Changed Kaco communication statemachine

- Added small delay after each modbus/tcp read
- Only write requested state when requested state has changed

PLC/POUs/Sunspec/Kaco/E_KACO_PCU_REQUESTED_STATE.TcDUT

@@ -0,0 +1,18 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
+  <DUT Name="E_KACO_PCU_REQUESTED_STATE" Id="{d26b8bd2-4451-4a56-a3ba-471d8a90e01d}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_KACO_PCU_REQUESTED_STATE :
+(
+	UNDEFINED := 0,
+	OFF := 1, 
+	STANDBY := 8, 
+	GRID_PRE_CONNECTED := 10, 
+	GRID_CONNECTED := 11
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/POUs/Sunspec/Kaco/FB_PowerSupplyKaco.TcPOU

@@ -49,7 +49,8 @@ VAR
 	_rPowerInternal : REAL := 0;
 	
 	// Enum for requested state
-	_eRequestedState : (OFF := 1, STANDBY := 8, GRID_PRE_CONNECTED := 10, GRID_CONNECTED := 11) := OFF;
+	_eRequestedState : E_KACO_PCU_REQUESTED_STATE := E_KACO_PCU_REQUESTED_STATE.OFF;
+	_eLastRequestedState : E_KACO_PCU_REQUESTED_STATE := E_KACO_PCU_REQUESTED_STATE.UNDEFINED;
 	
 	// Watchdog timeout in seconds
 	_uiWatchdogTimeoutSeconds : UINT := 10;
@@ -85,20 +86,13 @@ VAR
 	_fbReadACValues : FB_MBReadRegs;
 	
 	// Time for polling for current dc values and check for inverter error
-	_timPollingDelay : TIME := T#500MS;
+	_timPollingDelay : TIME := T#200MS;
-	
-	// Time for setting the current power
-	_timSetPowerDelay : TIME := T#250MS;
 	
 	// Timer for polling of current values
 	_tonPollingTimer : TON;
 	_tTimeoutPolling : TIME := T#5S;
 	
-	// Timer for setting the inverter power
+	// watchdog write timeout
-	_tonSetPowerTimer : TON;
-	
-	// Timer for watchdog
-	_tonWatchdogResetTimer : TON := (PT := T#1S);
 	_tTimeoutWriteWatchdogRegister : TIME := T#5S;
 	
 	// Inverter alarm
@@ -199,10 +193,12 @@ VAR CONSTANT
 	// 41120 is Voltage and 41121 is amp
 	BATTERY_LIMIT_SF_START : WORD := 41120;
 	BATTERY_SET_LIMITS_START : WORD := 41122;
+	(*
 	DIS_MIN_V : WORD := 41122;
 	DIS_MAX_A : WORD := 41123;
 	CHA_MAX_V : WORD := 41125;
 	CHA_MAX_A : WORD := 41126;
+	*)
 	EN_LIMIT : WORD := 41129;
 	
 	// Power registers (Model 64201)
@@ -248,7 +244,6 @@ IF (rPower < -rMaxBattPower) THEN
 	_rPowerInternal := -rMaxBattPower;
 END_IF
 
-HandleHeartbeat();
 HandleCyclicData();
 
 CASE _iState OF
@@ -256,7 +251,7 @@ CASE _iState OF
 		_fbTONSetBatteryLimits(IN := TRUE);
 		IF _fbTONSetBatteryLimits.Q THEN
 			_fbTONSetBatteryLimits(IN := FALSE);
-			_eRequestedState := OFF;
+			_eRequestedState := E_KACO_PCU_REQUESTED_STATE.OFF;
 			_iStateStartup := 0;
 			_iState := 10;
 		END_IF
@@ -348,7 +343,7 @@ CASE _iState OF
 	40: // Idle state, wait for enable
 		// If enable and INTLK Ok
 		IF xEnable THEN
-			_eRequestedState := GRID_CONNECTED;
+			_eRequestedState := E_KACO_PCU_REQUESTED_STATE.GRID_CONNECTED;
 			IF xReleasePower THEN
 				// Calculate power to write to register
 				// (could not find where the scaling for wset can be read but its -2!)
@@ -360,14 +355,14 @@ CASE _iState OF
 				_iWSetPct := 0;
 			END_IF
 		ELSE
-			_eRequestedState := OFF;
+			_eRequestedState := E_KACO_PCU_REQUESTED_STATE.OFF;
 			_iWSetPct := 0;
 		END_IF
 		
