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Author SHA1 Message Date
Federico RojasandTorsten Bögershausen d0201452f6 Merged in MBP-111-bug-error-4b07-immediately-after (pull request #25) 
Change TC2_MC library version to 3.3.28

Approved-by: Torsten Bögershausen <torsten.bogershausen@esss.se>
 2019-12-18 16:28:34 +00:00
Federico RojasandTorsten Bögershausen 04a298cfb6 Merged in MBP-59-remove-plctask1 (pull request #24) 
MBP-59 remove plctask1

Approved-by: Torsten Bögershausen <torsten.bogershausen@esss.se>
 2019-12-18 16:23:13 +00:00
Federico Rojas 6e0735106d Change PLCtask cycle time to 10ms 2019-12-18 17:19:00 +01:00
Federico Rojas 0532cb9214 Remove PLCTask1 from solution 2019-12-18 17:16:49 +01:00
Federico Rojas 91b18c6e73 Change TC2_MC library version to 3.3.28 
No jogging error with this library version
 2019-12-18 16:44:53 +01:00
Paul Barron f360d382a1 Update to latest commit of tc_mca_std_lib 
Remove variable fHomePosition which was defined twice
 2019-12-18 16:33:53 +01:00
PaulBarronandFederico Rojas 4dfaa181e0 Merged in mbp-59/191218-AdvancedHoming (pull request #23) 
Mbp 59/191218 AdvancedHoming
 2019-12-18 14:35:55 +00:00
Paul Barron 4af4094855 Change PLC cycle time to 10ms 2019-12-18 15:30:38 +01:00
Paul Barron 200ff88e6f Update to latest commit of tc_mca_std_lib 2019-12-18 15:26:33 +01:00
PaulBarronandFederico Rojas 8c9681895e Merged in mbp-77/191217-RemoveMode2 (pull request #22) 
Update tc_mca_std_lib to latest version
 2019-12-18 10:00:00 +00:00
Paul Barron 646085d03b Update tc_mca_std_lib to latest version 2019-12-18 10:57:49 +01:00
PaulBarronandFederico Rojas 91b4ee6f6a Merged in mbp-77/191217-RemoveMode2 (pull request #21) 
Mbp 77/191217 RemoveMode2
 2019-12-18 09:53:28 +00:00
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
Paul Barron 4a59909ff1 Update to latest commit in tc_mca_std_lib 
Commented out mode 2 in position restore
 2019-12-17 14:49:07 +01:00
Paul Barron 1c9d8f3b6b Remove mode 2 from position restore 
It was decided in a code review that mode 2 wasn't doing exactly as we wanted
and that it probably wasn't required, at least for now.
Changes to logic so that the position restore is only done after a power cycle and
not a download, reset cold or reset origin.
 2019-12-17 14:46:55 +01:00
Paul Barron e36d4bcab3 Change comment 2019-12-17 10:37:24 +01:00
Paul Barron 5d5ee5f4ad Add latest commit for tc_mca_std_lib 2019-12-17 10:33:57 +01:00
Paul Barron 5743a13513 Remove mode 2 from iRestoreCode 
Issues found regarding overiding of .config params in the axis struct.
Also doubts about whether it would actually be used.
 2019-12-17 10:27:25 +01:00
Federico Rojas 094480f040 Update submodules to latest versions to pass the white space test 2019-12-13 15:21:12 +01:00
Federico Rojas 29f11a6db0 Rebuild solution after deletting the NC folder and content 2019-12-13 14:45:20 +01:00
Federico Rojas c68218106e Delete the NC folder under _Config folder 
There was some Axis infomation and this branch should not have HW. I delete the folder and the content
Delete _Config/NC
 2019-12-13 14:35:31 +01:00
Paul Barron 3e28bfd79a Not sure what is changed 
Maybe carriage return
 2019-12-13 13:55:04 +01:00
Paul Barron e000543a7f Add ST_AxisPersistent.TcDUT to generic structure 2019-12-13 13:45:50 +01:00
Paul Barron 5570b03fad Changes inside tc_mca_std_lib 
Moved persistent variables from MAIN to a new struct in the generic_structure
called ST_AxisPersistent
 2019-12-13 13:44:16 +01:00
Paul Barron f1063b56d7 Change names of MAIN.STARTUP and MAIN.SHUTDOWN 
Change to MAIN.RESTORE_POSITIONS and MAIN.STORE_PERSISTENT
Bug fix: add check in MAIN.RESTORE_POSITIONS to check whether
an axis was moving at shutdown.
