berti_r/Motion_test
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Bug fix: add additional check in MAIN.SHUTDOWN

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gvl.axes[i].Axis.Status.Moving doesn't seem to work if the axis isn't enabled.
Therefore added a check to see whether gvl.axes[i].Axis.NcToPlc.ActVelo <> 0.
If it's non-zero then don't restore the encoder value on restart.
MAIN.SHUTDOWN also added to the normal operation cycle, this is to allow restart
after a "Reset Cold" command in Visual Studio, otherwise the only time position is
restored is an actual lose of power. It might be also useful when a user restarts
the PLC program manually.
Also modified a few comments in MAIN.STARTUP.
This commit is contained in:
Paul Barron
2019-12-11 14:28:54 +01:00
parent 83f1b66c9b
commit df44dd3b82
1 changed files with 27 additions and 11 deletions
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38
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -69,7 +69,8 @@ END_IF
STARTUP();
PROG();
AXES();
ERROR();]]></ST>
ERROR();
SHUTDOWN();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
@@ -136,7 +137,12 @@ fbEL1808(
<Implementation>
<ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
iPositionAtShutdown[i]:=gvl.axes[i].Axis.NcToPlc.ActPos;
bMovingAtShutdown[i]:=gvl.axes[i].Axis.Status.Moving;
IF gvl.axes[i].Axis.NcToPlc.ActVelo <> 0 THEN
bMovingAtShutdown[i]:=TRUE;
ELSE
bMovingAtShutdown[i]:=FALSE;
END_IF
bMovingAtShutdown[i]:=bMovingAtShutdown[i] OR gvl.axes[i].Axis.Status.Moving;
END_FOR]]></ST>
</Implementation>
</Action>
@@ -145,6 +151,7 @@ END_FOR]]></ST>
<ST><![CDATA[///#########################################################
// This module 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[i].config.eRestorePosition is non-zero.
// There are two modes for position restore:
// 1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
@@ -186,22 +193,23 @@ IF bPositionRestoreDone = FALSE THEN
END_IF
ReadAxisFeedbackType:
// Exectute the FUNCTION blocks TO read the encoder REFERENCE system (inc OR ABS)
// Exectute the FUNCTION blocks to read the encoder reference system (0=inc OR 1=ABS)
bExecuteReadEncRefSys:=TRUE;
eStartUp:=eStartUp+1;
CheckReadDone:
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time
// If fbReadEncRefSys not started then go back a step
// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
// If fbReadEncRefSys not started then go back a step.
// If any axes result in an error the code will get stuck here, this happens if gvl_app.axisNum is not set correctly
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = FALSE THEN
IF fbReadEncRefSys[i].Busy = TRUE THEN
// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
RETURN;
ELSE
// Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge.
// If the code gets here it means .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started
// and thus needs to see a rising edge. Set execute to low and go back a step in the CASE.
// Sometimes the code gets here and the fbReadEncRefSys[i] misses the rising edge. If the code gets here it means
// .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
// Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
bExecuteReadEncRefSys:=FALSE;
eStartUp:=eStartUp-1;
iRetry:=iRetry+1; // counter used for troubleshooting to see how many cycles it takes before fbReadEncRefSys function blocks are read correctly
@@ -238,7 +246,7 @@ IF bPositionRestoreDone = FALSE THEN
CheckRestore:
// Check mode 1: fbRestorePosition or mode 2: direct homing is finished on axes that were opt-in
// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
// bPositionRestoreDone will never get set to TRUE
// bPositionRestoreDone will never get set to TRUE and will take up cycle time
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Valid = TRUE AND fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.eRestorePosition OF
@@ -271,6 +279,7 @@ END_IF]]></ST>
<LineId Id="135" Count="0" />
<LineId Id="134" Count="0" />
<LineId Id="81" Count="1" />
<LineId Id="241" Count="0" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="19" Count="1" />
@@ -305,13 +314,18 @@ END_IF]]></ST>
<LineId Id="3" Count="0" />
</LineIds>
<LineIds Name="MAIN.SHUTDOWN">
<LineId Id="2" Count="2" />
<LineId Id="2" Count="1" />
<LineId Id="5" Count="1" />
<LineId Id="8" Count="1" />
<LineId Id="7" Count="0" />
<LineId Id="4" Count="0" />
<LineId Id="1" Count="0" />
</LineIds>
<LineIds Name="MAIN.STARTUP">
<LineId Id="99" Count="0" />
<LineId Id="94" Count="0" />
<LineId Id="98" Count="0" />
<LineId Id="213" Count="0" />
<LineId Id="101" Count="1" />
<LineId Id="104" Count="0" />
<LineId Id="103" Count="0" />
@@ -339,13 +353,15 @@ END_IF]]></ST>
<LineId Id="29" Count="0" />
<LineId Id="179" Count="0" />
<LineId Id="163" Count="0" />
<LineId Id="212" Count="0" />
<LineId Id="152" Count="0" />
<LineId Id="139" Count="0" />
<LineId Id="131" Count="0" />
<LineId Id="155" Count="0" />
<LineId Id="190" Count="0" />
<LineId Id="140" Count="0" />
<LineId Id="157" Count="2" />
<LineId Id="157" Count="0" />
<LineId Id="210" Count="1" />
<LineId Id="187" Count="0" />
<LineId Id="150" Count="1" />
<LineId Id="200" Count="0" />