 		// Comm error or Watchdog error occured
 		IF _xErrorCyclicData OR (NOT xHeartbeatOk) THEN
 			_iWSetPct := 0;
-			_eRequestedState := OFF;
+			_eRequestedState := E_KACO_PCU_REQUESTED_STATE.OFF;
 			_iState := 1000;
 		END_IF
 		
@@ -384,7 +379,7 @@ CASE _iState OF
 		
 	1001: // Error state, wait for reset
 		IF xReset AND (NOT xEnable) AND (NOT _xErrorInverter) AND (NOT _xErrorCyclicData) AND xHeartbeatOk THEN
-			_eRequestedState := OFF;
+			_eRequestedState := E_KACO_PCU_REQUESTED_STATE.OFF;
 			xError := FALSE;
 			_xFaultInverter := FALSE;
 			_xErrorCyclicDataLedge := FALSE;
@@ -463,14 +458,16 @@ _fbCyclicDataAlarm.ipArguments.Clear().AddString(_sName);]]></ST>
 	_iErrorIDRACV := 0;
 END_IF
 
-// Fetch cyclic data with polling timer
-_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
-
 CASE _iStateCyclicData OF
 	0: // init state
+		_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
 		IF _tonPollingTimer.Q THEN
 			_tonPollingTimer(IN := FALSE);
-			_iStateCyclicData := 10;
+			IF _eRequestedState <> _eLastRequestedState THEN
+				_iStateCyclicData := 10;
+			ELSE
+				_iStateCyclicData := 20;
+			END_IF
 		END_IF
 	
 	10: // Write requested state
@@ -488,16 +485,24 @@ CASE _iStateCyclicData OF
 		
 		IF (NOT _fbWriteRequestedState.bBusy) THEN
 			_fbWriteRequestedState(bExecute := FALSE);
-			_iStateCyclicData := 20;
+			_iStateCyclicData := 11;
 			IF _fbWriteRequestedState.bError THEN
 				_iCurrentErrorCountWRS := _iCurrentErrorCountWRS + 1;
 				_iErrorCountWRS := _iErrorCountWRS + 1;
 				_iErrorIDWRS := _fbWriteRequestedState.nErrId;
 			ELSE
 				_iCurrentErrorCountWRS := 0;
+				_eLastRequestedState := _eRequestedState;
 			END_IF
 		END_IF
 	
+	11: // wait for next state
+		_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
+		IF _tonPollingTimer.Q THEN
+			_tonPollingTimer(IN := FALSE);
+			_iStateCyclicData := 20;
+		END_IF
+		
 	20: // Write current power command
 		_fbWritePowerCommand(
 			sIPAddr:= sInverterIPAddr, 
@@ -515,7 +520,7 @@ CASE _iStateCyclicData OF
 			
 		IF (NOT _fbWritePowerCommand.bBusy) THEN
 			_fbWritePowerCommand(bExecute := FALSE);
-			_iStateCyclicData := 30;
+			_iStateCyclicData := 21;
 			IF _fbWritePowerCommand.bError THEN
 				_iCurrentErrorCountWPC := _iCurrentErrorCountWPC + 1;
 				_iErrorCountWPC := _iErrorCountWPC + 1;
@@ -525,6 +530,13 @@ CASE _iStateCyclicData OF
 			END_IF
 		END_IF
 	
+	21: // wait for next state
+		_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
+		IF _tonPollingTimer.Q THEN
+			_tonPollingTimer(IN := FALSE);
+			_iStateCyclicData := 30;
+		END_IF
+	
 	30: // Read current state
 		_fbReadCurrentState(
 			sIPAddr:= sInverterIPAddr, 
@@ -543,7 +555,7 @@ CASE _iStateCyclicData OF
 			
 		IF (NOT _fbReadCurrentState.bBusy) THEN
 			_fbReadCurrentState(bExecute := FALSE);
-			_iStateCyclicData := 40;
+			_iStateCyclicData := 31;
 			IF _fbReadCurrentState.bError THEN
 				_iCurrentErrorCountRCS := _iCurrentErrorCountRCS + 1;
 				_iErrorCountRCS := _iErrorCountRCS + 1;
@@ -553,6 +565,13 @@ CASE _iStateCyclicData OF
 			END_IF
 		END_IF
 	