Variable name changes to acommodate moving the persistent variables
from MAIN to a DUT in the generic structure.
 2019-12-13 13:41:25 +01:00
Paul Barron f2d73d013f Fix whitespace damage 
No code changes
 2019-12-11 15:24:00 +01:00
Paul Barron 3b633b1487 Changes in tc_mca_std_lib 
No changes in tc_general_struct in this commit
 2019-12-11 15:22:36 +01:00
Paul Barron a9d5e51ac0 Added saving of position values throughout the normal PLC cycle 
Added a check in MAIN.SHUTDOWN that makes sure the restore  has been
done first before starting to save values again.
Probably should change the name from MAIN.SHUTDOWN to MAIN.SAVEVALUES or something.
 2019-12-11 15:17:59 +01:00
Paul Barron 10ef1a594d Remove MAIN.SHUTDOWN from ordinary PLC cycle 
This created a problem in that MAIN.STARTUP wasn't working correctly
because it takes a couple of cycles to complete and MAIN.SHUTDOWN
was overriding the values stored after a power loss. Thus the restore won't work
for a user cold reset. It can be catered for by adding it back into the ordinary PLC
cycle but only executing if bPositionRestoreDone is set.
 2019-12-11 15:02:11 +01:00
Paul Barron df44dd3b82 Bug fix: add additional check in MAIN.SHUTDOWN 
gvl.axes[i].Axis.Status.Moving doesn't seem to work if the axis isn't enabled.
Therefore added a check to see whether gvl.axes[i].Axis.NcToPlc.ActVelo <> 0.
If it's non-zero then don't restore the encoder value on restart.
MAIN.SHUTDOWN also added to the normal operation cycle, this is to allow restart
after a "Reset Cold" command in Visual Studio, otherwise the only time position is
restored is an actual lose of power. It might be also useful when a user restarts
the PLC program manually.
Also modified a few comments in MAIN.STARTUP.
 2019-12-11 14:28:54 +01:00
Paul Barron 83f1b66c9b Fix white space damage 2019-12-11 13:57:26 +01:00
Paul Barron 480f4098bb Moved the cycle through of the read parameter fbs inside if statement 
Motivation: after the position restore code has executed successfully
there is no point running any of the code again and wasting PLC cycles.
Thus the first step in the MAIN.STARTUP is a check whether the code has
been completed or not. If it is has completed successfully ignore everything else.
 2019-12-11 13:54:19 +01:00
Paul Barron 534a318269 Remove timer tmrRetry from MAIN.STARTUP 
No longer required in the restore position state machine code.
If the read parameter function block isn't successful it will go back
a set in the case statement and try again.
The read parameter function block, fbReadEncRefSys, reads the type of axis
either inc or abs.
 2019-12-11 13:35:50 +01:00
Paul Barron 090fbd03eb Lots of changes in MAIN.STARTUP 
Changes to the way the code checks whether the enc type is valid.
Added a parameter to the axis struct for setting a homing value other than 0.
 2019-12-10 16:48:34 +01:00
aaronlong 80e4ea356e Submodule update: tc_mca_std_lib 2019-12-10 14:44:21 +00:00
Torsten BögershausenandAaron James Long b0338408d3 Merged in MBP-127-commit-files-with-lf-in-repo-crlf (pull request #17) 
MBP-127 commit files with lf in repo crlf
 2019-12-10 14:28:26 +00:00
Paul Barron ac37748fbe Add comments to MAIN.STARTUP 
Slight tidy of code but no structural changes.
 2019-12-10 13:27:05 +01:00
Paul Barron dbd145ed68 Add DUT RestorePosition in tc_mca_std_lib 
Also adjusted code in MAIN.STARTUP to adapt to the new type variable
instead of the int previously.
 2019-12-10 12:49:37 +01:00
Paul Barron f7906d265a Readability change, make case statements easier to read 
No code changes
 2019-12-10 11:39:00 +01:00
Paul Barron d88816156a Change to variable in axis struct for restore of incremental enc values on lose of power 
Change iPositionRestore to ePosition restore.
Change from int to enum.
 2019-12-10 11:37:34 +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