Initial commit
This commit is contained in:
Matthias Heisig
247
TC3_CNCPLCBase/CNC/PRG_CNCAxesHandler.TcPOU
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247
TC3_CNCPLCBase/CNC/PRG_CNCAxesHandler.TcPOU
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<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.6">
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<POU Name="PRG_CNCAxesHandler" Id="{09e86179-f0c7-4e63-9c4c-17d3691b5ccb}" SpecialFunc="None">
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<Declaration><![CDATA[PROGRAM PRG_CNCAxesHandler
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VAR
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nHliAxisIdx : INT;
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fbCNC_Axis : ARRAY[0..HLI_SYS_AX_MAXIDX] OF FB_CNCAxis;
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nFirstSpindle : INT := -1;
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fbHandleSpindleTechno : HLI3_HandleSpindleTechnoGearChange;
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M3,M4,M5,M19 : BOOL;
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MDummy : BOOL;
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M40, M41, M42, M43, M44, M45: BOOL;
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fbAxesError : FB_AxesError;
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// FB_CNCAxis Sample
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// fbAxis_X : FB_CNCAxis;
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// stParameter : ST_CNC_AX_Parameter;
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stOptions : ST_CNC_AX_Options;
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// stPLCopen : ST_CNC_AX_PLCopen;
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(*
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fbHandleSpindleTechnoPlcSp : HLI3_HandleSpindleTechno;
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SM3,SM4,SM5,SM19 : bool;
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*)
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bCalibrationCam: BOOL;
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fbMoveSpindle: HLI3_MoveSpindle;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><,
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bEnable := PLCAxisEnable);
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IF (NOT fbCNC_Axis[nHliAxisIdx].stStatus.bIsEnabled) THEN // if one axis status is "not enabled" -> reset PLCStatusAxisEnabled
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PLCStatusAxisEnabled := FALSE;
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END_IF
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IF HLI3_CheckAxisValid(nHliAxisIdx) THEN
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IF nFirstSpindle = -1 AND gpAx[nHliAxisIdx]^.ipo_state.spindle_axis_r THEN (* store HLIIndex of first spindle *)
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nFirstSpindle := nHliAxisIdx;
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END_IF
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END_IF
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END_FOR
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// FB_CNCAxis Sample
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// CNC Axis Options
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// stOptions.strPathCompTable;
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// stOptions.bActivateCompTable;
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// stOptions.bReducedSpeed;
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// stOptions.bReducedSpeedZone1;
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// stOptions.bReducedSpeedZone2;
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// stOptions.bResetCalibration;
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// CNC Parameters
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// stParameter.bWriteParameter;
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// stParameter.nNumParameters := 2;
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// stParameter.strTempPath := 'C:\';
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// stParameter.ParamList[0].strName := 'kenngr.swe_pos';
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// stParameter.ParamList[0].strValue := '30000000';
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// stParameter.ParamList[1].strName := 'kenngr.swe_neg';
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// stParameter.ParamList[1].strValue := '0';
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// PLCOpen
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// stPLCopen.nOverride;
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// stPLCopen.bExecuteHoming;
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// stPLCopen.bCamSignal;
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// stPLCopen.bExecuteMoveAbsolute;
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// stPLCopen.bExecuteReset;
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// stPLCopen.fPosition;
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// stPLCopen.fVelocity;
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// stPLCopen.fAcceleration;
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// stPLCopen.fJerk;
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(*
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fbAxis_X(
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nLogAxisNo:=1,
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bEnable:= PLCAxisEnable,
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bCalibrationCam:= bCalibrationCam,
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bSetRefOffset:= ,
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fRefOffset:= ,
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bFeedhold:= ,
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stOptions:= stOptions,
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stParameter:= stParameter,
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stPLCopen:= stPLCopen,
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stStatus=> );
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*)
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(* if there exits spindles use the first one for spindleoverride *)
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IF nFirstSpindle <> -1 THEN
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HLI3_SetAxisOverride(nHliAxisIdx:= nFirstSpindle , nOverride:= PLCSpindleOverride *10);
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fbHandleSpindleTechno(
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nHliAxisIdx:=nFirstSpindle ,
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bIsChannelSpecific:= FALSE,
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bHandleGearChange := FALSE,
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nRevolution=> ,
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nPosition=> ,
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bError=> ,
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nErrorId=> ,
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M03:= M3,
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M04:= M4,
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M05:= M5,
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M19:= M19,
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M40 := M40,
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M41 := M41,
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M42 := M42,
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M43 := M43,
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M44 := M44,
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M45 := M45,
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);
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(* acknowledge all spindle M funnctions immediately *)
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M3 := FALSE;
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M4 := FALSE;
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M5 := FALSE;
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M19 := FALSE;
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(* Example for starting and stopping a spindle in manual mode in first channel *)
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IF (CNCSystem.Channel[0].ActMode = HLI_IMCM_MANUAL_MODE) THEN
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fbMoveSpindle(
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nHliAxisIdx:=nFirstSpindle ,
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nSpeed:= nSpindleRpm , (* defined in Global_HMI *)
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bStart:=bSpindleStart, (* defined in Global_HMI *)
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bStop:= bSpindleStop , (* defined in Global_HMI *)
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bBusy=> ,
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bError=> ,
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nErrID=> ,
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sErrText=> );
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END_IF
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IF (bSpindleStart AND NOT fbMoveSpindle.bBusy) THEN
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bSpindleStart := FALSE;
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END_IF
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IF (bSpindleStop AND NOT fbMoveSpindle.bBusy) THEN
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bSpindleStop := FALSE;
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END_IF
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END_IF
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(* Howto use plc controlled spindle : *)
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(*
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fbHandleSpindleTechnoPlcSp(
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nHliAxisIdx:= 0 ,
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nHliChannelIdx:= 0 ,
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bIsChannelSpecific:= TRUE,
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nLogAxisNoChannelSpecific:= 95 ,
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bHandleGearChange:= FALSE ,
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bChannelReset:= FALSE,
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nRevolution=> ,
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nPosition=> ,
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bError=> ,
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nErrorId=> ,
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M03:= SM3,
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M04:= SM4,
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M05:= SM5,
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M19:= SM19);
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*)
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]]></ST>
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</Implementation>
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<LineIds Name="PRG_CNCAxesHandler">
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<LineId Id="3" Count="8" />
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</LineIds>
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</POU>
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</TcPlcObject>
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