; + vcSpGenDisable.Execute:=TRUE; +END_IF*) + + + + +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[northBlade_ID].Axis, Position:= fNorthSp, Velocity:=fNorthVelSp, Acceleration:=0,Direction:=northDir); +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[southBlade_ID].Axis, Position:= fSouthSp, Velocity:=fSouthVelSp, Acceleration:=0,Direction:=southDir); +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[3].Axis, Position:= fVgSp, Velocity:=fVgVelSp, Acceleration:=0,Direction:=vgDir); +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[4].Axis, Position:= fVcSp, Velocity:=fVcVelSp, Acceleration:=0,Direction:=vcDir); + + + + +lastCycleSP_North := GVL.astAxes[1].Axis.NcToPlc.SetPos; +lastCycleSP_South := GVL.astAxes[2].Axis.NcToPlc.SetPos; +lastCycleSP_VG := GVL.astAxes[3].Axis.NcToPlc.SetPos; +lastCycleSP_VC := GVL.astAxes[4].Axis.NcToPlc.SetPos; + + + + + + + +//END_IF]]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU deleted file mode 100644 index b7dc9f6..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU deleted file mode 100644 index 1bd9a51..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU new file mode 100644 index 0000000..eba0a13 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU @@ -0,0 +1,15 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 16ea784..a1b8dd9 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -75,16 +75,9 @@ END_IF]]> - + @@ -234,14 +227,7 @@ END_FOR]]> - - - - - - - - + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ef11a1b..b480174 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ef11a1b4c06047b86d3852e31ed5242c9f5ca51e +Subproject commit b480174ad58ac9c260980ff5b8c8927f3d3d5cb9 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 0c11005..f0e0565 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -28,13 +28,13 @@ Code - + Code - + Code - + Code From 54ca28028840912981840cae334eb01781b945e1 Mon Sep 17 00:00:00 2001 From: SCooper Date: Mon, 11 Apr 2022 16:01:40 +0100 Subject: [PATCH 02/17] FB_SlitPairV2 implemented --- solution/_Config/NC/Axes/VC.xti | 1 - solution/_Config/NC/Axes/VG.xti | 2 +- solution/_Config/PLC/tc_project_app.xti | 20 +- .../Applications/FB_SlitPairV2.TcPOU | 320 +++++++++++++++++- solution/tc_project_app/POUs/MAIN.TcPOU | 14 +- .../tc_project_app/tc_project_app.plcproj | 6 + 6 files changed, 342 insertions(+), 21 deletions(-) diff --git a/solution/_Config/NC/Axes/VC.xti b/solution/_Config/NC/Axes/VC.xti index 41f52e4..e7c59f5 100644 --- a/solution/_Config/NC/Axes/VC.xti +++ b/solution/_Config/NC/Axes/VC.xti @@ -1485,7 +1485,6 @@ External Setpoint Generation: - diff --git a/solution/_Config/NC/Axes/VG.xti b/solution/_Config/NC/Axes/VG.xti index ea349e9..5de84ff 100644 --- a/solution/_Config/NC/Axes/VG.xti +++ b/solution/_Config/NC/Axes/VG.xti @@ -1485,7 +1485,7 @@ External Setpoint Generation: - + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index c1bf9f0..65a1187 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1094,6 +1094,14 @@ External Setpoint Generation: GVL.astAxes[6].Axis.PlcToNc PLCTONC_AXIS_REF + + MAIN.slit1Vertical.GapSizeEncoder + UDINT + + + MAIN.slit1Vertical.GapCentreEncoder + UDINT + limitsPower.bEnableAxis1Limits BOOL @@ -1110,14 +1118,6 @@ External Setpoint Generation: limitsPower.bEnableAxis2Enc BOOL - - testSlitApp.iGapSizePosition - UDINT - - - testSlitApp.iGapCentrePosition - UDINT - @@ -1172,12 +1172,12 @@ External Setpoint Generation: - + - + diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU index 911f27e..14cd000 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU @@ -3,10 +3,10 @@ - + + + + 0 THEN + dir_positiveAxis := 1; //moving forward +ELSIF veloSetpoint_positiveAxis <0 THEN + dir_positiveAxis := -1; //moving backward +ELSE + dir_positiveAxis := 0; //stationary +END_IF + +IF veloSetpoint_negativeAxis >0 THEN + dir_negativeAxis := 1; //moving forward +ELSIF veloSetpoint_negativeAxis <0 THEN + dir_negativeAxis := -1; //moving backward +ELSE + dir_negativeAxis := 0; //stationary +END_IF + +IF veloSetpoint_gapSizeAxis >0 THEN + dir_gapSizeAxis := 1; //moving forward +ELSIF veloSetpoint_gapSizeAxis <0 THEN + dir_gapSizeAxis := -1; //moving backward +ELSE + dir_gapSizeAxis := 0; //stationary +END_IF + +IF veloSetpoint_gapCentreAxis >0 THEN + dir_gapCentreAxis := 1; //moving forward +ELSIF veloSetpoint_gapCentreAxis <0 THEN + dir_gapCentreAxis := -1; //moving backward +ELSE + dir_gapCentreAxis := 0; //stationary +END_IF]]> + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index a1b8dd9..0b828b3 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -20,6 +20,8 @@ VAR afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter; afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition; fbGetDeviceIdentification: FB_GetDeviceIdentification; + + slit1Vertical : FB_SlitPairV2; END_VAR VAR PERSISTENT @@ -28,7 +30,10 @@ END_VAR]]> +PROG(); + +slit1Vertical(ID_positiveAxis:=1, ID_negativeAxis:=2, ID_gapSizeAxis:=3, ID_gapCentreAxis:=4); +]]> @@ -76,8 +81,7 @@ END_IF]]> +limitsPower();]]> @@ -208,6 +212,9 @@ END_FOR]]> + + + @@ -228,7 +235,6 @@ END_FOR]]> - diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index f0e0565..5a67b6e 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -28,6 +28,9 @@ Code + + Code + Code @@ -61,6 +64,9 @@ Code + + Code + Code From 2b41f3aa4b14b16d76f1447f3c76f42397842fb2 Mon Sep 17 00:00:00 2001 From: SCooper Date: Tue, 12 Apr 2022 11:14:11 +0100 Subject: [PATCH 03/17] Fixed an issue with setpoint generators not enabling when a limit is pressed --- solution/solution.tsproj | 2 + .../Applications/FB_SlitPairV2.TcPOU | 92 ++++++++++++++++++- solution/tc_project_app/tc_mca_std_lib | 2 +- 3 files changed, 90 insertions(+), 6 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 5f5121a..a534698 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -24,5 +24,7 @@ + + diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU index 14cd000..0fb9817 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU @@ -49,6 +49,12 @@ VAR internalReset : BOOL; + //stupid internal MCPOWER blocks because Beckhoff won't let you enable a setpoint generator on a limit.... + mcPower_positiveAxis : MC_POWER; + mcPower_negativeAxis : MC_POWER; + mcPower_gapSizeAxis : MC_POWER; + mcPower_gapCentreAxis : MC_POWER; + END_VAR ]]> @@ -84,6 +90,10 @@ END_IF //Internal Reset linked to any axis reset internalReset := Reset OR GVL.astAxes[ID_positiveAxis].stControl.bReset OR GVL.astAxes[ID_negativeAxis].stControl.bReset OR GVL.astAxes[ID_gapSizeAxis].stControl.bReset OR GVL.astAxes[ID_gapCentreAxis].stControl.bReset; +IF GVL.astAxes[ID_positiveAxis].Axis.Status.Homing OR GVL.astAxes[ID_negativeAxis].Axis.Status.Homing OR GVL.astAxes[ID_gapSizeAxis].Axis.Status.Homing OR GVL.astAxes[ID_gapCentreAxis].Axis.Status.Homing THEN + iState:= E_SlitPairStatesV2.HOMING_INIT; +END_IF + //State machine (with error handling and reset logic) - WHAT ABOUT HOMING? IF Enable THEN CASE istate OF @@ -112,11 +122,24 @@ IF Enable THEN END_IF E_SlitPairStatesV2.ENABLE_REAL_GENERATORS: + //Hold MC_Power on until generators have enabled + mcPower_positiveAxis(Axis:=GVL.astAxes[ID_positiveAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); + mcPower_negativeAxis(Axis:=GVL.astAxes[ID_negativeAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); setpointGenEnable_positiveAxis.Execute:=TRUE; setpointGenEnable_negativeAxis.Execute:=TRUE; - iState:=E_SlitPairStatesV2.WAIT_FOR_VIRTUAL_MOVE_DONE; + iState:=E_SlitPairStatesV2.CHECK_REAL_AXIS_GENERATORS_ENABLED; + + E_SlitPairStatesV2.CHECK_REAL_AXIS_GENERATORS_ENABLED: + //Hold MC_Power on until generators have enabled + mcPower_positiveAxis(Axis:=GVL.astAxes[ID_positiveAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); + mcPower_negativeAxis(Axis:=GVL.astAxes[ID_negativeAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); + IF setPointGenEnable_positiveAxis.Enabled AND setpointGenEnable_negativeAxis.Enabled THEN + iState:= E_SlitPairStatesV2.WAIT_FOR_VIRTUAL_MOVE_DONE; + END_IF E_SlitPairStatesV2.WAIT_FOR_VIRTUAL_MOVE_DONE: + mcPower_positiveAxis(Axis:=GVL.astAxes[ID_positiveAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); + mcPower_negativeAxis(Axis:=GVL.astAxes[ID_negativeAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); IF NOT(GVL.astAxes[ID_gapSizeAxis].stStatus.bMoving OR GVL.astAxes[ID_gapCentreAxis].stStatus.bMoving) THEN iState:=E_SlitPairStatesV2.DISABLE_REAL_GENERATORS; END_IF @@ -127,9 +150,20 @@ IF Enable THEN iState:=E_SlitPairStatesV2.OPERATIONAL; E_SlitPairStatesV2.ENABLE_VIRTUAL_GENERATORS: + //Hold MC_Power on until generators have enabled + mcPower_gapSizeAxis(Axis:=GVL.astAxes[ID_gapSizeAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); + mcPower_gapCentreAxis(Axis:=GVL.astAxes[ID_gapCentreAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); setpointGenEnable_gapSizeAxis.Execute :=TRUE; setpointGenEnable_gapCentreAxis.Execute:=TRUE; - iState:=E_SlitPairStatesV2.WAIT_FOR_REAL_MOVE_DONE; + iState:=E_SlitPairStatesV2.CHECK_VIRTUAL_AXIS_GENERATORS_ENABLED; + + E_SlitPairStatesV2.CHECK_VIRTUAL_AXIS_GENERATORS_ENABLED: + //Hold MC_Power on until generators have enabled + mcPower_gapSizeAxis(Axis:=GVL.astAxes[ID_gapSizeAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); + mcPower_gapCentreAxis(Axis:=GVL.astAxes[ID_gapCentreAxis].Axis, Enable:=TRUE, Enable_Positive:=TRUE,Enable_Negative:=TRUE); + IF setPointGenEnable_gapSizeAxis.Enabled AND setpointGenEnable_gapCentreAxis.Enabled THEN + iState:= E_SlitPairStatesV2.WAIT_FOR_REAL_MOVE_DONE; + END_IF E_SlitPairStatesV2.WAIT_FOR_REAL_MOVE_DONE: IF NOT(GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving) THEN @@ -149,7 +183,25 @@ IF Enable THEN GVL.astAxes[ID_gapCentreAxis].stControl.bReset := TRUE; iState:= E_SlitPairStatesV2.INIT; END_IF - + + E_SlitPairStatesV2.HOMING_INIT: + GVL.astAxes[ID_positiveAxis].stControl.eCommand:= E_MotionFunctions.eHome; + GVL.astAxes[ID_positiveAxis].stControl.bExecute:= TRUE; + GVL.astAxes[ID_negativeAxis].stControl.eCommand:= E_MotionFunctions.eHome; + GVL.astAxes[ID_negativeAxis].stControl.bExecute:= TRUE; + iState:= E_SlitPairStatesV2.HOMING_CHECK; + + E_SlitPairStatesV2.HOMING_CHECK: + IF GVL.astAxes[ID_positiveAxis].Axis.Status.Homing OR GVL.astAxes[ID_negativeAxis].Axis.Status.Homing THEN + iState:= E_SlitPairStatesV2.HOMING_WAIT; + ELSE + iState:= E_SlitPairStatesV2.HOMING_INIT; + END_IF + + E_SlitPairStatesV2.HOMING_WAIT: + IF GVL.astAxes[ID_positiveAxis].Axis.Status.Homed AND GVL.astAxes[ID_negativeAxis].Axis.Status.Homed THEN + iState:= E_SlitPairStatesV2.INIT; + END_IF END_CASE END_IF @@ -298,6 +350,9 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ + + + @@ -314,9 +369,27 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ - + + + + + + + + + + + - + + + + + + + + + @@ -325,6 +398,15 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ + + + + + + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index b480174..a0256fb 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit b480174ad58ac9c260980ff5b8c8927f3d3d5cb9 +Subproject commit a0256fb69efb1012c6dd67e6f4a2e0eb1c3c16c9 From 037218b26702c457aa1352e55ca9654996b7835c Mon Sep 17 00:00:00 2001 From: SCooper Date: Tue, 12 Apr 2022 15:13:01 +0100 Subject: [PATCH 04/17] Homing 'fixed' on state machine --- .../Applications/FB_SlitPairV2.TcPOU | 106 ++++++++++++------ solution/tc_project_app/tc_mca_std_lib | 2 +- 2 files changed, 72 insertions(+), 36 deletions(-) diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU index 0fb9817..7146d70 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU @@ -3,14 +3,14 @@ - +MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[ID_gapCentreAxis].Axis, Position:= posSetpoint_gapCentreAxis, Velocity:= veloSetpoint_gapCentreAxis, Acceleration:= 0, Direction:= dir_gapCentreAxis); + +Reset:= FALSE;]]> @@ -328,13 +348,17 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ - - + + + + + + + + - - @@ -350,6 +374,8 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ + + @@ -357,15 +383,19 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ + + + + @@ -377,9 +407,7 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ - - - + @@ -394,24 +422,32 @@ fGapCentre := (GVL.astAxes[ID_positiveAxis].stStatus.fActPosition + GVL.astAxes[ - + + + + + - + + + + + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index a0256fb..dc97f1f 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit a0256fb69efb1012c6dd67e6f4a2e0eb1c3c16c9 +Subproject commit dc97f1fcc9b4944d23eb455123972d44a44eb4f3 From 598918bbabeaa2b8b097082190a07223e5d6b2a1 Mon Sep 17 00:00:00 2001 From: Cooper Date: Wed, 1 Jun 2022 09:04:46 +0100 Subject: [PATCH 05/17] move v2 slit code to tc_mca submodule and delete IO and NC axes from testing --- solution/_Config/IO/Device 1 (EtherCAT).xti | 46 - .../Device 1 (EtherCAT)/Term 1 (EK1200).xti | 32 - .../Term 1 (EK1200)/Term 2 (EL1808).xti | 51 - .../Term 1 (EK1200)/Term 3 (EL2819).xti | 308 ---- .../Term 1 (EK1200)/Term 4 (EL5002).xti | 94 - .../Term 1 (EK1200)/Term 5 (EL2014).xti | 102 -- .../Term 1 (EK1200)/Term 6 (EL7041-0052).xti | 486 ------ .../Term 1 (EK1200)/Term 7 (EL7041-0052).xti | 486 ------ .../Term 1 (EK1200)/Term 8 (EK1110).xti | 11 - solution/_Config/NC/Axes/North.xti | 1547 ---------------- solution/_Config/NC/Axes/North_Offset.xti | 1505 ---------------- solution/_Config/NC/Axes/South.xti | 1549 ----------------- solution/_Config/NC/Axes/South_Offset.xti | 1505 ---------------- solution/_Config/NC/Axes/VC.xti | 1509 ---------------- solution/_Config/NC/Axes/VG.xti | 1509 ---------------- solution/_Config/NC/NC.xti | 6 - solution/_Config/PLC/tc_project_app.xti | 94 +- solution/solution.tsproj | 10 +- .../Applications/Application_Template.TcPOU | 18 + .../Applications/FB_SlitPairV2.TcPOU | 485 ------ .../Applications/limitsPower.TcPOU | 19 - .../Applications/testSlitApp.TcPOU | 341 ---- .../Axes/Axis_Template.TcPOU | 40 + .../Axes/Pneumatics_Template.TcPOU | 33 + .../Application_Specific/Axes/testProg.TcPOU | 15 - solution/tc_project_app/POUs/MAIN.TcPOU | 13 +- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 12 +- 28 files changed, 125 insertions(+), 11703 deletions(-) delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 2 (EL1808).