Merge branch 'release/1.0'

BaseComponents.tsproj

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20">
+<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19">
 	<DataTypes>
 		<DataType>
 			<Name GUID="{E1AAE90D-A058-4E83-848E-5E87CB5B885D}" PersistentType="true">AnalogOutput</Name>
@@ -136,7 +136,7 @@
 		</System>
 		<Plc>
 			<Project GUID="{4E62D9E7-436C-457D-8DC4-82D2FEF91C96}" Name="BasicComponents" PrjFilePath="BasicComponents\BasicComponents.plcproj" TmcFilePath="BasicComponents\BasicComponents.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" CopyTmcToTarget="true" CopyTpyToTarget="false" SymbolicMapping="true">
-				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{5DBE1701-D5AF-C0A4-B386-82619480C86C}" TmcPath="PLC\PLC.tmc">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{BC065F54-D783-3F62-2B3C-EC8392B01342}" TmcPath="PLC\PLC.tmc">
 					<Name>BasicComponents Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Vars VarGrpType="2" AreaNo="1">

BasicComponents/BasicComponents.plcproj

@@ -9,7 +9,7 @@
     <WriteProductVersion>false</WriteProductVersion>
     <GenerateTpy>false</GenerateTpy>
     <Name>BasicComponents</Name>
-    <ProgramVersion>3.1.4026.20</ProgramVersion>
+    <ProgramVersion>3.1.4026.19</ProgramVersion>
     <Application>{7cc9c530-510c-48e6-a294-2e6b5e6fa820}</Application>
     <TypeSystem>{951d7a0c-817c-4013-8204-ecd29ee0162e}</TypeSystem>
     <Implicit_Task_Info>{e6d3915d-876b-4120-9e42-92be330ed750}</Implicit_Task_Info>
@@ -21,7 +21,7 @@
     <GlobalVersionStructureIncluded>false</GlobalVersionStructureIncluded>
     <Company>Heisig GmbH</Company>
     <Title>BaseComponents</Title>
-    <ProjectVersion>1.1</ProjectVersion>
+    <ProjectVersion>1.0</ProjectVersion>
     <DefaultNamespace>BC</DefaultNamespace>
     <Author>M.Heisig</Author>
     <Description>Basic components fb's (Valves, AI, AO, Motors, etc.)</Description>
@@ -67,12 +67,6 @@
     <Compile Include="POUs\Components\Analog\Types\ST_ANALOG_IO_CONFIG.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="POUs\Components\AxisPTP\E_AXIS_PTP_STATE.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Components\AxisPTP\FB_AxisPTP.TcPOU">
-      <SubType>Code</SubType>
-    </Compile>
     <Compile Include="POUs\Components\EventListener\FB_EventListener.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -217,7 +211,6 @@
     <Folder Include="GVLs" />
     <Folder Include="POUs\Components\Analog" />
     <Folder Include="POUs\Components\Analog\Types" />
-    <Folder Include="POUs\Components\AxisPTP" />
     <Folder Include="POUs\Components\EventListener" />
     <Folder Include="POUs\Components\EventListener\Types" />
     <Folder Include="POUs\Components\Motor">
@@ -292,11 +285,6 @@
       <SubType>Content</SubType>
     </None>
   </ItemGroup>
-  <ItemGroup>
-    <None Include="BasicComponents.tmc">
-      <SubType>Content</SubType>
-    </None>
-  </ItemGroup>
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>

BasicComponents/POUs/Components/AxisPTP/E_AXIS_PTP_STATE.TcDUT

@@ -1,24 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <DUT Name="E_AXIS_PTP_STATE" Id="{e713a96e-1301-4139-8827-994d0c38662a}">
-    <Declaration><![CDATA[{attribute 'qualified_only'}
-{attribute 'strict'}
-{attribute 'to_string'}
-TYPE E_AXIS_PTP_STATE :
-(
-	OFF := 0,
-	WAIT_FOR_ENABLE,
-	ENABLED,
-	HOMING,
-	MOVING_ABSOLUTE,
-	MOVING_RELATIVE,
-	MOVING_VELOCITY,
-	HALTING,
-	WAIT_FOR_DISABLE,
-	ERROR,
-	RESET
-);
-END_TYPE
-]]></Declaration>
-  </DUT>
-</TcPlcObject>

BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU

@@ -1,504 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <POU Name="FB_AxisPTP" Id="{5a7035b7-f11b-403b-9828-9d2d1f662a54}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_AxisPTP
-VAR_INPUT
-	xEnable : BOOL;
-	xCalibrationCam AT %I* : BOOL;
-	xInvertCalibrationCam : BOOL := FALSE;
-	xEnablePositive : BOOL := TRUE;
-	xEnableNegative : BOOL := TRUE;;
-	rOverride : REAL := 100.0;
-	
-	lrVelocity : LREAL;
-	lrAcceleration : LREAL := 0.0;
-	lrDecelleration : LREAL := 0.0;
-	lrJerk : LREAL := 0.0;
-	
-	xConfirmAlarms : BOOL;
-END_VAR
-VAR_OUTPUT
-	xEnabled : BOOL;
-	xHomed : BOOL;
-	lrActPosition : LREAL;
-	xIsStopped : BOOL;
-	xBusy : BOOL;
-	xError : BOOL;
-END_VAR
-VAR
-	// ========
-	// Axis fbs
-	// ========
-	
-	_fbAxis : AXIS_REF;
-	_fbPower : MC_Power;
-	_fbHome : MC_Home;
-	_fbMoveAbsolute : MC_MoveAbsolute;
-	_fbMoveRelative : MC_MoveRelative;
-	_fbMoveVelocity : MC_MoveVelocity;
-	_fbHalt : MC_Halt;
-	_fbReset : MC_Reset;
-	
-	
-	// ======================
-	// Axis fbs control flags
-	// ======================
-	
-	_xEnable : BOOL;
-	_xStartHomeing : BOOL;
-	_xStartMoveAbsolute : BOOL;
-	_xStartMoveRelative : BOOL;
-	_xStartMoveVelocity : BOOL;
-	_xHalt : BOOL;
-	_xReset : BOOL;
-	
-	
-	// =====================
-	// Sequence control data
-	// =====================
-	
-	_xExecuteHoming : BOOL;
-	_xExecuteMoveAbs : BOOL;
-	_xExecuteMoveRel : BOOL;
-	_xExecuteMoveVelocity : BOOL;
-	_xExecuteHalt : BOOL;
-	
-	
-	// =========================
-	// Internal helper variables
-	// =========================
-	
-	_lrTargetPosition : LREAL;
-	_lrRelativeDistance : LREAL;
-	_lrHomingPos : LREAL;
-	_eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming;
-	_xCalibrationCam : BOOL;
-	
-	_eMoveVelDirection : MC_Direction;
-	
-	_eState : E_AXIS_PTP_STATE;
-	
-	
-	// =============
-	// Ouput buffers
-	// =============
-	
-	_xBusy : BOOL;
-	_xError : BOOL;
-END_VAR
-]]></Declaration>
-    <Implementation>
-      <ST><![CDATA[// Call axis interface
-_fbAxis.ReadStatus();
-
-IF xInvertCalibrationCam THEN
-	_xCalibrationCam := NOT xCalibrationCam;
-ELSE
-	_xCalibrationCam := xCalibrationCam;
-END_IF
-
-
-// =================
-// Call axis classes
-// =================
-
-_fbPower(
-	Axis:= _fbAxis, 
-	Enable:= _xEnable, 
-	Enable_Positive:= xEnablePositive, 
-	Enable_Negative:= xEnableNegative, 
-	Override:= rOverride);
-	
-IF _fbPower.Error THEN
-	_xError := TRUE;
-END_IF
-
-
-_fbHome(
-	Axis:= _fbAxis, 
-	Execute:= _xStartHomeing, 
-	Position:= _lrHomingPos, 
-	HomingMode:= _eHomingMode, 
-	bCalibrationCam:= _xCalibrationCam);
-	
-IF _fbHome.Error THEN
-	_xError := TRUE;
-END_IF
-
-_fbReset(
-	Axis:= _fbAxis, 
-	Execute:= _xReset);
-	
-IF _fbReset.Error THEN
-	_xError := TRUE;
-END_IF
-
-
-_fbMoveAbsolute(
-	Axis:= _fbAxis, 
-	Execute:= _xStartMoveAbsolute, 
-	Position:= _lrTargetPosition, 
-	Velocity:= lrVelocity, 
-	Acceleration:= 0, 
-	Deceleration:= 0,
-	Jerk:= 0);
-	
-IF _fbMoveAbsolute.Error THEN
-	_xError := TRUE;
-END_IF
-
-
-_fbMoveRelative(
-	Axis:= _fbAxis, 
-	Execute:= _xStartMoveRelative, 
-	Distance:= _lrRelativeDistance, 
-	Velocity:= lrVelocity, 
-	Acceleration:= 0, 
-	Deceleration:= 0,
-	Jerk:= 0);
-	
-IF _fbMoveRelative.Error THEN
-	_xError := TRUE;
-END_IF
-
-
-_fbMoveVelocity(
-	Axis:= _fbAxis, 
