Motion_test/solution/tc_project_app/POUs/MAIN.TcPOU

<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
  <POU Name="MAIN" Id="{33eb6f49-7781-4211-a70b-87ada6d80cb7}" SpecialFunc="None">
    <Declaration><![CDATA[PROGRAM MAIN
VAR
    sVersion: STRING:='1.0.0';
    i : UINT; //index variable for AXES()
    aFbAxes: ARRAY [1..gvl_app.axisNum] OF FB_Axis;
    hmiAxisSelection    :   INT:=1;     //Not possible to use local hmi variables for array indexes

(******Outputs: Power for Limit switches and Home Sensors (every 4th output)********)

    bOutput1 AT %Q*: BOOL:= TRUE;
    //bOutput2 AT %Q*: BOOL:= TRUE;
    //bOutput3 AT %Q*: BOOL:= TRUE;
    //bOutput4 AT %Q*: BOOL:= TRUE;
    //bOutput5 AT %Q*: BOOL:= TRUE;
    //bOutput6 AT %Q*: BOOL:= TRUE;
    //bOutput7 AT %Q*: BOOL:= TRUE;
    //bOutput8 AT %Q*: BOOL:= TRUE;
    //bOutput9 AT %Q*: BOOL:= TRUE;
    //bOutput13 AT %Q*: BOOL:= TRUE;
    //bOutput17 AT %Q*: BOOL:= TRUE;
    //bOutput21 AT %Q*: BOOL:= TRUE;
    //bOutput24 AT %Q*: BOOL:= TRUE;
    //bOutput28 AT %Q*: BOOL:= TRUE;

(******Error Handling********)
    fbErrorSystem: FB_ErrorSystem;
    aFbAxesError: ARRAY [1..gvl_app.axisNum] OF FB_NC_Error;

    //fbEL1018  : EL1018;
    //fbEL2808  : EL2808;
    //fbEL5101  : EL5101;
    //fbEL9505  : EL9505;
    //fbEL1252  : EL1252;
    //fbEL9410  : EL9410;
    //fbEL7037  : EL7037;
    //fbEK1110  : EK1110;

(******Startup, Shutdown and UPS********)
    eStartUp: (ColdStart, ReadEncRefSys, CheckRead, CheckFeedbackType, ExecutePosRestore, CheckFinished, FinsishSetPosition);
    bColdstartDone         : BOOL := FALSE; // First cycle of the PLC after being reset/power cycled
    bExecuteReadEncRefSys  : BOOL := TRUE;
    tmrRetry               : TON;
    iRetry                 : INT;
    fbReadEncRefSys        : ARRAY [1..gvl_app.axisNum] OF MC_ReadParameter;
    fbUPS                  : FB_S_UPS_CX51x0;
    eUpsMode               : E_S_UPS_Mode   := eSUPS_WrPersistData_Shutdown;
    fbRestorePosition      : ARRAY [1..GVL_app.axisNum] OF MC_SetPosition;

END_VAR
VAR PERSISTENT
    iPositionAtShutdown       : ARRAY [1..gvl_app.axisNum] OF LREAL;
    bMovingAtShutdown      : ARRAY [1..gvl_app.axisNum] OF BOOL;
END_VAR]]></Declaration>
    <Implementation>
      <ST><![CDATA[fbUPS(eUpsMode := eUpsMode); (* call UPS-FB instance in first lines of the fastest PLC Task *)

IF eGlobalSUpsState = eSUPS_PowerFailure THEN
    (* first cycle of powerfailure *)
    (* execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter *)
    SHUTDOWN();
ELSIF eGlobalSUpsState > eSUPS_PowerFailure THEN
    (* next cycles of powerfailure *)
    (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown  ... *)
    RETURN;
END_IF

STARTUP();
PROG();
AXES();
ERROR();]]></ST>
    </Implementation>
    <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
      <Implementation>
        <ST><![CDATA[
FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
    aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
END_FOR


]]></ST>
      </Implementation>
    </Action>
    <Action Name="ERROR" Id="{35f2cf38-f81e-4aa3-9534-be5fb417817d}">
      <Implementation>
        <ST><![CDATA[//
(****FB containting the log of the errors****)
//
fbErrorSystem(
    En:= TRUE,
    bReset:= ,
    nErrorNum:= ,
    bACK:= ,
    bValidSelection:= ,
    nTableRowIndex:= ,
    EnO=> ,
    nSelectedError=> ,
    pErrorSystem=> );


FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
    aFbAxesError[gvl.iAxis](EN:=TRUE,
    nNC_ErrorID:= gvl.axes[gvl.iAxis].status.nErrorID,
    nNC_AxisID:=gvl.axes[gvl.iAxis].Axis.NcToPlc.AxisId,
    ErrorSystem:= fbErrorSystem.pErrorSystem);
END_FOR



(*call all the necessary instance (input assistance F2 or right click) according to the terminals that you have in your hardware and
 add "TRUE" in the input En, the corresponding number of termianl to the iTerminal_ID and
the variable "fbErrorSystem.pErrorSystem" to the input ErrorSystem in each FB E. g. :
fbEL1808(
    En:= TRUE,
    iTerminal_ID:= 01,
    ErrorSystem:= fbErorSystem.pErrorSystem,
    EnO=> ,
    bError=> );
 *)

