berti_r/Motion_test
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Clean up formatting and whitespace. Add ENUM states for slits. Improve error handling

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This commit is contained in:
SCooper
2021-07-27 13:53:07 +01:00
parent 6a79f654f1
commit d982c3585e
5 changed files with 30 additions and 78 deletions
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48
solution/_Config/PLC/tc_project_app.xti
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@@ -909,6 +909,14 @@ External Setpoint Generation:
<Name>MAIN.axisBladeNeg.NcToPlc</Name>
<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.axisBladePos.NcToPlc</Name>
<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.axisGap.NcToPlc</Name>
<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
</Var>
<Var>
<Name>GVL.astAxes[1].stInputs.bLimitFwd</Name>
<Type>BOOL</Type>
@@ -977,14 +985,6 @@ External Setpoint Generation:
<Name>GVL.astAxes[4].Axis.NcToPlc</Name>
<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.axisBladePos.NcToPlc</Name>
<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.axisGap.NcToPlc</Name>
<Type GUID="{72F5AAAA-16DF-4ED3-8367-F6C8C3ADAE99}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
</Var>
</Vars>
<Vars VarGrpType="2" AreaNo="1">
<Name>PlcTask Outputs</Name>
@@ -1013,6 +1013,22 @@ External Setpoint Generation:
<Name>MAIN.axisBladeNeg.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.axisBladePos.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.axisGap.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>testProg.myFirstSlits.iGapSizePosition</Name>
<Type>UDINT</Type>
</Var>
<Var>
<Name>testProg.myFirstSlits.iGapCentrePosition</Name>
<Type>UDINT</Type>
</Var>
<Var>
<Name>GVL.astAxes[1].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
@@ -1029,22 +1045,6 @@ External Setpoint Generation:
<Name>GVL.astAxes[4].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>testProg.myFirstSlits.iGapSizePosition</Name>
<Type>UDINT</Type>
</Var>
<Var>
<Name>testProg.myFirstSlits.iGapCentrePosition</Name>
<Type>UDINT</Type>
</Var>
<Var>
<Name>MAIN.axisBladePos.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.axisGap.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
</Vars>
<Contexts>
<Context>

6
solution/tc_project_app/POUs/Application_Specific/Axes/testProg.TcPOU
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@@ -3,7 +3,7 @@
<POU Name="testProg" Id="{6b742e2c-3720-4a26-aa80-15486c69d838}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM testProg
VAR
myFirstSlits : FB_SlitPair;
myFirstSlits : FB_SlitPair;
END_VAR
]]></Declaration>
<Implementation>
@@ -12,8 +12,7 @@ GVL.astAxes[1].stConfig.fHomePosition:=-30;
GVL.astAxes[2].stConfig.eHomeSeq:=E_HomingRoutines.eHomeToRef_Fwd;
GVL.astAxes[2].stConfig.fHomePosition:=30;
myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4);
]]></ST>
myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4, bEnable :=TRUE);]]></ST>
</Implementation>
<LineIds Name="testProg">
<LineId Id="10" Count="0" />
@@ -21,7 +20,6 @@ myFirstSlits(iBladeNegative:=1,iBladePositive:=2, iGapSize:=3, iGapCentre:=4);
<LineId Id="11" Count="0" />
<LineId Id="13" Count="1" />
<LineId Id="5" Count="0" />
<LineId Id="30" Count="0" />
</LineIds>
</POU>
</TcPlcObject>

49
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -32,47 +32,12 @@ END_VAR
VAR PERSISTENT
bRestoreOnStartup: BOOL;
END_VAR
VAR
//all for testing
axisBladeNeg : AXIS_REF;
axisBladePos : AXIS_REF;
axisGap : AXIS_REF;
powerBladeNeg : MC_POWER;
powerBladePos : MC_POWER;
powerAxisGap : MC_POWER;
mcGearIn : MC_GEARIN;
mcGearInMulti : MC_GEARINMULTIMASTER;
mcGearOut : MC_GEAROUT;
mcMoveAbs : MC_MOVEABSOLUTE;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[//POSITION_RECOVERY();
AXES();
PROG();
powerBladeNeg.Enable_Negative := GVL.astAxes[1].stInputs.bLimitBwd;
powerBladeNeg.Enable_Positive := GVL.astAxes[1].stInputs.bLimitFwd;
powerBladePos.Enable_Negative := GVL.astAxes[2].stInputs.bLimitBwd;
powerBladePos.Enable_Positive := GVL.astAxes[2].stInputs.bLimitFwd;
powerAxisGap.Enable_Negative:= TRUE;
powerAxisGap.Enable_Positive:= TRUE;
powerBladeNeg(Axis:=axisBladeNeg);
powerBladePos(Axis:=axisBladePos);
powerAxisGap(Axis:=axisGap);
mcGearIn(Slave:= axisBladeNeg, Master:=axisBladePos);
mcGearInMulti(Master1:=axisBladePos,Master2:=axisGap,Slave:=axisBladeNeg);
mcGearOut(Slave:=axisBladeNeg);
mcMoveAbs(Axis:=axisBladeNeg);
]]></ST>
</Implementation>
<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
@@ -248,20 +213,6 @@ END_FOR]]></ST>
<LineId Id="505" Count="0" />
<LineId Id="81" Count="0" />
<LineId Id="538" Count="0" />
<LineId Id="594" Count="0" />
<LineId Id="592" Count="1" />
<LineId Id="597" Count="0" />
<LineId Id="595" Count="1" />
<LineId Id="609" Count="0" />
<LineId Id="577" Count="0" />
<LineId Id="576" Count="0" />
<LineId Id="588" Count="0" />
<LineId Id="610" Count="0" />
<LineId Id="589" Count="0" />
<LineId Id="608" Count="0" />
<LineId Id="607" Count="0" />
<LineId Id="591" Count="0" />
<LineId Id="602" Count="0" />
<LineId Id="601" Count="0" />
<LineId Id="590" Count="0" />
</LineIds>

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 2b22c8199b...3ccc0a7479

3
solution/tc_project_app/tc_project_app.plcproj
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@@ -57,6 +57,9 @@
<Compile Include="tc_mca_std_lib\DUTs\E_RestorePosition.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\E_SlitPairStates.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisConfig.TcDUT">
<SubType>Code</SubType>
</Compile>