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Started change to new pattern with FB_AxisPTP

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This commit is contained in:
Matthias Heisig
2026-03-18 22:48:08 +01:00
parent 86f93e4aeb
commit 326ee2c0d0
5 changed files with 325 additions and 335 deletions
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6
BasicComponents/BasicComponents.plcproj
View File

@@ -45,6 +45,9 @@
</SelectedLibraryCategories> </SelectedLibraryCategories>
</PropertyGroup> </PropertyGroup>
<ItemGroup> <ItemGroup>
<Compile Include="DUTs\E_CmdResult.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="PlcTask.TcTTO"> <Compile Include="PlcTask.TcTTO">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>
@@ -72,6 +75,9 @@
<Compile Include="POUs\Components\AxisPTP\FB_AxisPTP.TcPOU"> <Compile Include="POUs\Components\AxisPTP\FB_AxisPTP.TcPOU">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>
<Compile Include="POUs\Components\AxisPTP\ST_AxisPTP_IO.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="POUs\Components\Controller\FB_Limit.TcPOU"> <Compile Include="POUs\Components\Controller\FB_Limit.TcPOU">
<SubType>Code</SubType> <SubType>Code</SubType>
</Compile> </Compile>

24
BasicComponents/DUTs/E_CmdResult.TcDUT Normal file
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@@ -0,0 +1,24 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="E_CmdResult" Id="{280b22d6-e4fc-482b-8eba-52154be334ab}">
<Declaration><![CDATA[{attribute 'qualified_only'}
{attribute 'strict'}
{attribute 'to_string'}
TYPE E_CmdResult :
(
// Command accepted and in execution
ACCEPTED := 0,
// Component currently busy with another command
BUSY := 1,
// Command currently not allowed
REJECTED := 2,
// Component has error
ERROR := 3
) INT;
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

28
BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT
View File

@@ -6,16 +6,24 @@
{attribute 'to_string'} {attribute 'to_string'}
TYPE E_AXIS_PTP_STATE : TYPE E_AXIS_PTP_STATE :
( (
OFF := 0, IDLE := 0,
WAIT_FOR_ENABLE, START_ENABLE,
ENABLED, WAIT_ENABLE,
HOMING, START_DISABLE,
MOVING_ABSOLUTE, WAIT_DISABLE,
MOVING_RELATIVE, START_HOMING,
MOVING_VELOCITY, WAIT_HOMING,
MOVING_MODULO, START_MOVING_ABSOLUTE,
HALTING, WAIT_MOVING_ABSOLUTE,
WAIT_FOR_DISABLE, START_MOVING_RELATIVE,
WAIT_MOVING_RELATIVE,
START_MOVING_VELOCITY,
WAIT_MOVING_VELOCITY,
START_MOVING_MODULO,
WAIT_MOVING_MODULO,
START_HALTING,
WAIT_HALTING,
ENTER_ERROR,
ERROR, ERROR,
RESET RESET
); );

590
BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU
View File

@@ -3,8 +3,6 @@
<POU Name="FB_AxisPTP" Id="{5a7035b7-f11b-403b-9828-9d2d1f662a54}" SpecialFunc="None"> <POU Name="FB_AxisPTP" Id="{5a7035b7-f11b-403b-9828-9d2d1f662a54}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FB_AxisPTP <Declaration><![CDATA[FUNCTION_BLOCK FB_AxisPTP
VAR_INPUT VAR_INPUT
xEnable : BOOL;
