Initial commit
This commit is contained in:
Matthias Heisig
264
TC3_CNCPLCBase/OEM/FB_WZWArm_old.TcPOU
Normal file
264
TC3_CNCPLCBase/OEM/FB_WZWArm_old.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="FB_WZWArm_old" Id="{47db9376-1829-4363-81cb-0972e2cb3efc}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_WZWArm_old
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VAR_INPUT
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bNextStep AT %I* : BOOL;
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bFullAuto AT %I* : BOOL;
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bInfeedReady : BOOL;
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END_VAR
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VAR_OUTPUT
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bNextStepActive AT %Q* : BOOL;
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bFullAutoActive AT %Q* : BOOL;
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END_VAR
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VAR
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refAxis : AXIS_REF;
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axPower : MC_Power;
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axMoveAdd : MC_MoveAdditive;
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axMoveAbsMod : MC_MoveModulo;
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axReset : MC_Reset;
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rtNextStep : R_TRIG;
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rtFullAuto : R_Trig;
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nState : INT := -20;
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fHomePos : REAL := 0;
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fGrabPos : REAL := 1433.5;
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fChangePos : REAL := 5917;
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fNextPosition : REAL := 0;
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bEnable : BOOL;
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bExecute : BOOL;
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bResetAxis : BOOL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[rtNextStep(CLK := bNextStep);
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rtFullAuto(CLK := bFullAuto);
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IF rtFullAuto.Q AND (nState = 0) THEN
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bFullAutoActive := NOT bFullAutoActive;
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END_IF
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axPower(
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Axis := refAxis,
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Enable := bEnable OR bFullAutoActive,
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Enable_Positive := TRUE,
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Enable_Negative := TRUE);
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axMoveAbsMod(
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Axis := refAxis,
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Execute := axPower.Status AND bExecute,
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Position := fNextPosition,
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Velocity := 4320, // 4320
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Acceleration := 12960, // 12960
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Deceleration := 12960, // 12960
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Direction := MC_Direction.MC_Positive_Direction);
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IF PLCReset THEN
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bResetAxis := TRUE;
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END_IF
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axReset(Axis := refAxis, Execute := bResetAxis);
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IF axReset.Done THEN
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bResetAxis := FALSE;
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END_IF
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CASE nState OF
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-20 : // Wait for start Tick
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bNextStepActive := TRUE;
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IF rtNextStep.Q AND bInfeedReady THEN
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nState := -10;
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bEnable := TRUE;
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bExecute := TRUE;
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fNextPosition := fHomePos;
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bNextStepActive := FALSE;
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END_IF
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-10: // Move to home Position on first Startup
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IF axMoveAbsMod.Done AND (NOT axMoveAbsMod.Error) AND (NOT axPower.Error) THEN
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bEnable := FALSE;
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bExecute := FALSE;
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nState := 0;
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END_IF
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IF axMoveAbsMod.Error OR axPower.Error THEN
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nState := 99;
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END_IF
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0: // In Home Position
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bNextStepActive := TRUE;
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IF rtNextStep.Q THEN
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fNextPosition := fGrabPos;
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bEnable := TRUE;
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bExecute := TRUE;
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bNextStepActive := FALSE;
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IF bFullAutoActive THEN
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fNextPosition := 7320;
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nState := 60;
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ELSE
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fNextPosition := fGrabPos;
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nState := 10;
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END_IF
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END_IF
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10: // Move to Grab Position
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IF axMoveAbsMod.Done AND (NOT axMoveAbsMod.Error) THEN
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bEnable := FALSE;
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bExecute := FALSE;
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nState := 20;
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END_IF
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20: // In Grab Position
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bNextStepActive := TRUE;
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IF rtNextStep.Q OR bFullAutoActive THEN
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fNextPosition := fChangePos;
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bEnable := TRUE;
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bExecute := TRUE;
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nState := 30;
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bNextStepActive := FALSE;
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END_IF
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30: // Wait for Change Position
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IF axMoveAbsMod.Done AND (NOT axMoveAbsMod.Error) THEN
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bEnable := FALSE;
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bExecute := FALSE;
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nState := 40;
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END_IF
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40: // In Change Position
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bNextStepActive := TRUE;
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IF rtNextStep.Q OR bFullAutoActive THEN
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fNextPosition := fHomePos;
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bEnable := TRUE;
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bExecute := TRUE;
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nState := 50;
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bNextStepActive := FALSE;
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END_IF
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50: // Wait for Home Position
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IF axMoveAbsMod.Done AND (NOT axMoveAbsMod.Error) THEN
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bEnable := FALSE;
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bExecute := FALSE;
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nState := 0;
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END_IF
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60: // Move to Grab Position
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IF axMoveAbsMod.Done AND (NOT axMoveAbsMod.Error) THEN
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bEnable := FALSE;
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bExecute := FALSE;
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nState := 0;
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END_IF
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99: // Error
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IF PLCReset THEN
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bEnable := FALSE;
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bExecute := FALSE;
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bFullAutoActive := FALSE;
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nState := -20;
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END_IF
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END_CASE
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//bNextStepActive := bNextStepActive AND bInfeedReady;
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// 0
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// 1433,5
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// 5917
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// 7320]]></ST>
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</Implementation>
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</LineIds>
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</POU>
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</TcPlcObject>
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