From 6f6faf2fd72b4917dcca70a5bfd888ed9000eb65 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 12:16:14 +0100 Subject: [PATCH 01/10] Add new tc_mca_std_lib blocks to PLC project. --- solution/tc_project_app/tc_project_app.plcproj | 15 +++++++++++++++ 1 file changed, 15 insertions(+) diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 04dbc43..3b91427 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -280,6 +280,21 @@ Code + + Code + + + Code + + + Code + + + Code + + + Code + Code From 7256b72277f2a1dda5d3bceaa9dcecf919e3c90a Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 12:18:15 +0100 Subject: [PATCH 02/10] Main.TcPOU.ACT: Update FB_DriveVirtual function call to reflect new interface. --- solution/tc_project_app/POUs/MAIN.TcPOU | 237 +++++------------------- 1 file changed, 47 insertions(+), 190 deletions(-) diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU index 8b7a3e3..3d0d5b3 100644 --- a/solution/tc_project_app/POUs/MAIN.TcPOU +++ b/solution/tc_project_app/POUs/MAIN.TcPOU @@ -182,7 +182,7 @@ END_VAR false false true - 9L + 67L @@ -347,6 +347,38 @@ END_VAR false 20L + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 69L + + + "" + + "" + "" + "" + + 0 + false + false + + true + false + false + 70L + @@ -354,123 +386,7 @@ END_VAR true false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - - 0 - true - false - - - 0 - false - false - - - 0 - false - false - - - 0 - false - false - - + @@ -759,8 +675,8 @@ END_VAR - "" - + "bHomeSensor" + "BOOL" "" "" "" @@ -835,8 +751,8 @@ END_VAR - "bHomeSensor" - "BOOL" + "M1Link.Axis" + "AXIS_REF" "" "" "%I*" @@ -852,63 +768,6 @@ END_VAR 59L - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 62L - - 61L - - - - "" - - "" - "" - "" - - 0 - false - false - - false - false - false - 64L - - 63L - - - - "M1Link.axis" - "AXIS_REF" - "" - "" - "" - - 0 - false - false - - false - false - false - 66L - - 65L - @@ -926,14 +785,11 @@ END_VAR bJogBwd bLimitFwd bLimitBwd - bEnableSoftLimitFwd - bEnableSoftLimitBwd - fSoftLimitFwd - fSoftLimitBwd fOverride bHomeSensor + fHomePosition + nHomeRevOffset MasterAxis - nMotionAxisID Axis @@ -951,14 +807,11 @@ END_VAR BOOL BOOL BOOL - BOOL - BOOL - LREAL - LREAL LREAL BOOL + LREAL + UINT AXIS_REF - UDINT AXIS_REF[REF] @@ -971,10 +824,12 @@ END_VAR bError bHomed nErrorId + nMotionAxisID Status fActVelocity fActPosition fActDiff + sErrorMessage BOOL @@ -984,10 +839,12 @@ END_VAR BOOL BOOL UDINT + UDINT ST_AxisStatus LREAL LREAL LREAL + STRING FunctionBlock @@ -996,7 +853,7 @@ END_VAR false false - 10L + 68L From a5122aafa92ef897958af0b4b880d5cd104b4d72 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 12:24:24 +0100 Subject: [PATCH 03/10] Add FB_WriteFloatParameter to plc project. --- solution/tc_project_app/tc_project_app.plcproj | 3 +++ 1 file changed, 3 insertions(+) diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index 3b91427..f02ef61 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -34,6 +34,9 @@ Code + + Code + Code From 13f37c6478e6e52a94a2d86f22fd7308807e58f2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 12:27:13 +0100 Subject: [PATCH 04/10] Update tc_mca_std_lib --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index ef800da..e85bd91 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit ef800daed54b5c78dc97bd26e0d65ef08efb98c1 +Subproject commit e85bd91e06f618c2c00594b2f6bb5d502b14bdee From 0e62112c8c1067d021904fea63c0ea44f010cb79 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 14:07:32 +0100 Subject: [PATCH 05/10] Use new