xCalibrationCam AT %I* : BOOL;
xInvertCalibrationCam : BOOL := FALSE; xInvertCalibrationCam : BOOL := FALSE;
xEnablePositive : BOOL := TRUE; xEnablePositive : BOOL := TRUE;
xEnableNegative : BOOL := TRUE; xEnableNegative : BOOL := TRUE;
@@ -22,16 +20,20 @@ VAR_OUTPUT
xHomed : BOOL; xHomed : BOOL;
lrActPosition : LREAL; lrActPosition : LREAL;
xIsStopped : BOOL; xIsStopped : BOOL;
// Outputs for execute pattern
xBusy : BOOL; xBusy : BOOL;
xDone : BOOL; xDone : BOOL := TRUE;
xError : BOOL; xError : BOOL;
END_VAR END_VAR
VAR_IN_OUT
stIO : ST_AxisPTP_IO;
END_VAR
VAR VAR
// ======== // ========
// Axis fbs // Axis fbs
// ======== // ========
_fbAxis : AXIS_REF;
_fbPower : MC_Power; _fbPower : MC_Power;
_fbHome : MC_Home; _fbHome : MC_Home;
_fbMoveAbsolute : MC_MoveAbsolute; _fbMoveAbsolute : MC_MoveAbsolute;
@@ -42,20 +44,6 @@ VAR
_fbReset : MC_Reset; _fbReset : MC_Reset;
// ======================
// Axis fbs control flags
// ======================
_xEnable : BOOL;
_xStartHomeing : BOOL;
_xStartMoveAbsolute : BOOL;
_xStartMoveRelative : BOOL;
_xStartMoveVelocity : BOOL;
_xStartMoveModulo : BOOL;
_xHalt : BOOL;
_xReset : BOOL;
// ===================== // =====================
// Sequence control data // Sequence control data
// ===================== // =====================
@@ -82,30 +70,17 @@ VAR
_xCanExecNewCmd : BOOL; _xCanExecNewCmd : BOOL;
_eState : E_AXIS_PTP_STATE; _eState : E_AXIS_PTP_STATE := E_AXIS_PTP_STATE.IDLE;
// =============
// Ouput buffers
// =============
_xDone : BOOL;
_xBusy : BOOL;
_xError : BOOL;
END_VAR END_VAR
]]></Declaration> ]]></Declaration>
<Implementation> <Implementation>
<ST><![CDATA[// Call axis interface <ST><![CDATA[// Call axis interface
_fbAxis.ReadStatus(); stIO.io_fbAxisRef.ReadStatus();
IF _fbAxis.Status.Error THEN
_xError := TRUE;
END_IF
IF xInvertCalibrationCam THEN IF xInvertCalibrationCam THEN
_xCalibrationCam := NOT xCalibrationCam; _xCalibrationCam := NOT stIO.i_xCalibrationCam;
ELSE ELSE
_xCalibrationCam := xCalibrationCam; _xCalibrationCam := stIO.i_xCalibrationCam;
END_IF END_IF
@@ -114,81 +89,45 @@ END_IF
// ================= // =================
_fbPower( _fbPower(
Axis:= _fbAxis, Axis:= stIO.io_fbAxisRef,
Enable:= _xEnable,
Enable_Positive:= xEnablePositive, Enable_Positive:= xEnablePositive,
Enable_Negative:= xEnableNegative, Enable_Negative:= xEnableNegative,
Override:= rOverride); Override:= rOverride);
IF _fbPower.Error THEN
_xError := TRUE;
END_IF
_fbHome( _fbHome(
Axis:= _fbAxis, Axis:= stIO.io_fbAxisRef,
Execute:= _xStartHomeing,
Position:= _lrHomingPos, Position:= _lrHomingPos,
HomingMode:= _eHomingMode, HomingMode:= _eHomingMode,
bCalibrationCam:= _xCalibrationCam); bCalibrationCam:= _xCalibrationCam);
IF _fbHome.Error THEN _fbReset(Axis:= stIO.io_fbAxisRef);
_xError := TRUE;
END_IF
_fbReset(
Axis:= _fbAxis,
Execute:= _xReset);
IF _fbReset.Error THEN
_xError := TRUE;
END_IF
