Thierry Zamofing
789224b83d
Here all IOCs were started without any hardware. So in the next steps the hardware must be tested.
79 lines
1.5 KiB
INI
79 lines
1.5 KiB
INI
define(PLC_Homing='1')
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define(statusHoming='P100')
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statusHoming=0
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//statusHoming:
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// 1: M1 phased
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// 2: M2 phased
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// 4: M1 homed
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// 8: M2 homed
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// 16: M1 neg limit
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// 32: M2 neg limit
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// 64: homing done
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// 128: homing failed
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open plc PLC_Homing
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define(timer='L1')
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statusHoming=0
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L10=Motor[1].MaxDac
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Motor[1].MaxDac=500
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L11=Motor[1].FatalFeLimit
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Motor[1].FatalFeLimit=2000
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L12=Motor[1].JogSpeed
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Motor[1].JogSpeed=1
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L20=Motor[2].MaxDac
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Motor[2].MaxDac=500
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L21=Motor[2].FatalFeLimit
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Motor[2].FatalFeLimit=2000
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L22=Motor[2].JogSpeed
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Motor[2].JogSpeed=1
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Motor[1].PhaseFindingStep=1
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Motor[2].PhaseFindingStep=1
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timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
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Motor[1].HomeVel=2
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Motor[2].HomeVel=2
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home1
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home2
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timer = Sys.RunTime + 1;while (Sys.RunTime < timer){} //wait 1 sec
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statusHoming|=1
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while(1)
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{
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if(Motor[1].FeFatal && (statusHoming&2)==0)
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{
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statusHoming=statusHoming|2
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Motor[1].HomeVel=-Motor[1].HomeVel
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home1
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}
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if(Motor[2].HomeInProgress==0 && (statusHoming&4)==0)
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{
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statusHoming=statusHoming|4
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Motor[2].HomeVel=-Motor[2].HomeVel
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home2
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}
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if(Motor[1].HomeInProgress==0 && Motor[1].HomeInProgress==0)
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{
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statusHoming=statusHoming|8
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break
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}
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}
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Motor[1].PhasePos=560 // 555 581 593 558
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Motor[2].PhasePos=1540 //1549 1531 1543 1537
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Motor[1].MaxDac=L10
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Motor[1].FatalFeLimit=L11
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Motor[1].JogSpeed=L12
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Motor[2].MaxDac=L20
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Motor[2].FatalFeLimit=L21
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Motor[2].JogSpeed=L22
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disable plc PLC_Homing
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close
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