From f0dff8ea56e0584960a700816e157abace2c59b9 Mon Sep 17 00:00:00 2001
From: SCooper <simon.cooper@stfc.ac.uk>
Date: Wed, 13 Jul 2022 11:30:28 +0100
Subject: [PATCH] multi gearing logic improved. Status logic changed to array
 of pointers for easier scaling. Homing added

---
 solution/_Config/NC/NC.xti              |  1 +
 solution/_Config/PLC/tc_project_app.xti |  2 +-
 solution/tc_project_app/POUs/MAIN.TcPOU | 19 +++++++++++++++++++
 solution/tc_project_app/tc_mca_std_lib  |  2 +-
 4 files changed, 22 insertions(+), 2 deletions(-)

diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index 4198911..2017d23 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -1425,6 +1425,7 @@ External Setpoint Generation:
 		<Axis Id="1" CreateSymbols="true" AxisType="1">
 			<Name>Axis 1</Name>
 			<AxisPara>
+				<Velo RefSearch="5" RefSync="5"/>
 				<OtherSettings AllowMotionCmdToSlave="true"/>
 			</AxisPara>
 			<Encoder Name="Enc" EncType="1">
diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti
index 407b10e..d4a8d92 100644
--- a/solution/_Config/PLC/tc_project_app.xti
+++ b/solution/_Config/PLC/tc_project_app.xti
@@ -965,7 +965,7 @@ External Setpoint Generation:
 		</DataType>
 	</DataTypes>
 	<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="..\..\tc_project_app\tc_project_app.plcproj" TmcFilePath="..\..\tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
-		<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{D08C0AE8-F819-88BD-5289-8C92F29439B9}">
+		<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{E784E0E4-5985-E12E-6141-072BCA8B3B28}">
 			<Name>tc_project_app Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Vars VarGrpType="1">
diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 899cfd5..03737b6 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -98,6 +98,18 @@ Axis_Template();
 
 //Application program calls
 //Application_Template();
+
+IF astAxes[1].stStatus.fActPosition > 50 THEN
+    astAxes[1].stInputs.bLimitFwd := FALSE;
+ELSE
+    astAxes[1].stInputs.bLimitFwd := TRUE;
+END_IF
+
+IF astAxes[1].stStatus.fActPosition < -5 THEN
+    astAxes[1].stInputs.bLimitBwd := FALSE;
+ELSE
+    astAxes[1].stInputs.bLimitBwd := TRUE;
+END_IF
 ]]></ST>
       </Implementation>
     </Action>
@@ -265,6 +277,13 @@ END_FOR]]></ST>
       <LineId Id="10" Count="0" />
       <LineId Id="9" Count="0" />
       <LineId Id="3" Count="0" />
+      <LineId Id="14" Count="0" />
+      <LineId Id="13" Count="0" />
+      <LineId Id="15" Count="0" />
+      <LineId Id="17" Count="1" />
+      <LineId Id="16" Count="0" />
+      <LineId Id="20" Count="4" />
+      <LineId Id="19" Count="0" />
       <LineId Id="11" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.RESTORE_POSITIONS">
diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib
index a51213c..e4547af 160000
--- a/solution/tc_project_app/tc_mca_std_lib
+++ b/solution/tc_project_app/tc_mca_std_lib
@@ -1 +1 @@
-Subproject commit a51213ca1368444f4ce1bca951d5d2f2adc8ac5f
+Subproject commit e4547afd3176ab1eba1d126d4921e4bc83072d17