_fbMoveAbsolute( _fbMoveAbsolute(
Axis:= _fbAxis, Axis:= stIO.io_fbAxisRef,
Execute:= _xStartMoveAbsolute,
Position:= _lrTargetPosition, Position:= _lrTargetPosition,
Velocity:= lrVelocity, Velocity:= lrVelocity,
Acceleration:= 0, Acceleration:= 0,
Deceleration:= 0, Deceleration:= 0,
Jerk:= 0); Jerk:= 0);
IF _fbMoveAbsolute.Error THEN
_xError := TRUE;
END_IF
_fbMoveRelative( _fbMoveRelative(
Axis:= _fbAxis, Axis:= stIO.io_fbAxisRef,
Execute:= _xStartMoveRelative,
Distance:= _lrRelativeDistance, Distance:= _lrRelativeDistance,
Velocity:= lrVelocity, Velocity:= lrVelocity,
Acceleration:= 0, Acceleration:= 0,
Deceleration:= 0, Deceleration:= 0,
Jerk:= 0); Jerk:= 0);
IF _fbMoveRelative.Error THEN
_xError := TRUE;
END_IF
_fbMoveVelocity( _fbMoveVelocity(
Axis:= _fbAxis, Axis:= stIO.io_fbAxisRef,
Execute:= _xStartMoveVelocity,
Velocity:= lrVelocity, Velocity:= lrVelocity,
Acceleration:= 0, Acceleration:= 0,
Deceleration:= 0, Deceleration:= 0,
Jerk:= 0, Jerk:= 0,
Direction:= _eMoveDirection); Direction:= _eMoveDirection);
IF _fbMoveVelocity.Error THEN
_xError := TRUE;
END_IF
_fbMoveModulo( _fbMoveModulo(
Axis:= _fbAxis, Axis:= stIO.io_fbAxisRef,
Execute:= _xStartMoveModulo,
Position:= _lrTargetPosition, Position:= _lrTargetPosition,
Velocity:= lrVelocity, Velocity:= lrVelocity,
Acceleration:= 0, Acceleration:= 0,
@@ -196,179 +135,121 @@ _fbMoveModulo(
Jerk:= 0, Jerk:= 0,
Direction:= _eMoveDirection); Direction:= _eMoveDirection);
IF _fbMoveModulo.Error THEN
_xError := TRUE;
END_IF
_fbHalt( _fbHalt(
Axis:= _fbAxis, Axis:= stIO.io_fbAxisRef,
Execute:= _xHalt,
Deceleration:= 0, Deceleration:= 0,
BufferMode := MC_BufferMode.MC_Aborting, BufferMode := MC_BufferMode.MC_Aborting,
Jerk:= 0); Jerk:= 0);
IF _fbHalt.Error THEN
_xError := TRUE;
END_IF
// ==================== // ====================
// Handle state machine // Handle state machine
// ==================== // ====================
CASE _eState OF CASE _eState OF
E_AXIS_PTP_STATE.OFF: E_AXIS_PTP_STATE.IDLE:
IF xEnable THEN // Check for error
_xEnable := TRUE; IF stIO.io_fbAxisRef.Status.Error THEN
_xBusy := TRUE;
_xDone := FALSE;
_eState := E_AXIS_PTP_STATE.WAIT_FOR_ENABLE;
END_IF
IF _xError THEN
_xBusy := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR; _eState := E_AXIS_PTP_STATE.ERROR;
END_IF END_IF
// =========
// Enableing
// =========
E_AXIS_PTP_STATE.START_ENABLE:
_fbPower.Enable := TRUE;
_eState := E_AXIS_PTP_STATE.WAIT_ENABLE;
E_AXIS_PTP_STATE.WAIT_FOR_ENABLE: E_AXIS_PTP_STATE.WAIT_ENABLE:
IF _fbPower.Status AND (NOT _xError) THEN IF _fbPower.Status AND (NOT _fbPower.Error) THEN
_xBusy := FALSE; xBusy := FALSE;
_xDone := TRUE; xDone := TRUE;
_eState := E_AXIS_PTP_STATE.ENABLED; _eState := E_AXIS_PTP_STATE.IDLE;
END_IF END_IF
IF _xError THEN IF _fbPower.Error THEN
_xEnable := FALSE; _eState := E_AXIS_PTP_STATE.ENTER_ERROR;
_xBusy := FALSE; END_IF
_eState := E_AXIS_PTP_STATE.ERROR;
