From 0382dc4da6e36d38352637b862083ebda57af322 Mon Sep 17 00:00:00 2001
From: Federico Rojas <federico.rojas@ess.eu>
Date: Wed, 21 Feb 2024 11:37:42 +0100
Subject: [PATCH 1/3] Add DUT enum E_CPUType

E_CPUType contains two vlaues. One for the CX5130 and one for the c6017-0020

new file:   solution/tc_project_app/DUTs/E_CPUType.TcDUT
---
 solution/tc_project_app/DUTs/E_CPUType.TcDUT | 14 ++++++++++++++
 1 file changed, 14 insertions(+)
 create mode 100644 solution/tc_project_app/DUTs/E_CPUType.TcDUT

diff --git a/solution/tc_project_app/DUTs/E_CPUType.TcDUT b/solution/tc_project_app/DUTs/E_CPUType.TcDUT
new file mode 100644
index 0000000..7ca656f
--- /dev/null
+++ b/solution/tc_project_app/DUTs/E_CPUType.TcDUT
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.11">
+  <DUT Name="E_CPUType" Id="{78ea3fa6-b103-4c1f-b5a7-d343f24fda9f}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+TYPE E_CPUType :
+(
+    CX5130 := 0,
+    C6017_0020 := 1
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
\ No newline at end of file

From 04f1e64b36e3f619a67a0e1ecf59f1b121d81fe0 Mon Sep 17 00:00:00 2001
From: Federico Rojas <federico.rojas@ess.eu>
Date: Wed, 21 Feb 2024 11:39:24 +0100
Subject: [PATCH 2/3] Add eCPUType as a global variable for the restore
 position code

---
 solution/tc_project_app/GVLs/GVL_APP.TcGVL | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index 1f59157..c09ef66 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -3,6 +3,8 @@
   <GVL Name="GVL_APP" Id="{8fe9690c-7907-432e-bedb-6fc99b5ce255}">
     <Declaration><![CDATA[{attribute 'qualified_only'}
 VAR_GLOBAL
+    //0 for CX5130 and 1 for c6017-0020
+    eCPUType: E_CPUType; //:= 1;
 END_VAR
 
 VAR_GLOBAL CONSTANT

From b6b7c6b238f1c568c4de24224e6a24928c093d5f Mon Sep 17 00:00:00 2001
From: Federico Rojas <federico.rojas@ess.eu>
Date: Wed, 21 Feb 2024 11:40:23 +0100
Subject: [PATCH 3/3] Implemnet eCPUType enum in the restore position code and
 build solution

---
 solution/tc_project_app/POUs/MAIN.TcPOU        | 11 +++++++++--
 solution/tc_project_app/tc_project_app.plcproj |  6 ++++++
 2 files changed, 15 insertions(+), 2 deletions(-)

diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 908d574..0eb97b8 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -10,7 +10,8 @@ VAR
     hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes
     hmiPneumaticAxisSelection: INT := 1;
 //Startup, Shutdown and UPS
-    fbUPS: FB_S_UPS_CX51x0;
+    fbCX5130UPS: FB_S_UPS_CX51x0;
+    fbC6017UPS: FB_S_UPS_BAPI;
     eUpsMode: E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
     eStartUp: (eColdStart, eReadAxisFeedbackType, eCheckReadDone, eExecuteRestore, eCheckRestore, eFinishRestore);
     bPositionRestoreDone: BOOL := FALSE;
@@ -64,7 +65,13 @@ END_FOR
     </Action>
     <Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
       <Implementation>
-        <ST><![CDATA[fbUPS(eUpsMode := eUpsMode);
+        <ST><![CDATA[CASE GVL_APP.eCPUType OF
+    E_CPUType.CX5130:
+        fbCX5130UPS(eUpsMode := eUpsMode);
+
+    E_CPUType.C6017_0020:
+        fbC6017UPS(eUPSMode := eUPSMode);
+END_CASE
 
 FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
     //Read encoder position BIAS
diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj
index 070a387..123285d 100644
--- a/solution/tc_project_app/tc_project_app.plcproj
+++ b/solution/tc_project_app/tc_project_app.plcproj
@@ -19,6 +19,9 @@
     <GenerateTpy>false</GenerateTpy>
   </PropertyGroup>
   <ItemGroup>
+    <Compile Include="DUTs\E_CPUType.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="GlobalTextList.TcGTLO">
       <SubType>Code</SubType>
     </Compile>
@@ -68,6 +71,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_GearAxis.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_HomingConfig.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\E_AxisEngUnit.TcDUT">
       <SubType>Code</SubType>
     </Compile>