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 3 (EL2819).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 4 (EL5002).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 5 (EL2014).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 6 (EL7041-0052).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 7 (EL7041-0052).xti delete mode 100644 solution/_Config/IO/Device 1 (EtherCAT)/Term 1 (EK1200)/Term 8 (EK1110).xti delete mode 100644 solution/_Config/NC/Axes/North.xti delete mode 100644 solution/_Config/NC/Axes/North_Offset.xti delete mode 100644 solution/_Config/NC/Axes/South.xti delete mode 100644 solution/_Config/NC/Axes/South_Offset.xti delete mode 100644 solution/_Config/NC/Axes/VC.xti delete mode 100644 solution/_Config/NC/Axes/VG.xti create mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU create mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU delete mode 100644 solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU diff --git a/solution/_Config/IO/Device 1 (EtherCAT).xti b/solution/_Config/IO/Device 1 (EtherCAT).xti deleted file mode 100644 index 150efbd..0000000 --- a/solution/_Config/IO/Device 1 (EtherCAT).xti +++ /dev/null @@ -1,46 +0,0 @@ - - - - __FILENAME__ - - -
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- - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/solution/_Config/NC/Axes/North_Offset.xti b/solution/_Config/NC/Axes/North_Offset.xti deleted file mode 100644 index dd4db12..0000000 --- a/solution/_Config/NC/Axes/North_Offset.xti +++ /dev/null @@ -1,1505 +0,0 @@ - - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - __FILENAME__ - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 7680 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 12800 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 8000 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 13120 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 6656 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 10752 - - - - diff --git a/solution/_Config/NC/Axes/South.xti b/solution/_Config/NC/Axes/South.xti deleted file mode 100644 index 5b34d50..0000000 --- a/solution/_Config/NC/Axes/South.xti +++ /dev/null @@ -1,1549 +0,0 @@ - - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - __FILENAME__ - - - - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 2688 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 4736 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 3008 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 5056 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 1664 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 2688 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/solution/_Config/NC/Axes/South_Offset.xti b/solution/_Config/NC/Axes/South_Offset.xti deleted file mode 100644 index 8a8b86c..0000000 --- a/solution/_Config/NC/Axes/South_Offset.xti +++ /dev/null @@ -1,1505 +0,0 @@ - - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - __FILENAME__ - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 9344 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 15488 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 9664 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 15808 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 8320 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 13440 - - - - diff --git a/solution/_Config/NC/Axes/VC.xti b/solution/_Config/NC/Axes/VC.xti deleted file mode 100644 index e7c59f5..0000000 --- a/solution/_Config/NC/Axes/VC.xti +++ /dev/null @@ -1,1509 +0,0 @@ - - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - __FILENAME__ - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 6016 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 10112 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 6336 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 10432 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 4992 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 8064 - - - - diff --git a/solution/_Config/NC/Axes/VG.xti b/solution/_Config/NC/Axes/VG.xti deleted file mode 100644 index 5de84ff..0000000 --- a/solution/_Config/NC/Axes/VG.xti +++ /dev/null @@ -1,1509 +0,0 @@ - - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - - __FILENAME__ - - - - - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 4352 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 7424 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 4672 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 7744 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 3328 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 5376 - - - - diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 293afa0..32cccdf 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -16,11 +16,5 @@ NC-Task 1 SVB - - - - - - diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 65a1187..8b75ba3 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1070,6 +1070,30 @@ External Setpoint Generation: PlcTask Outputs + + limitsPower.bEnableAxis1Limits + BOOL + + + limitsPower.bEnableAxis2Limits + BOOL + + + limitsPower.bEnableAxis1Enc + BOOL + + + limitsPower.bEnableAxis2Enc + BOOL + + + MAIN.slit1Vertical.GapSizeEncoder + UDINT + + + MAIN.slit1Vertical.GapCentreEncoder + UDINT + GVL.astAxes[1].Axis.PlcToNc PLCTONC_AXIS_REF @@ -1094,30 +1118,6 @@ External Setpoint Generation: GVL.astAxes[6].Axis.PlcToNc PLCTONC_AXIS_REF - - MAIN.slit1Vertical.GapSizeEncoder - UDINT - - - MAIN.slit1Vertical.GapCentreEncoder - UDINT - - - limitsPower.bEnableAxis1Limits - BOOL - - - limitsPower.bEnableAxis2Limits - BOOL - - - limitsPower.bEnableAxis1Enc - BOOL - - - limitsPower.bEnableAxis2Enc - BOOL - @@ -1135,50 +1135,4 @@ External Setpoint Generation: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/solution/solution.tsproj b/solution/solution.tsproj index a534698..4663d5f 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,6 +1,6 @@ - + @@ -18,13 +18,5 @@ - - - - - - - - diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU new file mode 100644 index 0000000..dbf45fb --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU @@ -0,0 +1,18 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU deleted file mode 100644 index 7146d70..