244 lines
11 KiB
XML
244 lines
11 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
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<POU Name="MAIN" Id="{33eb6f49-7781-4211-a70b-87ada6d80cb7}" SpecialFunc="None">
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<Declaration><![CDATA[PROGRAM MAIN
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VAR
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sVersion: STRING := '1.0.0';
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aFbAxes: ARRAY [1..gvl_app.nAxisNum] OF FB_Axis;
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hmiAxisSelection: INT := 1; //Not possible to use local hmi variables for array indexes
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//Outputs: Power for Limit switches and Home Sensors (every 4th output)
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bOutput1 AT %Q*: BOOL := TRUE;
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//bOutput5 AT %Q*: BOOL:= TRUE;
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//bOutput13 AT %Q*: BOOL:= TRUE;
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//bOutput17 AT %Q*: BOOL:= TRUE;
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//bOutput21 AT %Q*: BOOL:= TRUE;
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//bOutput24 AT %Q*: BOOL:= TRUE;
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//bOutput28 AT %Q*: BOOL:= TRUE;
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//Startup, Shutdown and UPS
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fbUPS: FB_S_UPS_CX51x0;
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eUpsMode: E_S_UPS_Mode := eSUPS_WrPersistData_Shutdown;
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eStartUp: (eColdStart, eReadAxisFeedbackType, eCheckReadDone, eExecuteRestore, eCheckRestore, eFinishRestore);
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bPositionRestoreDone: BOOL := FALSE;
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bRestoreExecute: BOOL := FALSE;
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bExecuteReadEncRefSys: BOOL := FALSE;
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nRetry: INT;
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iAxes : UINT; //index for for loops in Position recovery actions
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aFbReadEncRefSys: ARRAY [1..gvl_app.nAxisNum] OF MC_ReadParameter;
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aFbRestorePosition: ARRAY [1..GVL_app.nAxisNum] OF MC_SetPosition;
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fbGetDeviceIdentification: FB_GetDeviceIdentification;
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END_VAR
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VAR PERSISTENT
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bRestoreOnStartup: BOOL;
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END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[POSITION_RECOVERY();
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PROG();
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AXES();]]></ST>
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</Implementation>
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<Folder Name="POSITION_RECOVERY" Id="{3561f6ef-e145-4ed3-9839-f17334bd2d97}" />
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<Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
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<Implementation>
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<ST><;
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END_FOR]]></ST>
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</Implementation>
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</Action>
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<Action Name="CHECK_UPS" Id="{f0f28f50-53b8-4f73-b0f5-6d7ce4c1636f}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[fbUPS(eUpsMode := eUpsMode);
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IF eGlobalSUpsState = eSUPS_PowerFailure THEN
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//first cycle of powerfailure
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//execute code that should only be done once with each powerfailure, i.e. increase powerfailure counter
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bRestoreOnStartup := TRUE;
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STORE_PERSISTENT();
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RETURN;
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ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
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//next cycles of powerfailure
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//skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown...
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RETURN;
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END_IF]]></ST>
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</Implementation>
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</Action>
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<Action Name="POSITION_RECOVERY" Id="{28e203b7-aea5-42d0-980d-12a6841f9d22}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[fbGetDeviceIdentification(bExecute := TRUE);
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IF (fbGetDeviceIdentification.stDevIdent.strHardwareSerialNo <> '0') THEN
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CHECK_UPS();
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RESTORE_POSITIONS();
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END_IF]]></ST>
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</Implementation>
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</Action>
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<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
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<Implementation>
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<ST><![CDATA[//Program any sequence, safety or feature (if necessary) application specific in thsi section]]></ST>
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</Implementation>
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</Action>
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<Action Name="RESTORE_POSITIONS" Id="{0c7ee537-7bd9-4833-b428-c17cbb57e893}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[
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// This ACT will restore the position of an incremental axis on startup with the act position it read before losing power.
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// It checks the type of axis, 0=incremental, and that the axis was stationary at shut down.
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// Because 0 equates to incremental we also need to check that the data is valid, otherwise by default it would restore all axes.
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// By default an axis will not restore the position unless it is set to opt-in, i.e. gvl.aAxes[iAxes].stConfig.eRestorePosition is non-zero.
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// This needs to be initialised somewhere in TwinCAT code otherwise it will not be available at start up.
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// A restore will only be performed on a loss of power, this code shouldn't make any changes on a reset cold, a rest origin or a download.
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// There is a enum to allow for different types of restore modes, currently only one is implemented.
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// 0 'DontRestore'
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// 1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
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// Note from Beckhoff: "A maximum of 1 MB persistent data can be reliably saved over the entire service life."
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IF bRestoreOnStartup AND eGlobalSUpsState = eSUPS_PowerOK THEN
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bRestoreOnStartup := FALSE;
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bRestoreExecute := TRUE;
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END_IF
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// Upon startup bPositionRestoreDone will be set to FALSE, after successfully completing the following code it will be set TRUE
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// and should stay TRUE for the rest of the time the PLC is operational, thus this routine should only be completed once.