+	31: // wait for next state
+		_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
+		IF _tonPollingTimer.Q THEN
+			_tonPollingTimer(IN := FALSE);
+			_iStateCyclicData := 40;
+		END_IF
+		
 	40: // Read current pcu status
 		_fbReadPCUState(
 			sIPAddr:= sInverterIPAddr, 
@@ -571,7 +590,7 @@ CASE _iStateCyclicData OF
 			
 		IF (NOT _fbReadPCUState.bBusy) THEN
 			_fbReadPCUState(bExecute := FALSE);
-			_iStateCyclicData := 50;
+			_iStateCyclicData := 41;
 			IF _fbReadPCUState.bError THEN
 				_iCurrentErrorCountRPCUS := _iCurrentErrorCountRPCUS + 1;
 				_iErrorCountRPCUS := _iErrorCountRPCUS + 1;
@@ -584,6 +603,13 @@ CASE _iStateCyclicData OF
 			END_IF
 		END_IF
 		
+	41: // wait for next state
+		_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
+		IF _tonPollingTimer.Q THEN
+			_tonPollingTimer(IN := FALSE);
+			_iStateCyclicData := 50;
+		END_IF
+		
 	50: // Read current dc values
 		_fbReadDCValues(
 			sIPAddr:= sInverterIPAddr, 
@@ -603,7 +629,7 @@ CASE _iStateCyclicData OF
 		// Check if reading modbus register is done
 		IF (NOT _fbReadDCValues.bBusy) THEN
 			_fbReadDCValues(bExecute := FALSE);
-			_iStateCyclicData := 60;
+			_iStateCyclicData := 51;
 			// If there was no error and the converter has no error continue
 			IF (NOT _fbReadDCValues.bError) THEN
 				stCurrentValues.rActDCCurrent := LREAL_TO_REAL(WORD_TO_INT(_awCurrentDCValues[0]) * EXPT(10,WORD_TO_INT(_awCurrentDCValues[1])));
@@ -620,6 +646,13 @@ CASE _iStateCyclicData OF
 			END_IF
 		END_IF
 		
+	51: // wait for next state
+		_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
+		IF _tonPollingTimer.Q THEN
+			_tonPollingTimer(IN := FALSE);
+			_iStateCyclicData := 60;
+		END_IF
+		
 	60: // Read current ac values
 		_fbReadACValues(
 			sIPAddr:= sInverterIPAddr, 
@@ -639,7 +672,7 @@ CASE _iStateCyclicData OF
 		// Check if reading mudbus register is done
 		IF (NOT _fbReadACValues.bBusy) THEN
 			_fbReadACValues(bExecute := FALSE);
-			_iStateCyclicData := 0;
+			_iStateCyclicData := 61;
 			// If there was no error and the converter has no error continue
 			IF (NOT _fbReadACValues.bError) THEN
 				stCurrentValues.rActACCurrent := LREAL_TO_REAL(WORD_TO_INT(_awCurrentACValues[0]) * EXPT(10,WORD_TO_INT(_awCurrentACValues[4])));
@@ -667,8 +700,49 @@ CASE _iStateCyclicData OF
 				_iErrorIDRACV := _fbReadACValues.nErrId;
 			END_IF
 		END_IF
+	
+	61: // wait for next state
+		_tonPollingTimer(IN := TRUE, PT := _timPollingDelay);
+		IF _tonPollingTimer.Q THEN
+			_tonPollingTimer(IN := FALSE);
+			_iStateCyclicData := 70;
+		END_IF
+	
+	70:
+		// Timeout should be less than timer interval
+		_fbWriteHearbeatRegister(
+			sIPAddr:= sInverterIPAddr, 
+			nTCPPort:= 502, 
+			nUnitID:= 16#01, 
+			nMBAddr:= WATCHDOG_REGISTER, 
+			nValue:= _uiWatchdogTimeoutSeconds, 
+			bExecute:= TRUE, 
+			tTimeout:= _tTimeoutWriteWatchdogRegister, 
+			bBusy=> , 
+			bError=> , 
+			nErrId=> );
+			
+		// Because there is no heartbeat register to read,
+		// we will use a successfull write as a valid heartbeat signal
+		IF NOT _fbWriteHearbeatRegister.bBusy THEN
+			_fbWriteHearbeatRegister(bExecute := FALSE);
+			_iStateCyclicData := 0;
+			IF _fbWriteHearbeatRegister.bError THEN
+				_iCurrentErrorCountHB := _iCurrentErrorCountHB + 1;
+				_iErrorCountHB := _iErrorCountHB + 1;
+				_iErrorIDHB := _fbWriteHearbeatRegister.nErrId;
+				IF _iCurrentErrorCountHB >= GVL_CONFIG.udiMaxConsecutiveInvError THEN
+					xHeartbeatOk := FALSE;
+					xError := TRUE;
+				END_IF
+			ELSE
+				_iCurrentErrorCountHB := 0;
+				xHeartbeatOk := TRUE;
+			END_IF
+		END_IF
 END_CASE
 