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/FB_SlitPairV2.TcPOU +++ /dev/null @@ -1,485 +0,0 @@ - - - - - - - - - - 0 THEN - dir_positiveAxis := 1; //moving forward -ELSIF veloSetpoint_positiveAxis <0 THEN - dir_positiveAxis := -1; //moving backward -ELSE - dir_positiveAxis := 0; //stationary -END_IF - -IF veloSetpoint_negativeAxis >0 THEN - dir_negativeAxis := 1; //moving forward -ELSIF veloSetpoint_negativeAxis <0 THEN - dir_negativeAxis := -1; //moving backward -ELSE - dir_negativeAxis := 0; //stationary -END_IF - -IF veloSetpoint_gapSizeAxis >0 THEN - dir_gapSizeAxis := 1; //moving forward -ELSIF veloSetpoint_gapSizeAxis <0 THEN - dir_gapSizeAxis := -1; //moving backward -ELSE - dir_gapSizeAxis := 0; //stationary -END_IF - -IF veloSetpoint_gapCentreAxis >0 THEN - dir_gapCentreAxis := 1; //moving forward -ELSIF veloSetpoint_gapCentreAxis <0 THEN - dir_gapCentreAxis := -1; //moving backward -ELSE - dir_gapCentreAxis := 0; //stationary -END_IF]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU deleted file mode 100644 index 6ec3f3f..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/limitsPower.TcPOU +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU deleted file mode 100644 index 11239e5..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/testSlitApp.TcPOU +++ /dev/null @@ -1,341 +0,0 @@ - - - - - - 0 THEN - northDir := 1; -ELSIF fNorthVelSp<0 THEN - northDir:=-1; -ELSE - northDir:=0; -END_IF -IF fSouthVelSp>0 THEN - SouthDir := 1; -ELSIF fSouthVelSp<0 THEN - SouthDir:=-1; -ELSE - SouthDir:=0; -END_IF - -fVgVelSp := GVL.astAxes[1].Axis.NcToPlc.SetVelo - GVL.astAxes[2].Axis.NcToPlc.SetVelo; -fVcVelSp := GVL.astAxes[1].Axis.NcToPlc.SetVelo + GVL.astAxes[2].Axis.NcToPlc.SetVelo; - -IF fVgVelSp>0 THEN - vgDir := 1; -ELSIF fVgVelSp<0 THEN - vgDir:=-1; -ELSE - vgDir:=0; -END_IF -IF fVcVelSp>0 THEN - vcDir := 1; -ELSIF fVcVelSp<0 THEN - vcDir:=-1; -ELSE - vcDir:=0; -END_IF - - -fVgSp := GVL.astAxes[northBlade_ID].Axis.NcToPlc.SetPos - GVL.astAxes[southBlade_ID].Axis.NcToPlc.SetPos; -fVcSp := (GVL.astAxes[northBlade_ID].Axis.NcToPlc.SetPos + GVL.astAxes[southBlade_ID].Axis.NcToPlc.SetPos) / 2; - - - -//IF northSpGenEnable.Enabled OR southSpGenEnable THEN - // -//END_IF - - CASE istate OF - 0: - IF GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving THEN - iState:=1; - END_IF - IF GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving THEN - iState:=10; - END_IF - - 1: - northSpGenEnable.Execute:=TRUE; - southSpGenEnable.Execute:=TRUE; - iState:=2; - 2: - IF NOT(GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving) THEN - iState:=3; - END_IF - 3: - northSpGenDisable.Execute:=TRUE; - southSpGenDisable.Execute:=TRUE; - iState:=0; - - 10: - vgSpGenEnable.Execute :=TRUE; - vcSpGenEnable.Execute:=TRUE; - iState:=11; - 11: - IF NOT(GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving) THEN - iState:=12; - END_IF - 12: - vgSpGenDisable.Execute :=TRUE; - vcSpGenDisable.Execute:=TRUE; - iState:=0; - - END_CASE -(*IF (GVL.astAxes[VG_ID].stStatus.bMoving OR GVL.astAxes[VC_ID].stStatus.bMoving) AND NOT(vgSpGenEnable.Enabled OR vcSpGenEnable.Enabled) THEN - northSpGenEnable.Execute:=TRUE; - southSpGenEnable.Execute:=TRUE; -END_IF -IF NOT(GVL.astAxes[VG_ID].stStatus.bMoving) AND NOT(GVL.astAxes[VC_ID].stStatus.bMoving) THEN - northSpGenDisable.Execute:=TRUE; - southSpGenDisable.Execute:=TRUE; -END_IF -IF GVL.astAxes[1].stStatus.bMoving OR GVL.astAxes[2].stStatus.bMoving AND NOT(northSpGenEnable.Enabled OR southSpGenEnable.Enabled) AND NOT(northSpGenEnable.Execute) THEN - vgSpGenEnable.Execute :=TRUE; - vcSpGenEnable.Execute:=TRUE; -END_IF -IF NOT(GVL.astAxes[1].stStatus.bMoving) AND NOT(GVL.astAxes[2].stStatus.bMoving) THEN - vgSpGenDisable.Execute :=TRUE; - vcSpGenDisable.Execute:=TRUE; -END_IF*) - - - - -MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[northBlade_ID].Axis, Position:= fNorthSp, Velocity:=fNorthVelSp, Acceleration:=0,Direction:=northDir); -MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[southBlade_ID].Axis, Position:= fSouthSp, Velocity:=fSouthVelSp, Acceleration:=0,Direction:=southDir); -MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[3].Axis, Position:= fVgSp, Velocity:=fVgVelSp, Acceleration:=0,Direction:=vgDir); -MC_ExtSetPointGenFeed(Axis:= GVL.astAxes[4].Axis, Position:= fVcSp, Velocity:=fVcVelSp, Acceleration:=0,Direction:=vcDir); - - - - -lastCycleSP_North := GVL.astAxes[1].Axis.NcToPlc.SetPos; -lastCycleSP_South := GVL.astAxes[2].Axis.NcToPlc.SetPos; -lastCycleSP_VG := GVL.astAxes[3].Axis.NcToPlc.SetPos; -lastCycleSP_VC := GVL.astAxes[4].Axis.NcToPlc.SetPos; - - - - - - - -//END_IF]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU new file mode 100644 index 0000000..b7dc9f6 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU new file mode 100644 index 0000000..1bd9a51 --- /dev/null +++ b/solution/tc_project_app/POUs/Application_Specific/Axes/Pneumatics_Template.TcPOU @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU deleted file mode 100644 index eba0a13..0000000 --- a/solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 0b828b3..0fbd5b0 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -20,8 +20,6 @@ VAR afbReadEncRefSys: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter; afbRestorePosition: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_SetPosition; fbGetDeviceIdentification: FB_GetDeviceIdentification; - - slit1Vertical : FB_SlitPairV2; END_VAR VAR PERSISTENT @@ -30,10 +28,7 @@ END_VAR]]> +PROG();]]> @@ -209,11 +204,7 @@ END_FOR]]> - - - - - + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index dc97f1f..a542709 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit dc97f1fcc9b4944d23eb455123972d44a44eb4f3 +Subproject commit a542709afdd125db46ee15dbf1c009e3452fe340 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 5a67b6e..9a47d55 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -28,16 +28,13 @@ Code - + Code - + Code - - Code - - + Code @@ -133,6 +130,9 @@ Code + + Code + Code From 51b302969174e20dda93cf105cfe389f9072bbae Mon Sep 17 00:00:00 2001 From: Cooper Date: Wed, 1 Jun 2022 09:10:10 +0100 Subject: [PATCH 06/17] Revert GVL_APP axis count to 0 --- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index b747a5d..82dcac6 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -10,7 +10,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - nAXIS_NUM: UINT := 6; (*~ (OPC: 1 : available for OPC-clients) + nAXIS_NUM: UINT := 0; (*~ (OPC: 1 : available for OPC-clients) (OPC_PROP[0005]: 1 : OPC_PROP_RIGHTS, here read only) *) nPNEUMATIC_AXIS_NUM: UINT := 0; END_VAR]]> From 31d836f8d97efacf38d3886dcb638d283bcacaf8 Mon Sep 17 00:00:00 2001 From: Cooper Date: Wed, 1 Jun 2022 10:43:51 +0100 Subject: [PATCH 07/17] clean up of whitespace and test hardware --- solution/_Config/NC/NC.xti | 1977 ++++++++++++++++++++ solution/_Config/PLC/tc_project_app.xti | 104 +- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 7 +- solution/tc_project_app/POUs/MAIN.TcPOU | 9 +- solution/tc_project_app/tc_mca_std_lib | 2 +- 5 files changed, 2007 insertions(+), 92 deletions(-) diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 32cccdf..3c799f3 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,5 +1,1346 @@ + + + UINTARR2 + 32 + UINT + + 0 + 2 + + + [%u, %u] + [0] + [1] + + + 0x%08x [%u, %u] + . + [0] + [1] + + + 0x%08x (%u) + . + . + + + + NCENCODERSTRUCT_IN2B + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + 8 + 248 + + + nDcInputTime + DINT + 32 + 256 + + + nDataIn7 + UINTARR2 + + 32 + 288 + + + + NCENCODERSTRUCT_IN + + 96 + + + + + + NCENCODERSTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCENCODERSTRUCT_OUT + + 96 + + + + + + NCDRIVESTRUCT_IN2 + 320 + + nDataIn1 + UINTARR2 + 32 + 0 + + + nDataIn2 + UINTARR2 + 32 + 32 + + + nState1 + USINT + 8 + 64 + + + nState2 + USINT + 8 + 72 + + + nState3 + USINT + 8 + 80 + + + nState4 + USINT + + 8 + 88 + + + nDataIn3 + UINTARR2 + 32 + 96 + + + nDataIn4 + UINTARR2 + 32 + 128 + + + nDataIn5 + UINTARR2 + 32 + 160 + + + nDataIn6 + UINTARR2 + 32 + 192 + + + nState5 + USINT + 8 + 224 + + + nState6 + USINT + 8 + 232 + + + nState7 + USINT + 8 + 240 + + + nState8 + USINT + + 8 + 248 + + + nDcOutputTime + DINT + 32 + 256 + + + + NCDRIVESTRUCT_IN + + 96 + + + + + + NCDRIVESTRUCT_OUT2 + 320 + + nDataOut1 + UINTARR2 + 32 + 0 + + + nDataOut2 + UINTARR2 + 32 + 32 + + + nCtrl1 + USINT + 8 + 64 + + + nCtrl2 + USINT + 8 + 72 + + + nCtrl3 + USINT + 8 + 80 + + + nCtrl4 + USINT + 8 + 88 + + + nDataOut3 + UINTARR2 + 32 + 96 + + + nDataOut4 + UINTARR2 + 32 + 128 + + + nDataOut5 + UINTARR2 + 32 + 160 + + + nDataOut6 + UINTARR2 + 32 + 192 + + + nCtrl5 + USINT + 8 + 224 + + + nCtrl6 + USINT + 8 + 232 + + + nCtrl7 + USINT + 8 + 240 + + + nCtrl8 + USINT + 8 + 248 + + + + NCDRIVESTRUCT_OUT + + 96 + + + + + + PLCTONC_AXIS_REF_CTRL + 32 + + Enable + BIT + 1 + 0 + + + FeedEnablePlus + BIT + 1 + 1 + + + FeedEnableMinus + BIT + 1 + 2 + + + HomingSensor + BIT + 1 + 5 + + + AcceptBlockedDrive + BIT + 1 + 8 + + + PlcDebugFlag + BIT + 1 + 30 + + + NcDebugFlag + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + PLCTONC_AXIS_REF + 1024 + + ControlDWord + PLCTONC_AXIS_REF_CTRL + 32 + 0 + + + Override + UDINT + 32 + 32 + + + AxisModeRequest + UDINT + 32 + 64 + + + AxisModeDWord + UDINT + 32 + 96 + + + AxisModeLReal + LREAL + 64 + 128 + + + PositionCorrection + LREAL + 64 + 192 + + + ExtSetPos + LREAL + 64 + 256 + + + ExtSetVelo + LREAL + 64 + 320 + + + ExtSetAcc + LREAL + 64 + 384 + + + ExtSetDirection + DINT + 32 + 448 + + + ExtControllerOutput + LREAL + 64 + 512 + + + GearRatio1 + LREAL + 64 + 576 + + + GearRatio2 + LREAL + 64 + 640 + + + GearRatio3 + LREAL + 64 + 704 + + + GearRatio4 + LREAL + 64 + 768 + + + MapState + BOOL + 8 + 832 + + + PlcCycleControl + BYTE + 8 + 840 + + + PlcCycleCount + BYTE + 8 + 848 + + + + NcStructType + 1 + + + + + NCAXLESTRUCT_FROMPLC3 + + + + + NCTOPLC_AXIS_REF_STATE + 32 + + Operational + BIT + 1 + 0 + + + Homed + BIT + 1 + 1 + + + NotMoving + BIT + 1 + 2 + + + InPositionArea + BIT + 1 + 3 + + + InTargetPosition + BIT + 1 + 4 + + + Protected + BIT + 1 + 5 + + + ErrorPropagationDelayed + BIT + 1 + 6 + + + HasBeenStopped + BIT + 1 + 7 + + + HasJob + BIT + 1 + 8 + + + PositiveDirection + BIT + 1 + 9 + + + NegativeDirection + BIT + 1 + 10 + + + HomingBusy + BIT + 1 + 11 + + + ConstantVelocity + BIT + 1 + 12 + + + Compensating + BIT + 1 + 13 + + + ExtSetPointGenEnabled + BIT + 1 + 14 + + + PhasingActive + BIT + 1 + 15 + + + ExternalLatchValid + BIT + 1 + 16 + + + NewTargetPos + BIT + 1 + 17 + + + IsDriveLimitActive + BIT + 1 + 18 + + + ContinuousMotion + BIT + 1 + 19 + + + ControlLoopClosed + BIT + 1 + 20 + + + CamTableQueued + BIT + 1 + 21 + + + CamDataQueued + BIT + 1 + 22 + + + CamScalingPending + BIT + 1 + 23 + + + CmdBuffered + BIT + 1 + 24 + + + PTPmode + BIT + 1 + 25 + + + SoftLimitMinExceeded + BIT + 1 + 26 + + + SoftLimitMaxExceeded + BIT + 1 + 27 + + + DriveDeviceError + BIT + 1 + 28 + + + MotionCommandsLocked + BIT + 1 + 29 + + + IoDataInvalid + BIT + 1 + 30 + + + Error + BIT + 1 + 31 + + + %08x + + + 0x%08x + + + 16#%08X + + + + {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} + + + + + NCTOPLC_AXIS_REF_OPMODE + 32 + + OpModePosAreaMonitoring + BIT + 1 + 0 + + + OpModeTargetPosMonitoring + BIT + 1 + 1 + + + OpModeLoop + BIT + 1 + 2 + + + OpModeMotionMonitoring + BIT + 1 + 3 + + + OpModePEHTimeMonitoring + BIT + 1 + 4 + + + OpModeBacklashCompensation + BIT + 1 + 5 + + + OpModeDelayedErrorReaction + BIT + 1 + 6 + + + OpModeModulo + BIT + 1 + 7 + + + OpModeSimulationAxis + BIT + 1 + 8 + + + OpModePosLagMonitoring + BIT + 1 + 16 + + + OpModeVeloLagMonitoring + BIT + 1 + 17 + + + OpModeSoftLimitMinMonitoring + BIT + 1 + 18 + + + OpModeSoftLimitMaxMonitoring + BIT + 1 + 19 + + + OpModePosCorrection + BIT + 1 + 20 + + + OpModeAllowSlaveCommands + BIT + 1 + 21 + + + OpModeAllowExtSetAxisCommands + BIT + 1 + 22 + + + ApplicationRequest + BIT + 1 + 23 + + + + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + + AvoidingCollision + BIT + 1 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_STATE2 + 32 + + Value + DWORD + 32 + 0 + + + Flags + NCTOPLC_AXIS_REF_STATE2_FLAGS + 32 + 0 + + + %08x + + + 0x%08x + + + 16#%08X + + + + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + 8 + + CamActivationPending + BIT + 1 + 0 + + + CamDeactivationPending + BIT + 1 + 1 + + + CamActive + BIT + 1 + 2 + + + CamDataQueued + BIT + 1 + 6 + + + CamScalingPending + BIT + 1 + 7 + + + + UINTARR8 + 128 + UINT + + 0 + 8 + + + + NCTOPLC_AXIS_REF + 2048 + + StateDWord + NCTOPLC_AXIS_REF_STATE + 32 + 0 + + + ErrorCode + UDINT + 32 + 32 + + + AxisState + UDINT + + 32 + 64 + + + AxisModeConfirmation + UDINT + 32 + 96 + + + HomingState + UDINT + + 32 + 128 + + + CoupleState + UDINT + + 32 + 160 + + + SvbEntries + UDINT + 32 + 192 + + + SafEntries + UDINT + 32 + 224 + + + AxisId + UDINT + 32 + 256 + + + OpModeDWord + NCTOPLC_AXIS_REF_OPMODE + 32 + 288 + + + ActPos + LREAL + 64 + 320 + + + ModuloActPos + LREAL + 64 + 384 + + + ActiveControlLoopIndex + UINT + 16 + 448 + + + ControlLoopIndex + UINT + 16 + 464 + + + ModuloActTurns + DINT + 32 + 480 + + + ActVelo + LREAL + 64 + 512 + + + PosDiff + LREAL + 64 + 576 + + + SetPos + LREAL + 64 + 640 + + + SetVelo + LREAL + 64 + 704 + + + SetAcc + LREAL + 64 + 768 + + + TargetPos + LREAL + 64 + 832 + + + ModuloSetPos + LREAL + 64 + 896 + + + ModuloSetTurns + DINT + 32 + 960 + + + CmdNo + UINT + 16 + 992 + + + CmdState + UINT + 16 + 1008 + + + SetJerk + LREAL + 64 + 1024 + + + SetTorque + LREAL + 64 + 1088 + + + ActTorque + LREAL + 64 + 1152 + + + StateDWord2 + NCTOPLC_AXIS_REF_STATE2 + 32 + 1216 + + + StateDWord3 + DWORD + 32 + 1248 + + + TouchProbeState + DWORD + 32 + 1280 + + + TouchProbeCounter + DWORD + 32 + 1312 + + + CamCouplingState + NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE + + 0 + 8 + + 64 + 1344 + + + CamCouplingTableID + UINTARR8 + 128 + 1408 + + + ActTorqueDerivative + LREAL + 64 + 1536 + + + SetTorqueDerivative + LREAL + 64 + 1600 + + + AbsPhasingPos + LREAL + 64 + 1664 + + + TorqueOffset + LREAL + 64 + 1728 + + + ActPosWithoutPosCorrection + LREAL + 64 + 1792 + + + ActAcc + LREAL + 64 + 1856 + + + DcTimeStamp + UDINT + 32 + 1920 + + + + NcStructType + 2 + + + + + NCAXLESTRUCT_TOPLC + + + NCAXLESTRUCT_TOPLC2 + + + NCAXLESTRUCT_TOPLC3 + + + NCAXLESTRUCT_TOPLC4 + + + + + + + + + + + + + + + + NC-Task 1 SAF @@ -16,5 +1357,641 @@ NC-Task 1 SVB + + N + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 1024 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 2048 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 1344 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 2368 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + + + + + S + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 2688 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 4736 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 3008 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 5056 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 1664 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 2688 + + + + + VG + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 4352 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 7424 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 4672 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 7744 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 3328 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 5376 + + + + + VC + + + + + + + Inputs + + In + NCENCODERSTRUCT_IN2B + 6016 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + nDataIn7 + + + + + + Outputs + + Out + NCENCODERSTRUCT_OUT2 + 10112 + + nDataOut1 + + + nDataOut2 + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + Inputs + + In + NCDRIVESTRUCT_IN2 + 6336 + + nDataIn1 + + + nDataIn2 + + + nDataIn3 + + + nDataIn4 + + + nDataIn5 + + + nDataIn6 + + + + + Outputs + + Out + NCDRIVESTRUCT_OUT2 + 10432 + + nDataOut1 + + + nDataOut2 + + + nCtrl2 + + + + nCtrl3 + + + + nDataOut3 + + + nDataOut4 + + + nDataOut5 + + + nDataOut6 + + + + + + + + + + + Inputs + + FromPlc + PLCTONC_AXIS_REF + 4992 + + + + Outputs + + ToPlc + NCTOPLC_AXIS_REF + 8064 + + + diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 8b75ba3..05d690f 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1013,85 +1013,15 @@ External Setpoint Generation: GVL.astAxes[4].Axis.NcToPlc NCTOPLC_AXIS_REF - - GVL.astAxes[5].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[5].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[5].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[5].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[5].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[5].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[6].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[6].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[6].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[6].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[6].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[6].Axis.NcToPlc - NCTOPLC_AXIS_REF - PlcTask Outputs - limitsPower.bEnableAxis1Limits - BOOL - - - limitsPower.bEnableAxis2Limits - BOOL - - - limitsPower.bEnableAxis1Enc - BOOL - - - limitsPower.bEnableAxis2Enc - BOOL - - - MAIN.slit1Vertical.GapSizeEncoder + Application_Template.mySlits.GapSizeEncoder UDINT - MAIN.slit1Vertical.GapCentreEncoder + Application_Template.mySlits.GapCentreEncoder UDINT @@ -1110,14 +1040,6 @@ External Setpoint Generation: GVL.astAxes[4].Axis.PlcToNc PLCTONC_AXIS_REF - - GVL.astAxes[5].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[6].Axis.PlcToNc - PLCTONC_AXIS_REF - @@ -1135,4 +1057,26 @@ External Setpoint Generation: + + + + + + + + + + + + + + + + + + + + + + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index 82dcac6..dd0d952 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -1,16 +1,13 @@  - diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 0fbd5b0..1e6ff5e 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -43,8 +43,7 @@ END_FOR FOR GVL.iPneumaticAxis := 1 TO GVL_APP.nPNEUMATIC_AXIS_NUM DO afbPneumaticAxes[GVL.iPneumaticAxis](stPneumaticAxisStruct := GVL.astPneumaticAxes[GVL.iPneumaticAxis]); -END_FOR -]]> +END_FOR]]> @@ -75,8 +74,7 @@ END_IF]]> - + @@ -214,7 +212,6 @@ END_FOR]]> - @@ -225,7 +222,7 @@ END_FOR]]> - + diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index a542709..2794a15 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit a542709afdd125db46ee15dbf1c009e3452fe340 +Subproject commit 2794a1567c9ff715881709a23e4a03e1de5eda4f From 2166eb14b781c7f9bffe21c2ba077c1357291111 Mon Sep 17 00:00:00 2001 From: Cooper Date: Wed, 1 Jun 2022 11:00:45 +0100 Subject: [PATCH 08/17] fix to whitespace damage --- solution/_Config/NC/NC.xti | 1977 -------------------- solution/_Config/PLC/tc_project_app.xti | 22 - solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- 3 files changed, 1 insertion(+), 2000 deletions(-) diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti index 3c799f3..32cccdf 100644 --- a/solution/_Config/NC/NC.xti +++ b/solution/_Config/NC/NC.xti @@ -1,1346 +1,5 @@ - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2B - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - nDataIn7 - UINTARR2 - - 32 - 288 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - IsDriveLimitActive - BIT - 1 - 18 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D} - - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - AbsPhasingPos - LREAL - 64 - 1664 - - - TorqueOffset - LREAL - 64 - 1728 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - NC-Task 1 SAF @@ -1357,641 +16,5 @@ External Setpoint Generation: NC-Task 1 SVB - - N - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 1024 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 2048 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 1344 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 2368 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - - - - - S - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 2688 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 4736 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 3008 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 5056 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 1664 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 2688 - - - - - VG - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 4352 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 7424 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 4672 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 7744 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 3328 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 5376 - - - - - VC - - - - - - - Inputs - - In - NCENCODERSTRUCT_IN2B - 6016 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - nDataIn7 - - - - - - Outputs - - Out - NCENCODERSTRUCT_OUT2 - 10112 - - nDataOut1 - - - nDataOut2 - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - Inputs - - In - NCDRIVESTRUCT_IN2 - 6336 - - nDataIn1 - - - nDataIn2 - - - nDataIn3 - - - nDataIn4 - - - nDataIn5 - - - nDataIn6 - - - - - Outputs - - Out - NCDRIVESTRUCT_OUT2 - 10432 - - nDataOut1 - - - nDataOut2 - - - nCtrl2 - - - - nCtrl3 - - - - nDataOut3 - - - nDataOut4 - - - nDataOut5 - - - nDataOut6 - - - - - - - - - - - Inputs - - FromPlc - PLCTONC_AXIS_REF - 4992 - - - - Outputs - - ToPlc - NCTOPLC_AXIS_REF - 8064 - - - diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 05d690f..4df4421 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1057,26 +1057,4 @@ External Setpoint Generation: - - - - - - - - - - - - - - - - - - - - - - diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index dd0d952..291de1b 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -7,7 +7,7 @@ VAR_GLOBAL END_VAR VAR_GLOBAL CONSTANT - nAXIS_NUM: UINT := 4; (*~ (OPC: 1 : available for OPC-clients) + nAXIS_NUM: UINT := 0; (*~ (OPC: 1 : available for OPC-clients) (OPC_PROP[0005]: 1 : OPC_PROP_RIGHTS, here read only) *) nPNEUMATIC_AXIS_NUM: UINT := 0; END_VAR]]> From 010f31886dd0738d98fe6f59342dc088dfadb5e3 Mon Sep 17 00:00:00 2001 From: Cooper Date: Wed, 1 Jun 2022 11:01:36 +0100 Subject: [PATCH 09/17] point to latest tc_mca commit --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 2794a15..9f63aa8 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 2794a1567c9ff715881709a23e4a03e1de5eda4f +Subproject commit 9f63aa8999817799073e8c7d4dd326876d8169fc From 7da57bc5e3fccae072664a7a6e713923b72423d4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?= Date: Mon, 18 Jul 2022 15:20:27 +0200 Subject: [PATCH 10/17] Ignore LineIDs.dbg Ignore LineIDs.dbg, which is needed internally to keep track of source code lines where a breakpoint can be set --- .gitignore | 1 + 1 file changed, 1 insertion(+) diff --git a/.gitignore b/.gitignore index 8f8c117..83f035e 100644 --- a/.gitignore +++ b/.gitignore @@ -13,6 +13,7 @@ UpgradeLog.htm _Boot/ _CompileInfo/ _Libraries/ +LineIDs.dbg logs.0* solution/TrialLicense.tclrs tools/linux/ADS/ From 014de5a5797a622ef51826557f8f534ef58fd3f1 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 21 Jul 2022 09:56:42 +0200 Subject: [PATCH 11/17] Update pointer to latest version of tc_mca_std_lib --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ef11a1b..6ac07ff 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ef11a1b4c06047b86d3852e31ed5242c9f5ca51e +Subproject commit 6ac07fffe5d36840bb6011e2aada0c1bbc7c3c8b From 35a43cb4b9f79be0b8b1ff0c29983efc12378c4d Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 21 Jul 2022 10:00:48 +0200 Subject: [PATCH 12/17] Update pointer to latest version of tc_mca_std_lib --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 6ac07ff..183b1d2 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 6ac07fffe5d36840bb6011e2aada0c1bbc7c3c8b +Subproject commit 183b1d296f3a8623e51d96be7117b06732912475 From ce8d745ccafedad8f429cec44f6787bce06e4f8d Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Tue, 16 Aug 2022 15:24:12 +0200 Subject: [PATCH 13/17] Update all files to new build version. To 3024.11 and 3024.32 --- solution/Licenses/ReadMe_licenses.txt | 5 ---- solution/_Config/PLC/tc_project_app.xti | 4 +-- solution/solution.tsproj | 4 +-- solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 +- solution/tc_project_app/GlobalTextList.TcGTLO | 2 +- .../Applications/Application_Template.TcPOU | 2 +- .../Axes/Axis_Template.TcPOU | 2 +- .../Axes/Pneumatics_Template.TcPOU | 2 +- solution/tc_project_app/POUs/MAIN.TcPOU | 2 +- solution/tc_project_app/PlcTask.TcTTO | 2 +- .../Visualization Manager.TcVMO | 28 +++++++++---------- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 11 ++++++++ twincat_version_manager.py | 2 +- 14 files changed, 38 insertions(+), 32 deletions(-) delete mode 100644 solution/Licenses/ReadMe_licenses.txt diff --git a/solution/Licenses/ReadMe_licenses.txt b/solution/Licenses/ReadMe_licenses.txt deleted file mode 100644 index 1cc9be8..0000000 --- a/solution/Licenses/ReadMe_licenses.txt +++ /dev/null @@ -1,5 +0,0 @@ -Copy and paste in this folder the licenses contained inside the Beckhoff CPU in the path: - -C:\TwinCAT\3.1\Target\License - -Thank you \ No newline at end of file diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 9067711..2e97b49 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,7 +1,7 @@ - + - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 4bf7c31..f495754 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,8 +1,8 @@ - + - + diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL index f8c5309..da28880 100644 --- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL +++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL @@ -1,5 +1,5 @@  - + - + diff --git a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU index dbf45fb..3c265a4 100644 --- a/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU +++ b/solution/tc_project_app/POUs/Application_Specific/Applications/Application_Template.TcPOU @@ -1,5 +1,5 @@  - + - + - + - + - + 10000 diff --git a/solution/tc_project_app/Visualization Manager.TcVMO b/solution/tc_project_app/Visualization Manager.TcVMO index 8dc78a2..20054b0 100644 --- a/solution/tc_project_app/Visualization Manager.TcVMO +++ b/solution/tc_project_app/Visualization Manager.TcVMO @@ -1,5 +1,5 @@  - + @@ -58,7 +58,7 @@ 7 4096 "1002 0004" - "1.0.0.4" + "1.0.0.6" {cb73a13e-6ccc-4bc6-8859-f5aa98bb116b} @@ -466,34 +466,34 @@ ExecuteLooseCapture 4e2884cd-dc97-4120-914c-87a83e618f1f - ExecuteMouseUp - 57eea9a5-15d9-4269-bb8d-9fee5420cdb2 Init e61a0910-39b6-4bcc-9a64-fcab62230628 FB_Exit e6e1ea47-0811-4b03-9888-d0564361e0d6 ExecuteMouseDblClick a517a0ac-170b-4df4-b289-55dcb57628ed - GetElementInfo - f64cb89f-3016-4fba-85f5-02efcd4282c1 ExecuteMouseDown 94bab392-b395-4c03-9d0e-5738d11bd021 + ExecuteMouseUp + 57eea9a5-15d9-4269-bb8d-9fee5420cdb2 + ExecuteMouseEnter + 569205fa-533b-4fc2-8d51-21ccab693305 FB_Reinit 97933c03-0169-4afe-ac83-de892204e120 - Initialize - 6946d6e0-129f-4425-b8b0-ef98281a99e9 - ExecuteMouseMove - 58fc221c-be14-4e34-871e-a118f8ba9539 + GetElementInfo + f64cb89f-3016-4fba-85f5-02efcd4282c1 + abstrGetDefaultCursor + 25718998-50a9-408d-8b3f-20a55e2cc784 ExecuteDialogClosed f08d08b6-e70c-4bef-a136-38845bd246d8 ExecuteKeyUp 7403635b-2725-4f00-93d4-e0dd125959de ExecuteKeyDown 9649ecda-3794-4d6b-a8a7-71e528d9d170 - abstrGetDefaultCursor - 25718998-50a9-408d-8b3f-20a55e2cc784 - ExecuteMouseEnter - 569205fa-533b-4fc2-8d51-21ccab693305 + ExecuteMouseMove + 58fc221c-be14-4e34-871e-a118f8ba9539 + Initialize + 6946d6e0-129f-4425-b8b0-ef98281a99e9 