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c6cac2ce7c48257948b05c8bd8edcdffc22ca02f
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128 Commits

Author SHA1 Message Date
Paul Barron
c6cac2ce7c Set monitoring parameters 
E.g. position lag, target position etc.
Done for axis 1 and 2.
 2019-12-10 10:26:57 +01:00
Paul Barron
f59a9dfccf Invert motor polarity for axis 1 2019-12-09 15:02:05 +01:00
Paul Barron
ad48a4c161 Invert encoder counting direction on axis 2 2019-12-09 14:57:14 +01:00
Paul Barron
dd4cfbe34b Set dynamic parameters for Axis 1 and 2 2019-12-09 14:49:00 +01:00
Paul Barron
57aa137e4e Change encoder scaling factor denominator to 2000 
Done for axis 1 and 2
 2019-12-09 14:43:50 +01:00
Paul Barron
173400e7f0 Change Reference Velocity to 600 
Changed for axis 1 and 2
 2019-12-09 14:41:16 +01:00
Paul Barron
35eb7a5261 Change encoder scaling factor to num=60 and den=1000 
Done for axis 1 and 2
 2019-12-09 14:30:44 +01:00
Paul Barron
b7ae38ad86 Change link of encoder for axis 1 and 2 to hardware terminals 2019-12-09 14:16:51 +01:00
Paul Barron
f36a636a4e Link hardware inputs to bLimitFwd, bLimitBwd, bLimitHome 
Done for both axis 1 and 2.
 2019-12-09 14:05:32 +01:00
Paul Barron
8b2779fe61 Link boutput 2,3,6,7 to the hardware 2019-12-09 13:32:10 +01:00
Paul Barron
c8775e5ae5 Create bOutput 2,3,6,7 for switches in MAIN.TcPOU 
modified:   solution/solution.tsproj
	modified:   solution/tc_project_app/POUs/MAIN.TcPOU
 2019-12-09 13:29:28 +01:00
Paul Barron
5fe5abbbf3 Link bOutput1 and bOutput5 to hardware 2019-12-09 13:27:22 +01:00
Paul Barron
d36efd414d Create bOutput5 for axis 2 switches 2019-12-09 13:25:06 +01:00
Paul Barron
82c00f9999 Link PLC axes 1 & 2 to motion axes 1 & 2 2019-12-09 13:19:38 +01:00
Paul Barron
97f4607b7c Scan the bus 2019-12-09 13:17:30 +01:00
Paul Barron
a9dea34c41 Capitalise variable names of eStartUp 
No code changes
 2019-12-09 12:25:01 +01:00
Paul Barron
f98fa633a5 Fix whitespace damage in MAIN.TcPOU 2019-12-09 12:04:08 +01:00
Paul Barron
0772b525ab Update MAIN.TcPOU for TwinCAT version 
Open MAIN.TcPOU in TwinCAT, add one line, delete it, save it.
TwinCAT updates the TwinCAT version number to 3.1.4024.0.
No code changes.
