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

Change GVL to follow our coding standards and update all the references in the FB's

Browse Source
This commit is contained in:
Federico Rojas
2020-03-17 14:52:19 +01:00
parent 56929e3be1
commit c99efebb07
4 changed files with 67 additions and 68 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -42,7 +42,7 @@ AXES();]]></ST>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis := 1 TO gvl_app.nAxisNum DO
aFbAxes[GVL.iAxis](stAxisStruct := gvl.axes[GVL.iAxis]);
aFbAxes[GVL.iAxis](stAxisStruct := gvl.aAxes[GVL.iAxis]);
END_FOR]]></ST>
</Implementation>
</Action>
@@ -83,7 +83,7 @@ END_IF]]></ST>
// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
// Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.axes[GVL.iAxis].config.eRestorePosition is non-zero.
// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.aAxes[GVL.iAxis].config.eRestorePosition is non-zero.
// This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
// A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
// There is a enum to allow for different types of restore modes, currently only one is implemented.
@@ -104,7 +104,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
aFbReadEncRefSys[GVL.iAxis](
Axis := gvl.axes[GVL.iAxis].Axis,
Axis := gvl.aAxes[GVL.iAxis].Axis,
Enable := bExecuteReadEncRefSys,
ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
Value=>,
@@ -114,7 +114,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Cycle through set position function blocks for each axis
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
aFbRestorePosition[GVL.iAxis](
Axis := gvl.axes[GVL.iAxis].Axis,
Axis := gvl.aAxes[GVL.iAxis].Axis,
Execute := ,
Position := axesPersistent[GVL.iAxis].iPositionAtShutdown);
END_FOR
@@ -159,7 +159,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// Execute position restore by setting aFbRestorePosition.execute = TRUE
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(axesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF GVL.axes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
IF GVL.aAxes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
aFbRestorePosition[GVL.iAxis].Execute := TRUE;
END_IF
END_IF
@@ -172,7 +172,7 @@ IF bRestoreExecute AND NOT bPositionRestoreDone THEN
// bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
IF aFbReadEncRefSys[GVL.iAxis].Valid = TRUE AND aFbReadEncRefSys[GVL.iAxis].Value = 0 AND NOT(axesPersistent[GVL.iAxis].bMovingAtShutdown) THEN
IF GVL.axes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
IF GVL.aAxes[GVL.iAxis].config.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
IF NOT aFbRestorePosition[GVL.iAxis].Done THEN
RETURN;
END_IF
@@ -195,13 +195,13 @@ END_IF]]></ST>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR GVL.iAxis:= 1 TO gvl_app.nAxisNum DO
axesPersistent[GVL.iAxis].iPositionAtShutdown := gvl.axes[GVL.iAxis].Axis.NcToPlc.ActPos;
IF gvl.axes[GVL.iAxis].Axis.NcToPlc.ActVelo <> 0 THEN
axesPersistent[GVL.iAxis].iPositionAtShutdown := gvl.aAxes[GVL.iAxis].Axis.NcToPlc.ActPos;
IF gvl.aAxes[GVL.iAxis].Axis.NcToPlc.ActVelo <> 0 THEN
axesPersistent[GVL.iAxis].bMovingAtShutdown := TRUE;
ELSE
axesPersistent[GVL.iAxis].bMovingAtShutdown := FALSE;
END_IF
axesPersistent[GVL.iAxis].bMovingAtShutdown := axesPersistent[GVL.iAxis].bMovingAtShutdown OR gvl.axes[GVL.iAxis].Axis.Status.Moving;
axesPersistent[GVL.iAxis].bMovingAtShutdown := axesPersistent[GVL.iAxis].bMovingAtShutdown OR gvl.aAxes[GVL.iAxis].Axis.Status.Moving;
END_FOR]]></ST>
</Implementation>
</Action>