]]></ST>
      </Implementation>
    </Action>
    <Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
      <Implementation>
        <ST><![CDATA[//
(* Program any sequence, safety or feature (if necessary) application specific in thsi section*)
//]]></ST>
      </Implementation>
    </Action>
    <Action Name="SHUTDOWN" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}">
      <Implementation>
        <ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
    iPositionAtShutdown[i]:=gvl.axes[i].Axis.NcToPlc.ActPos;
    bMovingAtShutdown[i]:=gvl.axes[i].Axis.Status.Moving;
END_FOR]]></ST>
      </Implementation>
    </Action>
    <Action Name="STARTUP" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}">
      <Implementation>
        <ST><![CDATA[FOR i:=1 TO gvl_app.axisNum DO
    fbReadEncRefSys[i](
     Axis:= gvl.axes[i].Axis,
     Enable:= bExecuteReadEncRefSys,
     ParameterNumber:= MC_AxisParameter.AxisEncoderReferenceSystem,
     Value=>,
     ReadMode:= E_READMODE.READMODE_ONCE);
END_FOR

FOR i:=1 TO gvl_app.axisNum DO
    fbRestorePosition[i](
     Axis:= gvl.axes[i].Axis,
     Execute:= ,
     Position:= iPositionAtShutdown[i]);
END_FOR

IF bColdstartDone = FALSE THEN
    CASE eStartUp OF
    ColdStart: // First cycle
        IF NOT bColdstartDone THEN
            eStartUp:=eStartUp+1;
            iRetry:=0;
        END_IF
    ReadEncRefSys: // Read Enc Ref Sys - incremental or absolute
        bExecuteReadEncRefSys:=TRUE;
        eStartUp:=eStartUp+1;
        tmrRetry(in:=FALSE);
    CheckRead: // Check if Enc Ref Sys has been read for all axis -> if not read again
        tmrRetry(in:=TRUE, pt:=T#100MS);
        FOR i:=1 TO gvl_app.axisNum DO
            IF fbReadEncRefSys[i].Valid = FALSE THEN
                IF tmrretry.Q THEN
                    bExecuteReadEncRefSys:=FALSE;
                    eStartUp:=eStartUp-1;
                    iRetry:=iRetry+1;
                END_IF
                RETURN;
            ELSE
                eStartUp:=eStartUp+1;
                EXIT;
            END_IF
        END_FOR
    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
                    gvl.axes[i].config.nHomeSeq:=15;
                    gvl.axes[i].control.eCommand:=10;
                END_IF
            END_IF
        END_FOR
        eStartUp:=eStartUp+1;
    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;
                END_CASE
            END_IF
        END_FOR
        eStartUp:=eStartUp+1;
    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:
                    IF NOT fbRestorePosition[i].Done THEN
                        RETURN;
                    END_IF
                2:
                    IF NOT gvl.axes[i].status.bHomed THEN
                        RETURN;
                    END_IF
                END_CASE
            END_IF
        END_FOR
        eStartUp:=eStartUp+1;
    FinsishSetPosition: // Reset set position FBs and Finish
        FOR i:=1 TO gvl_app.axisNum DO
            fbRestorePosition[i].Execute:=FALSE;
        END_FOR
        bColdstartDone:=TRUE;
    END_CASE
END_IF]]></ST>
      </Implementation>
    </Action>
    <LineIds Name="MAIN">
      <LineId Id="124" Count="9" />
      <LineId Id="2" Count="0" />
      <LineId Id="189" Count="0" />
      <LineId Id="135" Count="0" />
      <LineId Id="134" Count="0" />
      <LineId Id="81" Count="1" />
    </LineIds>
    <LineIds Name="MAIN.AXES">
      <LineId Id="3" Count="0" />
      <LineId Id="1" Count="0" />
      <LineId Id="4" Count="0" />
      <LineId Id="10" Count="0" />
      <LineId Id="7" Count="0" />
      <LineId Id="16" Count="0" />
      <LineId Id="11" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.ERROR">
      <LineId Id="31" Count="0" />
      <LineId Id="10" Count="1" />
      <LineId Id="34" Count="8" />
      <LineId Id="1" Count="0" />
      <LineId Id="90" Count="1" />
      <LineId Id="88" Count="1" />
      <LineId Id="92" Count="2" />
      <LineId Id="87" Count="0" />
      <LineId Id="79" Count="1" />
      <LineId Id="12" Count="0" />
      <LineId Id="44" Count="8" />
      <LineId Id="62" Count="0" />
      <LineId Id="14" Count="0" />
      <LineId Id="33" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.PROG">
      <LineId Id="2" Count="0" />
      <LineId Id="1" Count="0" />
      <LineId Id="3" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.SHUTDOWN">
      <LineId Id="2" Count="2" />
      <LineId Id="1" Count="0" />
    </LineIds>
    <LineIds Name="MAIN.STARTUP">
      <LineId Id="2" Count="47" />
      <LineId Id="52" Count="35" />
      <LineId Id="1" Count="0" />
    </LineIds>
  </POU>
</TcPlcObject>