 2019-12-09 11:59:42 +01:00
Paul Barron
bbfe0ab3e9 Commit after updating TwinCAT 
No code changes
	modified:   solution.sln
	modified:   solution/solution.tsproj
	modified:   solution/tc_project_app/tc_project_app.plcproj
 2019-12-09 11:54:52 +01:00
Paul Barron
619331cc28 After white space fix? 2019-12-09 11:11:08 +01:00
Paul Barron
56e8fb1c9b Change iStartup case to eStartup 
Change int to enum for better readability
 2019-12-04 15:09:05 +01:00
Paul Barron
fe65683e7c White space fix 2019-12-04 14:50:58 +01:00
Paul Barron
5d0116f27c Add comment plus variable name consistency fix 2019-12-04 14:44:49 +01:00
Paul Barron
1fd4d9bad6 Fix white-space danage 2019-12-04 14:09:59 +01:00
Paul Barron
3374ed36ae Merge 'tc_generic_struct/integration' into mbp-77/191204-SaveValuesOnPowerOff 
Conflicts:
	solution/tc_project_app/POUs/MAIN.TcPOU
	solution/tc_project_app/tc_mca_std_lib
 2019-12-04 13:42:31 +01:00
Torsten Bögershausen
4b2302d0d4 Fix whitespace damage in solution/tc_project_app/tc_mca_std_lib 2019-11-29 11:51:27 +01:00
Torsten Bögershausen
69f8fc4696 solution/tc_epicscommodule updated to 3.1.4024.0 2019-11-29 11:34:27 +01:00
Torsten Bögershausen
bef8078e99 Fix whitespace damage 
Fix the whitespaces using check_fix_white_space.py
modified:   solution/tc_project_app/GVLs/GVL_APP.TcGVL
modified:   solution/tc_project_app/POUs/MAIN.TcPOU
 2019-11-29 09:47:11 +01:00
Torsten Bögershausen
9facfb89c1 Update tc_epicscommodule to a white+space clean version 2019-11-29 09:43:45 +01:00
Federico Rojas
5644dd9bb7 Update Hardware FB for the latest version from Viktor Heirich and 4024.0 
Some FB in the Etercat Termianls folder were not the latest version
They were replaced by the latest version according to  the developer Viktor Heirich# Please enter the commit message for your changes. Lines starting
 2019-10-16 11:35:02 +02:00
Federico Rojas
117f65b403 Merge origin/integration into MBP-109-test-pipelines-for-twincat 
Conflicts:

  solution/solution.tsproj
 2019-10-15 14:19:34 +02:00
Federico Rojas
8ced80123e Update tc_mca_std_lib to version 3024.0 2019-10-15 14:05:11 +02:00
Federico Rojas
9a0b8e98cc Update tc_epicscommodule to master for new 3024.0 2019-10-15 14:04:02 +02:00
Dominic Oram
7f9e9feff5 Updated submodules 2019-10-11 23:24:09 +01:00
Dominic Oram
1579c29d6f Updated version 2019-10-11 23:20:39 +01:00
Dominic Oram
1d3a7d6c59 Updated version 2019-10-11 23:18:38 +01:00
Dominic Oram
0adff94a46 Updated version 2019-10-11 23:13:43 +01:00
Federico Rojas
80380cbcd1 Add action call of action STARTUP( ) to MAIN 2019-08-12 15:55:16 +02:00
Paul Barron
ea525c4f49 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.
 2019-08-09 15:08:12 +02:00
Federico Rojas
232a454e21 fix conflict while merging to integration branch 2019-08-08 11:32:13 +02:00
Federico Rojas
05927a40a6 Change all references and links from GVL.axisNum to GVL_APP.axisNum 2019-08-01 13:03:33 +02:00
Federico Rojas
e9bac1d121 Create GVL_APP and add axisNum constant variable in it 2019-08-01 12:58:31 +02:00
Federico Rojas
08c6c6acaf Delete Axis task from solution to have a clean solution 2019-08-01 12:38:27 +02:00
Federico Rojas
1bf298212a set bExecute to FLASE at the end of the code 2019-08-01 12:13:24 +02:00
Federico Rojas
1b3ef2c20f Reset bExecute when Axis are coupled 2019-07-18 10:03:08 +02:00
Federico Rojas
8beccc5cd8 Change representation to Hex of nNC_ErrorID in FB_NC_Error 2019-07-17 15:55:52 +02:00
Federico Rojas
bacbdf1e39 add missing FB for error handling EL7037 and EL7047 2019-07-17 13:52:07 +02:00
Federico Rojas
b3f741222f Fix bug with bExecute reset after command 2019-07-17 10:14:43 +02:00
Federico Rojas
c03cead419 Fix typo in comment 2019-07-16 13:42:19 +02:00
Federico Rojas
f9544e549b Update Links from Error_Log_Visu to new ST_AxisStruct 2019-07-16 13:31:10 +02:00