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c8602c8eb7524a9e59798250dc2cf8be8b16bd27
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67 Commits

Author SHA1 Message Date
aaronlong
c8602c8eb7 Resolved merge conflicts 2020-03-04 11:05:47 +00:00
aaronlong
741d03da8d Test suite and examples for tc_mca_std_lib solution 2020-02-19 14:54:14 +00:00
aaronlong
1855a0ad58 Reolved merge conflicts 2020-02-17 13:29:12 +00:00
Torsten Bögershausen
de53c24b15 solution.tsproj: Remove the 2 axes, commit with TC 3.1.4024.0 2020-02-10 10:53:57 +01:00
Simon-Cooper
1079229ffb ALLOW LOCAL SIMULATIONS TO BYBASS UPS CHECK 
Add CHECK_UPS action to house monitoring of the UPS global status
Modify RESTORE_POSITIONS state machine to remove numerical enumeration
usage
Add device identity functionblock to check whether local simulation or
CX
Add POSITION RECOVERY action to check device type and determine whether
to run
position restore and ups checking
Add solution/_Config/ folder to gitignore to remove NC and IO
 2020-02-07 10:17:46 +00:00
aaronlong
f0037bcaba Added std_lib unit tests 2019-12-24 11:36:25 +00:00
Federico Rojas
6e0735106d Change PLCtask cycle time to 10ms 2019-12-18 17:19:00 +01:00
Paul Barron
04c7827a7a Merge 'tc_generic_struct/integration' into mbp-77/191217-RemoveMode2 
Conflicts:
	solution/solution.tsproj
	solution/tc_project_app/GVLs/GVL_APP.TcGVL
	solution/tc_project_app/POUs/MAIN.TcPOU
	solution/tc_project_app/tc_project_app.plcproj
 2019-12-18 10:48:04 +01:00
Paul Barron
b61bf93b52 Remove hardware and rebuild 
Change axisNum to 2
 2019-12-17 14:54:20 +01:00
Federico Rojas
29f11a6db0 Rebuild solution after deletting the NC folder and content 2019-12-13 14:45:20 +01:00
Paul Barron
c49d1d0faf Increase homing and jog speeds 
For axis 1 and 2
 2019-12-10 10:37:08 +01:00
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
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
Torsten Bögershausen
c6c63bfa4c Merge 'origin/integration' into MBP-127-commit-files-with-lf-in-repo-crlf 
Conflicts:

	solution/solution.tsproj

	twincat_version_manager.py
 2019-12-09 06:25:29 +01:00
Torsten Bögershausen
b60f33ed5a solution.tsproj: Update to version 4.1.4023.119 2019-12-06 09:52:04 +01:00
Torsten Bögershausen
4ca1f6e110 Normalize all line endings to LF in the repo 
Change the CRLF strategie:
All (nearly all) files have LF in the repo, and CRLF in the working tree.
When we started, all files had been commited "as is".
Now it is more and more disturbing that Git shows "^M" in git diff
when a line was added or chenged.
To avoid this, store all files in the repo with LF.

To normalzie existing repos for a crate, run:

Step 1)
(unless you have done that already)
git remote add tc_generic_structure https://bitbucket.org/europeanspallationsource/tc_generic_structure.git

Step 2)
git fetch tc_generic_structure

Step 3)
(master below may be integration)
git merge tc_generic_structure/master  -X renormalize
 2019-12-04 16:30:58 +01:00
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
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
232a454e21 fix conflict while merging to integration branch 2019-08-08 11:32:13 +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
8beccc5cd8 Change representation to Hex of nNC_ErrorID in FB_NC_Error 2019-07-17 15:55:52 +02:00
Federico Rojas
175bdae2de Add missing FB for ErrorHandling FB_NC_Error 2019-07-16 13:29:44 +02:00
Federico Rojas
81b2a6c326 Delete bResetDone and bHome, change VISU location to tc_mca_std_lib 
Delete bResetDone from MainVisu and ST_AxisStatus
Delete bHome from ST_AxisControl
Move all VISU folder from tc_generic_struct to tc_mca_std_lib
 2019-07-16 11:32:47 +02:00
Federico Rojas
f71f6ad113 bError and bStop set to FALSE after execution 2019-07-10 14:58:03 +02:00
Federico Rojas
72ff5a7449 Merge with mbp-94/error-handling 2019-07-10 10:44:37 +02:00
Federico Rojas
062432bb3b Delete Axis 1, 2 1nd 3 to have empty solution 2019-07-08 13:51:04 +02:00
Federico Rojas
ed7c121b3d Update the solution strucutre with all the new Hardware FB's and FB_axis if error statements 
Update the solution strucutre tree with the new FB's
Modify the if statememts of the FB_Axis error handling for proper review
 2019-06-28 15:11:29 +02:00
Simon-Cooper
2791f6cf87 Add commit changes of TC_MCA_STD_LIB MPB-95 2019-06-20 11:33:13 +01:00
Simon-Cooper
8e59e35241 Single gear in and gear out support 
-Add visualisation elements for support of single gear in
-Add visualisation elements for support of gear out
-Change AXES() action call to use GVL.iAxis as index of FOR loop
 2019-06-04 11:46:53 +01:00
Simon-Cooper
20c07ff66e visu links updated to sub-structures 
Change visualisation property links to variables within ST_AxisStruct sub structures
Add a single test axis linked to visualisation for testing and development
 2019-06-03 14:35:25 +01:00
Frank Suxdorf
0ffd68a574 Add nested strutures to tc_mca_std_lib 2019-05-16 13:33:12 +02:00
Simon-Cooper
9f952987de Visualisation added 
Add PLC visualisation first pass
Functionality tested
GUI scales with axes

Issues identified due to base code solution:
A lot of outputs not linked
Execute not cleared by default in code, it is not possible to send repeated commands as if the eCommand is held then the mc_Fb.Execute:=false is never set
Reset not cleared by default in code (if errors again will just auto-reset)
Doesn't clear stop (however this may be a good thing)
Jog velocity input not utilised in mode 0 current set in code, we would need MC_JOGMODE_CONTINUOUS
 2019-05-14 16:28:46 +01:00
Federico Rojas
702d8fed92 Implement comments of ISIS on 2019-04-09 
Changes to make it work in any setup instead of the ESS test crates.
for further details check the commit of tc_mca_std_lib
 2019-04-25 11:38:40 +02:00