85
solution/tc_project_app/Test/common/FB_tcUNIT_common.TcPOU
View File

@@ -15,7 +15,7 @@ VAR_INPUT
iAxisIndex: INT; // The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.axes[iAxisIndex].control.bEnable := TRUE;]]></ST>
<ST><![CDATA[GVL.aAxes[iAxisIndex].control.bEnable := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="mExecute" Id="{010bd927-5568-40db-a7c5-fcfe995a5cb1}">
@@ -24,7 +24,7 @@ VAR_INPUT
iAxisIndex: INT; // The idex of the axis to action the method on.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[GVL.axes[iAxisIndex].control.bExecute := TRUE;]]></ST>
<ST><![CDATA[GVL.aAxes[iAxisIndex].control.bExecute := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="mPrepareDefaultMove" Id="{c23244d5-896c-49ad-8d8a-19390856e4dc}">
@@ -36,17 +36,17 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Prepare an axis so it is ready to action a move using target defaults when executed.
GVL.axes[iAxisIndex].control.bEnable := TRUE;
GVL.axes[iAxisIndex].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.aAxes[iAxisIndex].control.bEnable := TRUE;
GVL.aAxes[iAxisIndex].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
GVL.aAxes[iAxisIndex].inputs.bLimitBwd := TRUE;
GVL.aAxes[iAxisIndex].inputs.bLimitFwd := TRUE;
GVL.axes[iAxisIndex].config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
GVL.axes[iAxisIndex].config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
GVL.axes[iAxisIndex].config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
GVL.axes[iAxisIndex].config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
GVL.axes[iAxisIndex].config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
GVL.aAxes[iAxisIndex].config.fVelocity := tcUNIT_GVL.fDEFAULT_TARGET_VELOCITY;
GVL.aAxes[iAxisIndex].config.fAcceleration := tcUNIT_GVL.fDEFAULT_TARGET_ACCELERATION;
GVL.aAxes[iAxisIndex].config.fDeceleration := tcUNIT_GVL.fDEFAULT_TARGET_DECCELERATION;
GVL.aAxes[iAxisIndex].config.fOverride := tcUNIT_GVL.fDEFAULT_TARGET_OVERRIDE;
GVL.aAxes[iAxisIndex].config.fPosition := tcUNIT_GVL.fDEFAULT_POSITION;]]></ST>
</Implementation>
</Method>
<Method Name="mPrepareMove" Id="{97bd5417-d0a1-4d32-8732-16310a863fcc}">
@@ -63,16 +63,16 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Prepare the axis so it is ready to action a move when executed for a given motion strategy.
GVL.axes[iAxisIndex].control.bEnable := FALSE;
GVL.axes[iAxisIndex].control.eCommand := eMotionStrategy;
GVL.aAxes[iAxisIndex].control.bEnable := FALSE;
GVL.aAxes[iAxisIndex].control.eCommand := eMotionStrategy;
GVL.axes[iAxisIndex].inputs.bLimitBwd := TRUE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := TRUE;
GVL.aAxes[iAxisIndex].inputs.bLimitBwd := TRUE;
GVL.aAxes[iAxisIndex].inputs.bLimitFwd := TRUE;
GVL.axes[iAxisIndex].config.fVelocity := fTargetVelocity;
GVL.axes[iAxisIndex].config.fAcceleration := fTargetAcceleration;
GVL.axes[iAxisIndex].config.fDeceleration := fTargetDeceleration;
GVL.axes[iAxisIndex].config.fPosition := fTargetPosition;]]></ST>
GVL.aAxes[iAxisIndex].config.fVelocity := fTargetVelocity;