// =======
// Homeing
// =======
E_AXIS_PTP_STATE.START_HOMING:
_fbHome.Execute := TRUE;
_eState := E_AXIS_PTP_STATE.WAIT_HOMING;
E_AXIS_PTP_STATE.WAIT_HOMING:
IF _fbHome.Done THEN
_fbHome.Execute := FALSE;
xBusy := FALSE;
xDone := TRUE;
_eState := E_AXIS_PTP_STATE.IDLE;
END_IF
IF _fbHome.Error THEN
_fbHome.Execute := FALSE;
_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
END_IF
// =============
// Move absolute
// =============
E_AXIS_PTP_STATE.START_MOVING_ABSOLUTE:
_fbMoveAbsolute.Execute := TRUE;
_eState := E_AXIS_PTP_STATE.WAIT_MOVING_ABSOLUTE;
E_AXIS_PTP_STATE.WAIT_MOVING_ABSOLUTE:
IF _fbMoveAbsolute.Done THEN
_fbMoveAbsolute.Execute := FALSE;
xBusy := FALSE;
xDone := TRUE;
_eState := E_AXIS_PTP_STATE.IDLE;
END_IF
IF _fbMoveAbsolute.Error THEN
_fbMoveAbsolute.Execute := FALSE;
_eState := E_AXIS_PTP_STATE.ENTER_ERROR;
END_IF END_IF
E_AXIS_PTP_STATE.ENABLED: // =============
// Move relative
// =============
E_AXIS_PTP_STATE.START_MOVING_RELATIVE:
_fbMoveRelative.Execute := TRUE;
_eState := E_AXIS_PTP_STATE.WAIT_MOVING_RELATIVE;
IF _xExecuteMoveAbs THEN E_AXIS_PTP_STATE.WAIT_MOVING_RELATIVE:
_xExecuteMoveAbs := FALSE; IF _fbMoveRelative.Done THEN
_xStartMoveAbsolute := TRUE; _fbMoveRelative.Execute := FALSE;
_eState := E_AXIS_PTP_STATE.MOVING_ABSOLUTE; xBusy := FALSE;
xDone := TRUE;
_eState := E_AXIS_PTP_STATE.IDLE;
END_IF END_IF
IF _xExecuteMoveRel THEN IF _fbMoveRelative.Error THEN
_xExecuteMoveRel := FALSE; _fbMoveRelative.Execute := FALSE;
_xStartMoveRelative := TRUE; _eState := E_AXIS_PTP_STATE.ENTER_ERROR;
_eState := E_AXIS_PTP_STATE.MOVING_RELATIVE;
END_IF
IF _xExecuteHoming THEN
_xExecuteHoming := FALSE;
_xStartHomeing := TRUE;
_eState := E_AXIS_PTP_STATE.HOMING;
END_IF
IF _xExecuteMoveVelocity THEN
_xExecuteMoveVelocity := FALSE;
_xStartMoveVelocity := TRUE;
_eState := E_AXIS_PTP_STATE.MOVING_VELOCITY;
END_IF
IF _xExecuteMoveModulo THEN
_xExecuteMoveModulo := FALSE;
_xStartMoveModulo := TRUE;
_eState := E_AXIS_PTP_STATE.MOVING_MODULO;
END_IF
IF (NOT xEnable) AND (NOT _xError) THEN
_xEnable := FALSE;
_xBusy := TRUE;
_xDone := FALSE;
_eState := E_AXIS_PTP_STATE.WAIT_FOR_DISABLE;
END_IF
IF _xError THEN
_xEnable := FALSE;
_xBusy := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF END_IF
E_AXIS_PTP_STATE.HOMING: // =============
IF (NOT _fbHome.Busy) AND (NOT _xError) THEN // Move velocity
_xStartHomeing := FALSE; // =============
_xBusy := FALSE; E_AXIS_PTP_STATE.START_MOVING_VELOCITY:
_xDone := TRUE; _fbMoveVelocity.Execute := TRUE;
_eState := E_AXIS_PTP_STATE.ENABLED; _eState := E_AXIS_PTP_STATE.WAIT_MOVING_VELOCITY;
E_AXIS_PTP_STATE.WAIT_MOVING_VELOCITY:
IF _fbMoveVelocity.Busy THEN
_fbMoveVelocity.Execute := FALSE;
xBusy := FALSE;
xDone := TRUE;
_eState := E_AXIS_PTP_STATE.IDLE;
END_IF END_IF
IF _xExecuteHalt THEN
_xExecuteHalt := FALSE;
_xStartHomeing := FALSE;
_xHalt := TRUE;
_eState := E_AXIS_PTP_STATE.HALTING;