+
 // evaluate inverter state
 IF _eCurrentState = E_KACO_CURRENT_STATE.GRID_CONNECTED OR _eCurrentState = E_KACO_CURRENT_STATE.THROTTLED THEN
 	xActive := TRUE;
@@ -710,7 +784,7 @@ IF _xErrorCyclicData THEN
 	_xErrorCyclicDataLedge := TRUE;
 END_IF
 
-// handle alarm
+// handle cyclic data alarm
 IF _xErrorCyclicData AND NOT _fbCyclicDataAlarm.bRaised THEN
 	_fbCyclicDataAlarm.Raise();
 END_IF
@@ -721,42 +795,6 @@ END_IF
 
 IF _fbCyclicDataAlarm.eConfirmationState = TcEventConfirmationState.WaitForConfirmation AND xReset THEN
 	_fbCyclicDataAlarm.Confirm(0);
-END_IF]]></ST>
-      </Implementation>
-    </Action>
-    <Action Name="HandleHeartbeat" Id="{eeb5f65a-fd91-4c22-ab2e-3080c24e87fb}">
-      <Implementation>
-        <ST><![CDATA[// Self resetting watchdog timer
-_tonWatchdogResetTimer(IN := TRUE);
-
-// Timeout should be less than timer interval
-_fbWriteHearbeatRegister(
-	sIPAddr:= sInverterIPAddr, 
-	nTCPPort:= 502, 
-	nUnitID:= 16#01, 
-	nMBAddr:= WATCHDOG_REGISTER, 
-	nValue:= _uiWatchdogTimeoutSeconds, 
-	bExecute:= _tonWatchdogResetTimer.Q AND (NOT _fbWriteHearbeatRegister.bBusy), 
-	tTimeout:= _tTimeoutWriteWatchdogRegister, 
-	bBusy=> , 
-	bError=> , 
-	nErrId=> );
-
-// Because there is no heartbeat register to read,
-// we will use a successfull write as a valid heartbeat signal
-IF NOT _fbWriteHearbeatRegister.bBusy THEN
-	IF _fbWriteHearbeatRegister.bError THEN
-		_iCurrentErrorCountHB := _iCurrentErrorCountHB + 1;
-		_iErrorCountHB := _iErrorCountHB + 1;
-		_iErrorIDHB := _fbWriteHearbeatRegister.nErrId;
-		IF _iCurrentErrorCountHB >= GVL_CONFIG.udiMaxConsecutiveInvError THEN
-			xHeartbeatOk := FALSE;
-			xError := TRUE;
-		END_IF
-	ELSE
-		_iCurrentErrorCountHB := 0;
-		xHeartbeatOk := TRUE;
-	END_IF
 END_IF
 
 // set fault flag when error active
@@ -764,7 +802,7 @@ IF NOT xHeartbeatOk THEN
 	_xHeartBeatNOK := TRUE;
 END_IF
 
-// handle alarm
+// handle heartbeat alarm
 IF NOT xHeartbeatOk AND NOT _fbHeartBeatAlarm.bRaised THEN
 	_fbHeartBeatAlarm.Raise();
 END_IF
@@ -775,11 +813,6 @@ END_IF
 
 IF _fbHeartBeatAlarm.eConfirmationState = TcEventConfirmationState.WaitForConfirmation AND xReset THEN
 	_fbHeartBeatAlarm.Confirm(0);
-END_IF
-
-// Reset timer
-IF _tonWatchdogResetTimer.Q THEN
-	_tonWatchdogResetTimer(IN := FALSE);
 END_IF]]></ST>
       </Implementation>
     </Action>