GVL.aAxes[iAxisIndex].config.fAcceleration := fTargetAcceleration;
GVL.aAxes[iAxisIndex].config.fDeceleration := fTargetDeceleration;
GVL.aAxes[iAxisIndex].config.fPosition := fTargetPosition;]]></ST>
</Implementation>
</Method>
<Method Name="mSetAxisDefaults" Id="{5b9336be-4414-4858-a614-0fdb2847e171}">
@@ -84,35 +84,34 @@ END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Set PLC default values for the axis. Note: Status values can take multiple cycles to updated. This is not an instant reset.
IF GVL.axes[iAxisIndex].status.bBusy THEN
GVL.axes[iAxisIndex].control.bStop := TRUE;
IF GVL.aAxes[iAxisIndex].status.bBusy THEN
GVL.aAxes[iAxisIndex].control.bStop := TRUE;
END_IF
IF GVL.axes[iAxisIndex].status.bError THEN
GVL.axes[iAxisIndex].control.bReset := TRUE;
IF GVL.aAxes[iAxisIndex].status.bError THEN
GVL.aAxes[iAxisIndex].control.bReset := TRUE;
END_IF
IF NOT GVL.axes[iAxisIndex].control.bEnable AND GVL.axes[iAxisIndex].control.bStop THEN
GVL.axes[iAxisIndex].control.bStop := FALSE;
IF NOT GVL.aAxes[iAxisIndex].control.bEnable AND GVL.aAxes[iAxisIndex].control.bStop THEN
GVL.aAxes[iAxisIndex].control.bStop := FALSE;
END_IF
GVL.axes[iAxisIndex].control.bEnable := FALSE;
GVL.axes[iAxisIndex].control.bExecute := FALSE;
GVL.axes[iAxisIndex].control.bReset := FALSE;
GVL.axes[iAxisIndex].control.bJogFwd := FALSE;
GVL.axes[iAxisIndex].control.bJogBwd := FALSE;
GVL.axes[iAxisIndex].control.bStop := FALSE;
GVL.axes[iAxisIndex].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.aAxes[iAxisIndex].control.bEnable := FALSE;
GVL.aAxes[iAxisIndex].control.bExecute := FALSE;
GVL.aAxes[iAxisIndex].control.bReset := FALSE;
GVL.aAxes[iAxisIndex].control.bJogFwd := FALSE;
GVL.aAxes[iAxisIndex].control.bJogBwd := FALSE;
GVL.aAxes[iAxisIndex].control.bStop := FALSE;
GVL.aAxes[iAxisIndex].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.axes[iAxisIndex].config.fVelocity := 0.0;
GVL.axes[iAxisIndex].config.fAcceleration := 0.0;
GVL.axes[iAxisIndex].config.fDeceleration := 0.0;
GVL.axes[iAxisIndex].config.fPosition := 0;
GVL.axes[iAxisIndex].config.fOverride := 0.0;
GVL.axes[iAxisIndex].config.nHomeSeq := 0;
GVL.aAxes[iAxisIndex].config.fVelocity := 0.0;
GVL.aAxes[iAxisIndex].config.fAcceleration := 0.0;
GVL.aAxes[iAxisIndex].config.fDeceleration := 0.0;
GVL.aAxes[iAxisIndex].config.fPosition := 0;
GVL.aAxes[iAxisIndex].config.fOverride := 0.0;
GVL.aAxes[iAxisIndex].config.nHomeSeq := 0;
GVL.axes[iAxisIndex].inputs.bLimitBwd := FALSE;
GVL.axes[iAxisIndex].inputs.bLimitFwd := FALSE;
GVL.axes[iAxisIndex].inputs.bEncLAtch := FALSE;
GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;]]></ST>
GVL.aAxes[iAxisIndex].inputs.bLimitBwd := FALSE;
GVL.aAxes[iAxisIndex].inputs.bLimitFwd := FALSE;
GVL.aAxes[iAxisIndex].inputs.bHomeSensor := FALSE;]]></ST>
</Implementation>
</Method>
<LineIds Name="FB_tcUNIT_common">
@@ -132,7 +131,7 @@ GVL.axes[iAxisIndex].inputs.bHomeSensor := FALSE;]]></ST>
<LineId Id="17" Count="11" />
</LineIds>
<LineIds Name="FB_tcUNIT_common.mSetAxisDefaults">
<LineId Id="50" Count="29" />
<LineId Id="50" Count="28" />
<LineId Id="26" Count="0" />
</LineIds>
</POU>