tc_mca_std_lib version. --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index e85bd91..762542b 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit e85bd91e06f618c2c00594b2f6bb5d502b14bdee +Subproject commit 762542b856b87d788a3993ecb39d60da72c93adf From 5bb4c5af4a3e3afb9f778605c0989059dcacecbd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 14:35:18 +0100 Subject: [PATCH 06/10] Use updated tc_mca_std_lib. --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 762542b..511e571 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 762542b856b87d788a3993ecb39d60da72c93adf +Subproject commit 511e571d3c416848cf7ffc2aded5aebd62b62d59 From 5bcdbbb622187fbd98d62170bc03643662469f28 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 15:41:46 +0100 Subject: [PATCH 07/10] Update tc_mca_std_lib. --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 511e571..a774e80 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 511e571d3c416848cf7ffc2aded5aebd62b62d59 +Subproject commit a774e8066e7d7b40701ce4f3c0ae166135e79d8f From 47b977ae8126d613b4cc32456003a27ab21fb309 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Mon, 22 Jan 2018 15:44:56 +0100 Subject: [PATCH 08/10] PLCTask cycle time 1ms (instead of 10ms). --- solution/solution.tsproj | 6 +++--- solution/tc_project_app/PlcTask.TcTTO | 5 ++--- 2 files changed, 5 insertions(+), 6 deletions(-) diff --git a/solution/solution.tsproj b/solution/solution.tsproj index 9f5acc4..5567116 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -885,14 +885,14 @@ External Setpoint Generation: PlcTaskCom - + PlcTask - + tc_epicscommodule Instance {08500001-0000-0000-F000-000000000064} @@ -901,7 +901,7 @@ External Setpoint Generation: - + tc_project_app Instance {08500001-0000-0000-F000-000000000064} diff --git a/solution/tc_project_app/PlcTask.TcTTO b/solution/tc_project_app/PlcTask.TcTTO index 4a5267b..dfc6cfd 100644 --- a/solution/tc_project_app/PlcTask.TcTTO +++ b/solution/tc_project_app/PlcTask.TcTTO @@ -1,8 +1,8 @@  - + - 10000 + 1000 20 MAIN @@ -12,6 +12,5 @@ {2478772d-357b-433f-886f-15340bef9bdf} {c16ee410-277f-45f0-a92e-1ec5f87024b9} {291eb57a-f9a9-4722-b7d3-fd700e5db288} - \ No newline at end of file From 13413cfa070905bf9dac19e1bd05d6e3d528ec3b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Thu, 8 Mar 2018 13:47:57 +0100 Subject: [PATCH 09/10] Add new Homing FBs in structure --- solution.sln | 32 +++++++++---------- .../tc_project_app/tc_project_app.plcproj | 12 +++++++ 2 files changed, 28 insertions(+), 16 deletions(-) diff --git a/solution.sln b/solution.sln index 976e55d..1bff69d 100644 --- a/solution.sln +++ b/solution.sln @@ -33,22 +33,6 @@ Global {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) @@ -65,6 +49,22 @@ Global {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) + {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj index f02ef61..fcabc7d 100644 --- a/solution/tc_project_app/tc_project_app.plcproj +++ b/solution/tc_project_app/tc_project_app.plcproj @@ -286,9 +286,18 @@ Code + + Code + + + Code + Code + + Code + Code @@ -298,6 +307,9 @@ Code + + Code + Code From aa26d308bc68ab62edd6ee4214f5ab62023c03dc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= Date: Fri, 9 Mar 2018 13:20:41 +0100 Subject: [PATCH 10/10] Use new stdLib. --- solution/tc_project_app/tc_mca_std_lib | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index a774e80..ecc7217 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit a774e8066e7d7b40701ce4f3c0ae166135e79d8f +Subproject commit ecc7217d00648a9592525f40d75f551b543723eb