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Add DUT RestorePosition in tc_mca_std_lib

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Also adjusted code in MAIN.STARTUP to adapt to the new type variable
instead of the int previously.
This commit is contained in:
Paul Barron
2019-12-10 12:49:37 +01:00
parent f7906d265a
commit dbd145ed68
3 changed files with 22 additions and 20 deletions
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15
solution/tc_project_app/POUs/MAIN.TcPOU
View File

@@ -74,8 +74,8 @@ ERROR();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=1;
gvl.axes[2].config.eRestorePosition:=2;
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
gvl.axes[2].config.eRestorePosition:=RestorePosition.RestoreWithHome;
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
@@ -199,8 +199,8 @@ IF bColdstartDone = FALSE THEN
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.eRestorePosition OF
1: fbRestorePosition[i].Execute:=TRUE;
2: gvl.axes[i].control.bExecute:=TRUE;
RestorePosition.RestoreWithoutHome: fbRestorePosition[i].Execute:=TRUE;
RestorePosition.RestoreWithHome: gvl.axes[i].control.bExecute:=TRUE;
END_CASE
END_IF
END_FOR
@@ -209,11 +209,11 @@ IF bColdstartDone = FALSE THEN
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.eRestorePosition OF
1:
RestorePosition.RestoreWithoutHome:
IF NOT fbRestorePosition[i].Done THEN
RETURN;
END_IF
2:
RestorePosition.RestoreWithHome:
IF NOT gvl.axes[i].status.bHomed THEN
RETURN;
END_IF
@@ -239,8 +239,7 @@ END_IF]]></ST>
<LineId Id="81" Count="1" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="19" Count="0" />
<LineId Id="18" Count="0" />
<LineId Id="19" Count="1" />
<LineId Id="3" Count="0" />
<LineId Id="1" Count="0" />
<LineId Id="4" Count="0" />

2
solution/tc_project_app/tc_mca_std_lib

Submodule solution/tc_project_app/tc_mca_std_lib updated: 4d01140cfa...9e31e77d29

25
solution/tc_project_app/tc_project_app.plcproj
View File

@@ -30,6 +30,9 @@
<Compile Include="POUs\MAIN.TcPOU">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\RestorePosition.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="tc_mca_std_lib\DUTs\ST_AxisConfig.TcDUT">
<SubType>Code</SubType>
</Compile>
@@ -342,8 +345,8 @@
<ProjectExtensions>
<PlcProjectOptions>
<XmlArchive>
<Data>
<o xml:space="preserve" t="OptionKey">
<Data>
<o xml:space="preserve" t="OptionKey">
<v n="Name">"&lt;ProjectRoot&gt;"</v>
<d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
<v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -394,15 +397,15 @@
</d>
<d n="Values" t="Hashtable" />
</o>
</Data>
<TypeList>
<Type n="Boolean">System.Boolean</Type>
<Type n="Hashtable">System.Collections.Hashtable</Type>
<Type n="Int32">System.Int32</Type>
<Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
<Type n="String">System.String</Type>
</TypeList>
</XmlArchive>
</Data>
<TypeList>
<Type n="Boolean">System.Boolean</Type>
<Type n="Hashtable">System.Collections.Hashtable</Type>
<Type n="Int32">System.Int32</Type>
<Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
<Type n="String">System.String</Type>
</TypeList>
</XmlArchive>
</PlcProjectOptions>
</ProjectExtensions>
</Project>