END_IF
IF _xError THEN
_xStartHomeing := FALSE;
_xBusy := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF
E_AXIS_PTP_STATE.MOVING_ABSOLUTE:
IF (NOT _fbMoveAbsolute.Busy) AND (NOT _xError) THEN
_xStartMoveAbsolute := FALSE;
_xBusy := FALSE;
_xDone := TRUE;
_eState := E_AXIS_PTP_STATE.ENABLED;
END_IF
IF _xExecuteHalt THEN
_xExecuteHalt := FALSE;
_xStartMoveAbsolute := FALSE;
_xHalt := TRUE;
_eState := E_AXIS_PTP_STATE.HALTING;
END_IF
IF _xError THEN
_xStartMoveAbsolute := FALSE;
_xBusy := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF
E_AXIS_PTP_STATE.MOVING_RELATIVE:
IF (NOT _fbMoveRelative.Busy) AND (NOT _xError) THEN
_xStartMoveRelative := FALSE;
_xBusy := FALSE;
_xDone := TRUE;
_eState := E_AXIS_PTP_STATE.ENABLED;
END_IF
IF _xExecuteHalt THEN
_xExecuteHalt := FALSE;
_xStartMoveAbsolute := FALSE;
_xHalt := TRUE;
_eState := E_AXIS_PTP_STATE.HALTING;
END_IF
IF _xError THEN
_xStartMoveRelative := FALSE;
_xBusy := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF
E_AXIS_PTP_STATE.MOVING_VELOCITY:
IF _fbMoveVelocity.Error THEN IF _fbMoveVelocity.Error THEN
_xBusy := FALSE; _fbMoveVelocity.Execute := FALSE;
_xStartMoveVelocity := FALSE; _eState := E_AXIS_PTP_STATE.ENTER_ERROR;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF
IF _xExecuteHalt THEN
_xExecuteHalt := FALSE;
_xStartMoveVelocity := FALSE;
_xHalt := TRUE;
_eState := E_AXIS_PTP_STATE.HALTING;
END_IF END_IF
@@ -389,8 +270,7 @@ CASE _eState OF
IF _xError THEN IF _xError THEN
_xStartMoveModulo := FALSE; _xStartMoveModulo := FALSE;
_xBusy := FALSE; _eState := E_AXIS_PTP_STATE.ENTER_ERROR;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF END_IF
@@ -403,9 +283,7 @@ CASE _eState OF
END_IF END_IF
IF _xError THEN IF _xError THEN
_xHalt := FALSE; _eState := E_AXIS_PTP_STATE.ENTER_ERROR;
_xBusy := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF END_IF
@@ -417,17 +295,19 @@ CASE _eState OF
END_IF END_IF
IF _xError THEN IF _xError THEN
_xEnable := FALSE; _eState := E_AXIS_PTP_STATE.ENTER_ERROR;
_xBusy := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR;
END_IF END_IF
E_AXIS_PTP_STATE.ENTER_ERROR:
xError := TRUE;
xBusy := FALSE;
xDone := FALSE;
_eState := E_AXIS_PTP_STATE.ERROR;
E_AXIS_PTP_STATE.ERROR: E_AXIS_PTP_STATE.ERROR:
IF xConfirmAlarms THEN IF xConfirmAlarms THEN
_xBusy := FALSE;
_xReset := TRUE; _xReset := TRUE;
_xError := FALSE;
_eState := E_AXIS_PTP_STATE.RESET; _eState := E_AXIS_PTP_STATE.RESET;
END_IF END_IF
@@ -435,164 +315,224 @@ CASE _eState OF
E_AXIS_PTP_STATE.RESET: E_AXIS_PTP_STATE.RESET:
IF _fbReset.Done THEN IF _fbReset.Done THEN
_xReset := FALSE; _xReset := FALSE;
_xError := FALSE;
_eState := E_AXIS_PTP_STATE.OFF; _eState := E_AXIS_PTP_STATE.OFF;
END_IF END_IF
ELSE ELSE
_eState := E_AXIS_PTP_STATE.ERROR; _eState := E_AXIS_PTP_STATE.ERROR;
_xError := TRUE;
END_CASE END_CASE
// Can the axis perform a new move command