-	Execute:= _xStartMoveVelocity, 
-	Velocity:= lrVelocity, 
-	Acceleration:= 0, 
-	Deceleration:= 0, 
-	Jerk:= 0, 
-	Direction:= _eMoveVelDirection);
-	
-IF _fbMoveVelocity.Error THEN
-	_xError := TRUE;
-END_IF
-
-
-_fbHalt(
-	Axis:= _fbAxis, 
-	Execute:= _xHalt, 
-	Deceleration:= 0,
-	BufferMode := MC_BufferMode.MC_Aborting,
-	Jerk:= 0);
-	
-IF _fbHalt.Error THEN
-	_xError := TRUE;
-END_IF
-
-
-// ====================
-// Handle state machine
-// ====================
-
-CASE _eState OF
-	E_AXIS_PTP_STATE.OFF:
-		IF xEnable THEN
-			_xEnable := TRUE;
-			_xBusy := TRUE;
-			_eState := E_AXIS_PTP_STATE.WAIT_FOR_ENABLE;
-		END_IF
-		
-		IF _xError THEN
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
-		
-		
-	E_AXIS_PTP_STATE.WAIT_FOR_ENABLE:
-		IF _fbPower.Status AND (NOT _xError) THEN
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
-		END_IF
-		
-		IF _xError THEN
-			_xEnable := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
-		
-		
-	E_AXIS_PTP_STATE.ENABLED:
-		IF _xExecuteMoveAbs THEN
-			_xExecuteMoveAbs := FALSE;
-			_xBusy := TRUE;
-			_xStartMoveAbsolute := TRUE;
-			_eState := E_AXIS_PTP_STATE.MOVING_ABSOLUTE;
-		END_IF
-				
-		IF _xExecuteMoveRel THEN
-			_xExecuteMoveRel := FALSE;
-			_xBusy := TRUE;
-			_xStartMoveRelative := TRUE;
-			_eState := E_AXIS_PTP_STATE.MOVING_RELATIVE;
-		END_IF
-		
-		IF _xExecuteHoming THEN
-			_xExecuteHoming := FALSE;
-			_xStartHomeing := TRUE;
-			_xBusy := TRUE;
-			_eState := E_AXIS_PTP_STATE.HOMING;
-		END_IF
-		
-		IF _xExecuteMoveVelocity THEN
-			_xExecuteMoveVelocity := FALSE;
-			_xStartMoveVelocity := TRUE;
-			_xBusy := TRUE;
-			_eState := E_AXIS_PTP_STATE.MOVING_VELOCITY;
-		END_IF
-	
-		IF (NOT xEnable) AND (NOT _xError) THEN
-			_xEnable := FALSE;
-			_xBusy := TRUE;
-			_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
-		
-		
-	E_AXIS_PTP_STATE.HOMING:
-		IF (NOT _fbHome.Busy) AND (NOT _xError) THEN
-			_xStartHomeing := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
-		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;
-			_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;
-			_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
-			_xBusy := FALSE;
-			_xStartMoveVelocity := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
-	
-	
-	E_AXIS_PTP_STATE.HALTING:
-		IF (NOT _fbHalt.Busy) AND (NOT _xError) THEN
-			_xHalt := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ENABLED;
-		END_IF
-		
-		IF _xError THEN
-			_xHalt := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
-	
-		
-	E_AXIS_PTP_STATE.WAIT_FOR_DISABLE:
-		IF (NOT _fbPower.Status) AND (NOT _xError) THEN
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.OFF;
-		END_IF
-		
-		IF _xError THEN
-			_xEnable := FALSE;
-			_xBusy := FALSE;
-			_eState := E_AXIS_PTP_STATE.ERROR;
-		END_IF
-	
-	
-	E_AXIS_PTP_STATE.ERROR:
-		IF xConfirmAlarms THEN
-			_xBusy := FALSE;
-			_xReset := TRUE;
-			_xError := FALSE;
-			_eState := E_AXIS_PTP_STATE.RESET;
-		END_IF
-	
-	
-	E_AXIS_PTP_STATE.RESET:
-		IF _fbReset.Done THEN
-			_xReset := FALSE;
-			_xError := FALSE;
-			_eState := E_AXIS_PTP_STATE.OFF;
-		END_IF
-
-	
-	ELSE
-		_eState := E_AXIS_PTP_STATE.ERROR;
-		_xError := TRUE;
-END_CASE
-
-
-// Copy internal buffers to outputs
-xEnabled := _fbPower.Status;
-xHomed := _fbAxis.Status.Homed;
