berti_r/Motion_test
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Readability change, make case statements easier to read

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This commit is contained in:
Paul Barron
2019-12-10 11:39:00 +01:00
parent d88816156a
commit f7906d265a
1 changed files with 14 additions and 8 deletions
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22
solution/tc_project_app/POUs/MAIN.TcPOU
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@@ -74,7 +74,9 @@ ERROR();]]></ST>
</Implementation>
<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
<Implementation>
<ST><![CDATA[
<ST><![CDATA[gvl.axes[1].config.eRestorePosition:=1;
gvl.axes[2].config.eRestorePosition:=2;
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR
@@ -127,6 +129,7 @@ fbEL1808(
<Implementation>
<ST><![CDATA[//
(* Program any sequence, safety or feature (if necessary) application specific in thsi section*)
//]]></ST>
</Implementation>
</Action>
@@ -185,7 +188,7 @@ IF bColdstartDone = FALSE THEN
CheckFeedbackType: // Check if axis is incremental, opt-in/restore home and not moving at shutdown -> if so restore
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) THEN
IF gvl.axes[i].config.iRestorePosition=2 THEN
IF gvl.axes[i].config.eRestorePosition=2 THEN
gvl.axes[i].config.nHomeSeq:=15;
gvl.axes[i].control.eCommand:=10;
END_IF
@@ -195,9 +198,9 @@ IF bColdstartDone = FALSE THEN
ExecutePosRestore: // Execute position restore with or without bHome set
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE GVL.axes[i].config.iRestorePosition OF
1: fbRestorePosition[i].Execute:=TRUE;
2: gvl.axes[i].control.bExecute:=TRUE;
CASE GVL.axes[i].config.eRestorePosition OF
1: fbRestorePosition[i].Execute:=TRUE;
2: gvl.axes[i].control.bExecute:=TRUE;
END_CASE
END_IF
END_FOR
@@ -205,12 +208,12 @@ IF bColdstartDone = FALSE THEN
CheckFinished: // Check set position or direct homing is finished on axes that were opt-in
FOR i:=1 TO gvl_app.axisNum DO
IF fbReadEncRefSys[i].Value = 0 THEN
CASE gvl.axes[i].config.iRestorePosition OF
1:
CASE gvl.axes[i].config.eRestorePosition OF
1:
IF NOT fbRestorePosition[i].Done THEN
RETURN;
END_IF
2:
2:
IF NOT gvl.axes[i].status.bHomed THEN
RETURN;
END_IF
@@ -236,6 +239,8 @@ END_IF]]></ST>
<LineId Id="81" Count="1" />
</LineIds>
<LineIds Name="MAIN.AXES">
<LineId Id="19" Count="0" />
<LineId Id="18" Count="0" />
<LineId Id="3" Count="0" />
<LineId Id="1" Count="0" />
<LineId Id="4" Count="0" />
@@ -263,6 +268,7 @@ END_IF]]></ST>
<LineIds Name="MAIN.PROG">
<LineId Id="2" Count="0" />
<LineId Id="1" Count="0" />
<LineId Id="5" Count="0" />
<LineId Id="3" Count="0" />
</LineIds>
<LineIds Name="MAIN.SHUTDOWN">