_xCanExecNewCmd := (NOT _xBusy) AND _fbPower.Status AND (NOT _xError);
// Copy internal buffers to outputs // Copy internal buffers to outputs
xEnabled := _fbPower.Status; xEnabled := _fbPower.Status;
xHomed := _fbAxis.Status.Homed; xHomed := stIO.io_fbAxisRef.Status.Homed;
lrActPosition := _fbAxis.NcToPlc.ActPos; lrActPosition := stIO.io_fbAxisRef.NcToPlc.ActPos;
xIsStopped := _fbAxis.Status.StandStill OR _fbAxis.Status.Disabled; xIsStopped := stIO.io_fbAxisRef.Status.StandStill OR stIO.io_fbAxisRef.Status.Disabled;]]></ST>
xDone := _xDone;
xBusy := _xBusy;
xError := _xError;]]></ST>
</Implementation> </Implementation>
<Method Name="M_Disable" Id="{9ad5c9f5-bbf1-4888-86a0-ffdb2251d9c0}">
<Declaration><![CDATA[METHOD M_Disable : E_CmdResult
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[CASE _eState OF
E_AXIS_PTP_STATE.IDLE:
_eState := E_AXIS_PTP_STATE.START_DISABLE;
xBusy := TRUE;
xDone := FALSE;
M_Disable := E_CmdResult.ACCEPTED;
E_AXIS_PTP_STATE.ERROR:
M_Disable := E_CmdResult.ERROR;
ELSE
M_Disable := E_CmdResult.BUSY;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="M_Enable" Id="{d68c8a7b-c709-4efe-872c-84892228bb19}">
<Declaration><![CDATA[METHOD M_Enable : E_CmdResult
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[CASE _eState OF
E_AXIS_PTP_STATE.IDLE:
_eState := E_AXIS_PTP_STATE.START_ENABLE;
xBusy := TRUE;
xDone := FALSE;
M_Enable := E_CmdResult.ACCEPTED;
E_AXIS_PTP_STATE.ERROR:
M_Enable := E_CmdResult.ERROR;
ELSE
M_Enable := E_CmdResult.BUSY;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="M_Halt" Id="{f6e3b049-4121-4299-b0f5-55178ecb35c3}"> <Method Name="M_Halt" Id="{f6e3b049-4121-4299-b0f5-55178ecb35c3}">
<Declaration><![CDATA[METHOD M_Halt <Declaration><![CDATA[METHOD M_Halt : E_CmdResult
VAR_OUTPUT VAR_OUTPUT
END_VAR]]></Declaration> END_VAR]]></Declaration>
<Implementation> <Implementation>
<ST><![CDATA[IF _xBusy THEN <ST><![CDATA[_eState := E_AXIS_PTP_STATE.START_HALTING;
_xExecuteHalt := TRUE;
_xDone := FALSE; xBusy := TRUE;
xDone := FALSE; xDone := FALSE;
_xBusy := TRUE; M_Halt := E_CmdResult.ACCEPTED;]]></ST>
xBusy := TRUE;
END_IF]]></ST>
</Implementation> </Implementation>
</Method> </Method>
<Method Name="M_Homing" Id="{816a1a43-38da-49f0-b902-c1027a6ba127}"> <Method Name="M_Homing" Id="{816a1a43-38da-49f0-b902-c1027a6ba127}">
<Declaration><![CDATA[METHOD M_Homing : BOOL <Declaration><![CDATA[METHOD M_Homing : E_CmdResult
VAR_INPUT VAR_INPUT
lrHomingPosition : LREAL := Tc2_MC2.DEFAULT_HOME_POSITION; lrHomingPosition : LREAL := Tc2_MC2.DEFAULT_HOME_POSITION;
eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming; eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming;
END_VAR]]></Declaration> END_VAR]]></Declaration>
<Implementation> <Implementation>
<ST><![CDATA[IF _xCanExecNewCmd THEN <ST><![CDATA[// Reject command if axis is not enabled
_xCanExecNewCmd := FALSE; IF (NOT _fbPower.Status) THEN