-lrActPosition := _fbAxis.NcToPlc.ActPos;
-xIsStopped := _fbAxis.Status.StandStill OR _fbAxis.Status.Disabled;
-xBusy := _xBusy;
-xError := _xError;]]></ST>
-    </Implementation>
-    <Method Name="M_Halt" Id="{f6e3b049-4121-4299-b0f5-55178ecb35c3}">
-      <Declaration><![CDATA[METHOD M_Halt
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
-END_VAR]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[IF _xBusy THEN
-	_xExecuteHalt := TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
-ELSE
-	eResultCode := E_SequenceResultCode.DONE;
-	eFailureCode := E_SequenceFailureCode.NONE;
-END_IF]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_Homing" Id="{816a1a43-38da-49f0-b902-c1027a6ba127}">
-      <Declaration><![CDATA[METHOD M_Homing
-VAR_INPUT
-	lrHomingPosition : LREAL;
-	eHomingMode : MC_HomingMode := MC_HomingMode.MC_DefaultHoming;
-END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
-END_VAR]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
-	_xBusy := TRUE;
-	_lrHomingPos := lrHomingPosition;
-	_eHomingMode := eHomingMode;
-	_xExecuteHoming := TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
-ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
-END_IF]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_MoveAbs" Id="{f67a4861-cdb0-4dd2-93c8-1ae9dbc9a9a6}">
-      <Declaration><![CDATA[METHOD M_MoveAbs
-VAR_INPUT
-	lrTargetPos : LREAL;
-END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
-END_VAR]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
-	_xBusy := TRUE;
-	_lrTargetPosition := lrTargetPos;
-	_xExecuteMoveAbs := TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
-ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
-END_IF
-]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_MoveRel" Id="{51e5fe82-5e25-4de0-84c7-b4d6560c312f}">
-      <Declaration><![CDATA[METHOD M_MoveRel
-VAR_INPUT
-	lrRelDist : LREAL;
-END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
-END_VAR]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
-	_xBusy := TRUE;
-	_lrRelativeDistance := lrRelDist;
-	_xExecuteMoveRel:= TRUE;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
-ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
-END_IF]]></ST>
-      </Implementation>
-    </Method>
-    <Method Name="M_MoveVelocity" Id="{fd4ad471-f522-45f2-a138-ebe509907cf6}">
-      <Declaration><![CDATA[METHOD M_MoveVelocity
-VAR_INPUT
-	eDirection : MC_Direction := MC_Direction.MC_Positive_Direction;
-END_VAR
-VAR_OUTPUT
-	eResultCode : E_SequenceResultCode;
-	eFailureCode : E_SequenceFailureCode;
-END_VAR
-]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[IF (NOT _xBusy) AND _fbPower.Status THEN
-	_xBusy := TRUE;	
-	_xExecuteMoveVelocity := TRUE;
-	_eMoveVelDirection := eDirection;
-	eResultCode := E_SequenceResultCode.EXECUTING;
-	eFailureCode := E_SequenceFailureCode.NONE;
-ELSE
-	eResultCode := E_SequenceResultCode.FAILED;
-	eFailureCode := E_SequenceFailureCode.OTHER;
-END_IF
-	]]></ST>
-      </Implementation>
-    </Method>
-  </POU>
-</TcPlcObject>

BasicComponents/POUs/Components/Utilities/FB_AlarmMessage.TcPOU

@@ -82,6 +82,8 @@ VAR
 	_sTmp : STRING;
 	_sLeft : STRING;
 	_sRight : STRING;
+	_udiI : UDINT;
+	_udiPosition : UDINT;
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[// Edit source info name, so that we get the parent as a source