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>