30
solution/tc_project_app/Test/standard_library_tests/FB_Axis_TEST.TcPOU
View File

@@ -6,7 +6,7 @@
FUNCTION_BLOCK FB_Axis_TEST EXTENDS tcUnit.FB_TestSuite
VAR
fbCommon: FB_tcUNIT_common;
iTargetAxis: INT := 1; // The <index> of the axis within GVL.axes[<index>] to test against.
iTargetAxis: INT := 1; // The <index> of the axis within GVL.aAxes[<index>] to test against.
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Declare methods defined in the FB_Axis_TEST POU to be included (executed) in the test suite
@@ -34,7 +34,7 @@ ExpectedResult := TRUE;
fbCommon.mPrepareDefaultMove(iTargetAxis);
fbCommon.mExecute(iTargetAxis);
Result := GVL.axes[iTargetAxis].status.bBusy;
Result := GVL.aAxes[iTargetAxis].status.bBusy;
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
@@ -62,14 +62,14 @@ END_VAR]]></Declaration>
// a previous test. Therefore if we execute a move we should just check it's moved
// from the initial location not some initial default.
InitialValue := GVL.axes[iTargetAxis].config.fPosition;
InitialValue := GVL.aAxes[iTargetAxis].config.fPosition;
ExpectedResult := InitialValue + 10;
GVL.axes[iTargetAxis].config.fPosition := ExpectedResult;
GVL.aAxes[iTargetAxis].config.fPosition := ExpectedResult;
GVL.axes[iTargetAxis].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.axes[iTargetAxis].control.bExecute := TRUE;
GVL.aAxes[iTargetAxis].control.eCommand := E_MotionFunctions.MoveAbsolute;
GVL.aAxes[iTargetAxis].control.bExecute := TRUE;
Result := GVL.axes[iTargetAxis].status.fActPosition;
Result := GVL.aAxes[iTargetAxis].status.fActPosition;
IF nCycle > nCycleMax OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
@@ -96,7 +96,7 @@ END_VAR]]></Declaration>
ExpectedResult := tcUNIT_gvl.fDEFAULT_TARGET_ACCELERATION;
fbCommon.mPrepareDefaultMove(iTargetAxis);
Result := GVL.axes[1].config.fAcceleration;
Result := GVL.aAxes[1].config.fAcceleration;
AssertEquals(Expected := ExpectedResult,
Actual := Result,
@@ -119,9 +119,9 @@ END_VAR]]></Declaration>
// example of test that requires multiple cycles to complete. Due to stateful behaviour of the axis structure.
ExpectedResult := TRUE;
GVL.axes[1].control.bEnable := ExpectedResult;
GVL.aAxes[1].control.bEnable := ExpectedResult;
Result := GVL.axes[iTargetAxis].status.bEnabled;
Result := GVL.aAxes[iTargetAxis].status.bEnabled;
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,
@@ -148,11 +148,11 @@ END_VAR]]></Declaration>
// Example of using a tcUNIT assert for a specific type (in this case LREAL).
InitialValue := GVL.axes[iTargetAxis].config.fVelocity;
InitialValue := GVL.aAxes[iTargetAxis].config.fVelocity;
ExpectedResult := InitialValue + 0.5;
GVL.Axes[iTargetAxis].config.fVelocity := ExpectedResult;
GVL.aAxes[iTargetAxis].config.fVelocity := ExpectedResult;
Result := GVL.axes[iTargetAxis].config.fVelocity;
Result := GVL.aAxes[iTargetAxis].config.fVelocity;
AssertEquals_LREAL(Expected := ExpectedResult,
Actual := Result,
@@ -176,9 +176,9 @@ END_VAR]]></Declaration>
ExpectedResult := TRUE;
GVL.axes[iTargetAxis].inputs.bLimitFwd := TRUE;
GVL.aAxes[iTargetAxis].inputs.bLimitFwd := TRUE;
Result := GVL.axes[iTargetAxis].status.bFwEnabled;
Result := GVL.aAxes[iTargetAxis].status.bFwEnabled;
IF nCycle > nMaxCycles OR ExpectedResult = Result THEN
AssertEquals(Expected := ExpectedResult,

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 8edeaa86c4...d39ddf2311