ExecuteMouseLeave 3bacea68-55b4-4764-928e-e69910299932 FB_Init diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 183b1d2..1ab496b 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 183b1d296f3a8623e51d96be7117b06732912475 +Subproject commit 1ab496b552ae6571bee1cd2cc9c8f70db006c7fc diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 0c11005..4e77103 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -16,6 +16,7 @@ false + true @@ -118,6 +119,15 @@ Code + + Code + + + Code + + + Code + Code @@ -157,6 +167,7 @@ + diff --git a/twincat_version_manager.py b/twincat_version_manager.py index 697ca50..77484bb 100644 --- a/twincat_version_manager.py +++ b/twincat_version_manager.py @@ -2,7 +2,7 @@ import glob import xml.etree.ElementTree as ET VERSION_TAGS = {"**/*.Tc*": "ProductVersion", "**/*.tsproj": "TcVersion"} -CORRECT_VERSIONS = {"**/*.Tc*": "3.1.4024.5", "**/*.tsproj": "3.1.4024.11"} +CORRECT_VERSIONS = {"**/*.Tc*": "3.1.4024.11", "**/*.tsproj": "3.1.4024.32"} def check_versions(): From 1fea6ede0e5f35ba74a9171a5427911081ba7709 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Wed, 17 Aug 2022 14:01:24 +0200 Subject: [PATCH 14/17] Build solution in version 4024.32 and update pointer of tc_mca_std_lib --- solution/_Config/PLC/tc_project_app.xti | 4 ++-- solution/tc_project_app/tc_mca_std_lib | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 9067711..2e97b49 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,7 +1,7 @@ - + - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ef11a1b..10f7df0 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ef11a1b4c06047b86d3852e31ed5242c9f5ca51e +Subproject commit 10f7df07ee21a9f8081b251da43e5da38aebbcf4 From 52d00a2f928318ac28f73d56606c8fed238bc326 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Fri, 19 Aug 2022 13:18:32 +0200 Subject: [PATCH 15/17] Build solution with new name and location of ess monitoring files Changes to be committed: modified: solution.sln modified: solution/tc_project_app/tc_mca_std_lib modified: solution/tc_project_app/tc_project_app.plcproj --- solution.sln | 4 ++-- solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 19 +++++++++---------- 3 files changed, 12 insertions(+), 13 deletions(-) diff --git a/solution.sln b/solution.sln index 2694336..60113c2 100644 --- a/solution.sln +++ b/solution.sln @@ -1,7 +1,7 @@  Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 2013 -VisualStudioVersion = 12.0.21005.1 +# TcXaeShell Solution File, Format Version 11.00 +VisualStudioVersion = 15.0.28307.1300 MinimumVisualStudioVersion = 10.0.40219.1 Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" EndProject diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 20cbae4..9bdc4a2 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 20cbae48838ab3329b6574ae3d8b38c9c406f372 +Subproject commit 9bdc4a2c1b567125e02fdad6cfe549efee824668 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 4e77103..323f0fd 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -50,6 +50,9 @@ Code + + Code + Code @@ -89,6 +92,9 @@ Code + + Code + Code @@ -119,18 +125,12 @@ Code - - Code - - - Code - - - Code - Code + + Code + Code @@ -167,7 +167,6 @@ - From 4685872bc1c09f35749d1ff886c6e935a7766440 Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Fri, 19 Aug 2022 15:28:16 +0200 Subject: [PATCH 16/17] Build solution with new state names in slit code --- solution/_Config/PLC/tc_project_app.xti | 139 ------------------ solution/tc_project_app/tc_mca_std_lib | 2 +- .../tc_project_app/tc_project_app.plcproj | 15 +- 3 files changed, 8 insertions(+), 148 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 328ade7..2e97b49 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,148 +1,9 @@ - tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.astAxes[1].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[1].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[1].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[1].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[1].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[2].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[2].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[2].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[2].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[2].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[3].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[3].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[3].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[3].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[3].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[3].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - GVL.astAxes[4].stStatus.nEncoderRawCounter - - UDINT - - - GVL.astAxes[4].stStatus.nStepperDriveCounter - - UDINT - - - GVL.astAxes[4].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[4].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[4].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[4].Axis.NcToPlc - NCTOPLC_AXIS_REF - - - - PlcTask Outputs - - Application_Template.mySlits.GapSizeEncoder - UDINT - - - Application_Template.mySlits.GapCentreEncoder - UDINT - - - GVL.astAxes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[3].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[4].Axis.PlcToNc - PLCTONC_AXIS_REF - - 0 diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 3bf0cb1..1ffd077 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 3bf0cb1c3a59b907195f98a5d35df6c25ff93297 +Subproject commit 1ffd077a18b685151d10b368c1149ce124dd5fe9 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index e841ec8..9d3b3cc 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -50,6 +50,9 @@ Code + + Code + Code @@ -122,18 +125,15 @@ Code - - Code - - - Code - - + Code Code + + Code + Code @@ -173,7 +173,6 @@ - From e78b71935257a27402ae66f398f4fbd16967cd5e Mon Sep 17 00:00:00 2001 From: Federico Rojas Date: Thu, 25 Aug 2022 11:18:44 +0200 Subject: [PATCH 17/17] Build solution with new code changes and updated versions --- solution/_Config/PLC/tc_project_app.xti | 2 +- solution/tc_project_app/tc_mca_std_lib | 2 +- solution/tc_project_app/tc_project_app.plcproj | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti index 2e97b49..f7a73bd 100644 --- a/solution/_Config/PLC/tc_project_app.xti +++ b/solution/_Config/PLC/tc_project_app.xti @@ -1,7 +1,7 @@ - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 1ffd077..5b63b12 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 1ffd077a18b685151d10b368c1149ce124dd5fe9 +Subproject commit 5b63b12dd2e1dc6008fa34bb3f4aaad9efa56271 diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index c4628e6..aa51c7f 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -277,7 +277,7 @@ - Tc2_MC2, 3.3.41.0 (Beckhoff Automation GmbH) + Tc2_MC2, 3.3.48.0 (Beckhoff Automation GmbH)