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IF bRestoreExecute AND NOT bPositionRestoreDone THEN
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// Cycle through function blocks that read the encoder reference system i.e. whether axis is incremental or absolute
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// Result stored in Value, 0=Inc 1=Abs, execute set during the case statement
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aFbReadEncRefSys[iAxes](
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Axis := gvl.aAxes[iAxes].Axis,
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Enable := bExecuteReadEncRefSys,
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ParameterNumber := MC_AxisParameter.AxisEncoderReferenceSystem,
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Value=>,
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ReadMode := E_READMODE.READMODE_ONCE);
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END_FOR
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// Cycle through set position function blocks for each axis
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aFbRestorePosition[iAxes](
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Axis := gvl.aAxes[iAxes].Axis,
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Execute := ,
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Position := aAxesPersistent[iAxes].fPositionAtShutdown);
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END_FOR
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CASE eStartUp OF
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eColdStart:
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// First cycle of the PLC, do nothing just give one cycle for variables to initialise
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IF NOT bPositionRestoreDone THEN
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eStartUp := eReadAxisFeedbackType;
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nRetry := 0;
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END_IF
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eReadAxisFeedbackType:
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// Exectute the function blocks to read the encoder reference system (0=inc OR 1=ABS)
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bExecuteReadEncRefSys := TRUE;
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eStartUp := eCheckReadDone;
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eCheckReadDone:
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// Check the encoder reference system has been read for all axis -> if busy then continue with PLC cycle and check again next time.
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// If aFbReadEncRefSys not started then go back a step.
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// If any axes result in an error the code will get stuck here, this happens if gvl_app.nAxisNum is not set correctly
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[iAxes].Valid = FALSE THEN
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IF aFbReadEncRefSys[iAxes].Busy = TRUE THEN
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// Exit MAIN.STARTUP Action and wait till next cycle, needs to cycle through whole program in order for data to update
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RETURN;
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ELSE
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// Sometimes the code gets here and the aFbReadEncRefSys[iAxes] misses the rising edge. If the code gets here it means
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// .valid=FALSE and .busy=FALSE which indicateds the FB probably hasn't started and thus needs to see a rising edge.
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// Set execute to low, Exit MAIN.STARTUP and go back a step in the CASE statement.
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bExecuteReadEncRefSys := FALSE;
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eStartUp := eReadAxisFeedbackType;
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nRetry := nRetry+1; // counter used for troubleshooting to see how many cycles it takes before aFbReadEncRefSys function blocks are read correctly
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RETURN;
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END_IF
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END_IF
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END_FOR
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// If the code gets here all axes either have .valid=TRUE for all axes
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eStartUp := eExecuteRestore;
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eExecuteRestore:
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// Execute position restore by setting aFbRestorePosition.execute = TRUE
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[iAxes].Valid = TRUE AND aFbReadEncRefSys[iAxes].Value = 0 AND NOT(aAxesPersistent[iAxes].bMovingAtShutdown) THEN
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IF GVL.aAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
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aFbRestorePosition[iAxes].Execute := TRUE;
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END_IF
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END_IF
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END_FOR
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eStartUp := eCheckRestore;
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eCheckRestore:
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// Check the set position fbs are finished
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// Nothing actually happens if the restore is not done, the code just returns from here each cycle and the
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// bPositionRestoreDone will never get set to TRUE and will take up cycle time
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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IF aFbReadEncRefSys[iAxes].Valid = TRUE AND aFbReadEncRefSys[iAxes].Value = 0 AND NOT(aAxesPersistent[iAxes].bMovingAtShutdown) THEN
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IF GVL.aAxes[iAxes].stConfig.eRestorePosition = E_RestorePosition.RestoreWithoutHome THEN
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IF NOT aFbRestorePosition[iAxes].Done THEN
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RETURN;
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END_IF
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END_IF
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END_IF
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END_FOR
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eStartUp := eFinishRestore;
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eFinishRestore:
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// Remove execute = TRUE for aFbRestorePosition
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FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aFbRestorePosition[iAxes].Execute := FALSE;
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END_FOR
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bPositionRestoreDone := TRUE;
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bRestoreExecute := FALSE;
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END_CASE
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END_IF]]></ST>
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</Implementation>
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</Action>
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<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
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<Implementation>
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<ST><![CDATA[FOR iAxes:= 1 TO gvl_app.nAxisNum DO
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aAxesPersistent[iAxes].fPositionAtShutdown := gvl.aAxes[iAxes].Axis.NcToPlc.ActPos;
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IF gvl.aAxes[iAxes].Axis.NcToPlc.ActVelo <> 0 THEN
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aAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
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ELSE
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aAxesPersistent[iAxes].bMovingAtShutdown := FALSE;
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END_IF
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aAxesPersistent[iAxes].bMovingAtShutdown := aAxesPersistent[iAxes].bMovingAtShutdown OR gvl.aAxes[iAxes].Axis.Status.Moving;
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END_FOR]]></ST>
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</Implementation>
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</Action>
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<LineIds Name="MAIN">
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<LineId Id="505" Count="0" />
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<LineId Id="134" Count="0" />
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<LineId Id="81" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.AXES">
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<LineId Id="1" Count="0" />
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<LineId Id="4" Count="0" />
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<LineId Id="10" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.CHECK_UPS">
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<LineId Id="2" Count="11" />
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.POSITION_RECOVERY">
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<LineId Id="2" Count="3" />
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.PROG">
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<LineId Id="2" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.RESTORE_POSITIONS">
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<LineId Id="242" Count="109" />
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<LineId Id="1" Count="0" />
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</LineIds>
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<LineIds Name="MAIN.STORE_PERSISTENT">
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<LineId Id="10" Count="0" />
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<LineId Id="3" Count="0" />
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<LineId Id="5" Count="1" />
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<LineId Id="8" Count="1" />
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<LineId Id="7" Count="0" />
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<LineId Id="4" Count="0" />
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<LineId Id="1" Count="0" />
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</LineIds>
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</POU>
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</TcPlcObject> |