M_Homing := E_CmdResult.REJECTED;
RETURN;
END_IF
_lrHomingPos := lrHomingPosition; CASE _eState OF
_eHomingMode := eHomingMode; E_AXIS_PTP_STATE.IDLE:
_xExecuteHoming := TRUE; _eState := E_AXIS_PTP_STATE.START_HOMING;
_xDone := FALSE; xBusy := TRUE;
xDone := FALSE; xDone := FALSE;
_xBusy := TRUE; M_Homing := E_CmdResult.ACCEPTED;
xBusy := TRUE;
M_Homing := TRUE; E_AXIS_PTP_STATE.ERROR:
ELSE M_Homing := E_CmdResult.ERROR;
M_Homing := FALSE;
END_IF]]></ST> ELSE
M_Homing := E_CmdResult.BUSY;
END_CASE]]></ST>
</Implementation> </Implementation>
</Method> </Method>
<Method Name="M_MoveAbs" Id="{f67a4861-cdb0-4dd2-93c8-1ae9dbc9a9a6}"> <Method Name="M_MoveAbs" Id="{f67a4861-cdb0-4dd2-93c8-1ae9dbc9a9a6}">
<Declaration><![CDATA[METHOD M_MoveAbs : BOOL; <Declaration><![CDATA[METHOD M_MoveAbs : E_CmdResult
VAR_INPUT VAR_INPUT
lrTargetPos : LREAL; lrTargetPos : LREAL;
END_VAR]]></Declaration> END_VAR]]></Declaration>
<Implementation> <Implementation>
<ST><![CDATA[IF _xCanExecNewCmd THEN <ST><![CDATA[// Reject command if axis is not enabled
_xCanExecNewCmd := FALSE; IF (NOT _fbPower.Status) THEN
M_MoveAbs := E_CmdResult.REJECTED;
_lrTargetPosition := lrTargetPos; RETURN;
_xExecuteMoveAbs := TRUE;
_xDone := FALSE;
xDone := FALSE;
_xBusy := TRUE;
xBusy := TRUE;
M_MoveAbs := TRUE;
ELSE
M_MoveAbs := FALSE;
END_IF END_IF
CASE _eState OF
E_AXIS_PTP_STATE.IDLE:
_lrTargetPosition := lrTargetPos;
_eState := E_AXIS_PTP_STATE.START_MOVING_ABSOLUTE;
xBusy := TRUE;
xDone := FALSE;
M_MoveAbs := E_CmdResult.ACCEPTED;
E_AXIS_PTP_STATE.ERROR:
M_MoveAbs := E_CmdResult.ERROR;
ELSE
M_MoveAbs := E_CmdResult.BUSY;
END_CASE
]]></ST> ]]></ST>
</Implementation> </Implementation>
</Method> </Method>
<Method Name="M_MoveModulo" Id="{1a5eaefa-5bb1-4438-b3e0-80c1a34fc0ee}"> <Method Name="M_MoveModulo" Id="{1a5eaefa-5bb1-4438-b3e0-80c1a34fc0ee}">
<Declaration><![CDATA[METHOD M_MoveModulo : BOOL <Declaration><![CDATA[METHOD M_MoveModulo : E_CmdResult
VAR_INPUT VAR_INPUT
lrTargetPos : LREAL; lrTargetPos : LREAL;
eMoveDirection : MC_Direction; eMoveDirection : MC_Direction;
END_VAR]]></Declaration> END_VAR]]></Declaration>
<Implementation> <Implementation>
<ST><![CDATA[IF _xCanExecNewCmd THEN <ST><![CDATA[// Reject command if axis is not enabled
_xCanExecNewCmd := FALSE; IF (NOT _fbPower.Status) THEN
M_MoveModulo := E_CmdResult.REJECTED;
RETURN;
END_IF
_lrTargetPosition := lrTargetPos; CASE _eState OF
_eMoveDirection := eMoveDirection; E_AXIS_PTP_STATE.IDLE:
_xExecuteMoveModulo := TRUE; _lrTargetPosition := lrTargetPos;
_eMoveDirection := eMoveDirection;
_eState := E_AXIS_PTP_STATE.START_MOVING_MODULO;
_xDone := FALSE; xBusy := TRUE;
xDone := FALSE; xDone := FALSE;
_xBusy := TRUE; M_MoveModulo := E_CmdResult.ACCEPTED;
xBusy := TRUE;
M_MoveModulo := TRUE; E_AXIS_PTP_STATE.ERROR:
ELSE M_MoveModulo := E_CmdResult.ERROR;
M_MoveModulo := FALSE;
END_IF]]></ST> ELSE
M_MoveModulo := E_CmdResult.BUSY;
