Add a STARTUP and SHUTDOWN action to MAIN
SHUTDOWN saves the current act pos of all axes and a bit to indicate whether the axes is moving. STARTUP checks all axes to see if they are incremental and not moving at previous shutdown and opt-in for value restore. If all are true then position is restored. UPS reference library from Beckhoff also added for the saving of values at shutdown. Might need to be modified as this one is specific for the particular CPU.
This commit is contained in:
Paul Barron
@@ -1,5 +1,5 @@
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.17">
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4022.18">
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<POU Name="MAIN" Id="{33eb6f49-7781-4211-a70b-87ada6d80cb7}" SpecialFunc="None">
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<Declaration><![CDATA[PROGRAM MAIN
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VAR
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@@ -38,13 +38,37 @@ VAR
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//fbEL7037 : EL7037;
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//fbEK1110 : EK1110;
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(******Startup, Shutdown and UPS********)
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iStartup : UINT := 0;
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bColdstartDone : BOOL := FALSE;
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bExecuteReadEncRefSys : BOOL := TRUE;
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tmrRetry : TON;
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iRetry : INT;
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fbReadEncRefSys : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
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fbUPS : FB_S_UPS_CX51x0;
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eUpsMode : E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
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fbRestorePosition : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;
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END_VAR
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VAR PERSISTENT
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iPositionAtShutdown : ARRAY [1..gvl_app.axisNum] OF LREAL;
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bMovingAtShutdown : ARRAY [1..gvl_app.axisNum] OF BOOL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[PROG();
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<ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)
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IF eGlobalSUpsState = eSUPS_PowerFailure THEN
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(* first cycle of powerfailure *)
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(* execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter *)
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SHUTDOWN();
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ELSIF eGlobalSUpsState > eSUPS_PowerFailure THEN
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(* next cycles of powerfailure *)
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(* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *)
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RETURN;
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END_IF
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PROG();
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AXES();
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ERROR();]]></ST>
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</Implementation>
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@@ -106,8 +130,110 @@ fbEL1808(
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//]]></ST>
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</Implementation>
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</Action>
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<Action Name="SHUTDOWN" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}">
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<Implementation>
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<ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
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iPositionAtShutdown[i]:=gvl.axes[i].Axis.NcToPlc.ActPos;
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bMovingAtShutdown[i]:=gvl.axes[i].Axis.Status.Moving;
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END_FOR]]></ST>
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</Implementation>
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</Action>
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<Action Name="STARTUP" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
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<Implementation>
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<ST><;
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END_FOR
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FOR i:=1 TO gvl_app.axisNum DO
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fbRestorePosition[i](
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Axis:= gvl.axes[i].Axis,
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Execute:= ,
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Position:= iPositionAtShutdown[i]);
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END_FOR
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IF bColdstartDone = FALSE THEN
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CASE iStartup OF
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0: // First cycle
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IF NOT bColdstartDone THEN
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iStartup:=iStartup+1;
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iretry:=0;
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END_IF
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1: // Read Enc Ref Sys - incremental or absolute
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bExecuteReadEncRefSys:=TRUE;
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iStartup:=iStartup+1;
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tmrRetry(in:=FALSE);
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2: // Check if Enc Ref Sys has been read for all axis -> if not read again
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tmrRetry(in:=TRUE, pt:=T#100MS);
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Valid = FALSE THEN
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IF tmrretry.Q THEN
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bExecuteReadEncRefSys:=FALSE;
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iStartup:=iStartup-1;
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iRetry:=iRetry+1;
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END_IF
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RETURN;
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ELSE
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iStartup:=iStartup+1;
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EXIT;
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END_IF
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END_FOR
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3: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) THEN
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IF gvl.axes[i].config.iRestorePosition=2 THEN
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gvl.axes[i].config.nHomeSeq:=15;
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gvl.axes[i].control.eCommand:=10;
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//Doesn't work yet because you can only home to zero position
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//gvl.axes[i].config.######:=iPositionAtShutdown[i];
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END_IF
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END_IF
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END_FOR
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iStartup:=iStartup+1;
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4: // Execute position restore with or without bHome set
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Value = 0 THEN
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CASE GVL.axes[i].config.iRestorePosition OF
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1: fbRestorePosition[i].Execute:=TRUE;
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2: gvl.axes[i].control.bExecute:=TRUE;
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END_CASE
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END_IF
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END_FOR
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iStartup:=iStartup+1;
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5: // Check set position or direct homing is finished on axes that were opt-in
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FOR i:=1 TO gvl_app.axisNum DO
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IF fbReadEncRefSys[i].Value = 0 THEN
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CASE gvl.axes[i].config.iRestorePosition OF
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1:
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IF NOT fbRestorePosition[i].Done THEN
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RETURN;
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END_IF
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2:
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IF NOT gvl.axes[i].status.bHomed THEN
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RETURN;
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END_IF
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END_CASE
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END_IF
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END_FOR
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iStartup:=iStartup+1;
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6: // Reset set position FBs and Finish
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FOR i:=1 TO gvl_app.axisNum DO
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fbRestorePosition[i].Execute:=FALSE;
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END_FOR
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bColdstartDone:=TRUE;
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END_CASE
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END_IF]]></ST>
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</Implementation>
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</Action>
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<LineIds Name="MAIN">
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<LineId Id="124" Count="9" />
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<LineId Id="2" Count="0" />
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<LineId Id="135" Count="0" />
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<LineId Id="134" Count="0" />
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<LineId Id="81" Count="1" />
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</LineIds>
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<LineIds Name="MAIN.AXES">
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@@ -140,5 +266,13 @@ fbEL1808(
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<LineId Id="1" Count="0" />
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<LineId Id="3" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.SHUTDOWN">
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<LineId Id="2" Count="2" />
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.STARTUP">
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<LineId Id="2" Count="85" />
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<LineId Id="1" Count="0" />
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</LineIds>
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</POU>
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</TcPlcObject>
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Submodule solution/tc_project_app/tc_mca_std_lib updated: f2b1862731...32b87da57e
@@ -308,6 +308,10 @@
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<DefaultResolution>Tc2_Standard, * (Beckhoff Automation GmbH)</DefaultResolution>
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<Namespace>Tc2_Standard</Namespace>
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</PlaceholderReference>
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<PlaceholderReference Include="Tc2_SUPS">
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<DefaultResolution>Tc2_SUPS, * (Beckhoff Automation GmbH)</DefaultResolution>
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<Namespace>Tc2_SUPS</Namespace>
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</PlaceholderReference>
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<PlaceholderReference Include="Tc2_System">
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<DefaultResolution>Tc2_System, * (Beckhoff Automation GmbH)</DefaultResolution>
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<Namespace>Tc2_System</Namespace>
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