END_CASE]]></ST>
</Implementation> </Implementation>
</Method> </Method>
<Method Name="M_MoveRel" Id="{51e5fe82-5e25-4de0-84c7-b4d6560c312f}"> <Method Name="M_MoveRel" Id="{51e5fe82-5e25-4de0-84c7-b4d6560c312f}">
<Declaration><![CDATA[METHOD M_MoveRel : BOOL; <Declaration><![CDATA[METHOD M_MoveRel : E_CmdResult
VAR_INPUT VAR_INPUT
lrRelDist : LREAL; lrRelDist : LREAL;
END_VAR]]></Declaration> END_VAR]]></Declaration>
<Implementation> <Implementation>
<ST><![CDATA[IF _xCanExecNewCmd THEN <ST><![CDATA[// Reject command if axis is not enabled
_xCanExecNewCmd := FALSE; IF (NOT _fbPower.Status) THEN
M_MoveRel := E_CmdResult.REJECTED;
RETURN;
END_IF
_xBusy := TRUE; CASE _eState OF
_lrRelativeDistance := lrRelDist; E_AXIS_PTP_STATE.IDLE:
_xExecuteMoveRel:= TRUE; _lrRelativeDistance := lrRelDist;
_eState := E_AXIS_PTP_STATE.START_MOVING_RELATIVE;
_xDone := FALSE; xBusy := TRUE;
xDone := FALSE; xDone := FALSE;
_xBusy := TRUE; M_MoveRel := E_CmdResult.ACCEPTED;
xBusy := TRUE;
M_MoveRel := TRUE; E_AXIS_PTP_STATE.ERROR:
ELSE M_MoveRel := E_CmdResult.ERROR;
M_MoveRel := FALSE;
END_IF]]></ST> ELSE
M_MoveRel := E_CmdResult.BUSY;
END_CASE]]></ST>
</Implementation> </Implementation>
</Method> </Method>
<Method Name="M_MoveVelocity" Id="{fd4ad471-f522-45f2-a138-ebe509907cf6}"> <Method Name="M_MoveVelocity" Id="{fd4ad471-f522-45f2-a138-ebe509907cf6}">
<Declaration><![CDATA[METHOD M_MoveVelocity : BOOL; <Declaration><![CDATA[METHOD M_MoveVelocity : E_CmdResult
VAR_INPUT VAR_INPUT
eDirection : MC_Direction := MC_Direction.MC_Positive_Direction; eDirection : MC_Direction := MC_Direction.MC_Positive_Direction;
END_VAR END_VAR
]]></Declaration> ]]></Declaration>
<Implementation> <Implementation>
<ST><![CDATA[IF _xCanExecNewCmd THEN <ST><![CDATA[// Reject command if axis is not enabled
_xCanExecNewCmd := FALSE; IF (NOT _fbPower.Status) THEN
M_MoveRel := E_CmdResult.REJECTED;
_xBusy := TRUE; RETURN;
_xExecuteMoveVelocity := TRUE;
_eMoveDirection := eDirection;
_xDone := FALSE;
xDone := FALSE;
_xBusy := TRUE;
xBusy := TRUE;
M_MoveVelocity := TRUE;
ELSE
M_MoveVelocity := FALSE;
END_IF END_IF
]]></ST>
CASE _eState OF
E_AXIS_PTP_STATE.IDLE:
_eMoveDirection := eDirection;
_eState := E_AXIS_PTP_STATE.START_MOVING_VELOCITY;
xBusy := TRUE;
xDone := FALSE;
M_MoveRel := E_CmdResult.ACCEPTED;
E_AXIS_PTP_STATE.ERROR:
M_MoveRel := E_CmdResult.ERROR;
ELSE
M_MoveRel := E_CmdResult.BUSY;
END_CASE]]></ST>
</Implementation> </Implementation>
</Method> </Method>
</POU> </POU>

12
BasicComponents/POUs/Components/AxisPTP/ST_AxisPTP_IO.TcDUT Normal file
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@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_AxisPTP_IO" Id="{e9334c76-7085-45c0-b389-151c48bf0632}">
<Declaration><![CDATA[TYPE ST_AxisPTP_IO :
STRUCT
i_xCalibrationCam AT %I* : BOOL;
io_fbAxisRef : AXIS_REF;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>