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This commit is contained in:
Michael Rest
2014-01-28 13:06:46 +01:00
parent 425f6ec715
commit 2d252734b6
675 changed files with 79174 additions and 0 deletions
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6
LastUser.set Normal file
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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<ProjectSettings xmlns="http://br-automation.co.at/AS/ProjectSettings">
<Print Header="%lProject: %n%c%x" Footer="%cPage: %p" />
<ConfigurationManager ActiveConfigurationName="Config1" />
</ProjectSettings>

91
Logical/Axises/Axisctrl/Axisctrl.var Normal file
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(*//-----------------------------------------------------------------------------------------------------*)
(*//MC FunctionBlocks*)
VAR
Axis_MC_BR_AxisErrorCollector : MC_BR_AxisErrorCollector;
Axis_MC_ACP_ENCOD_REF : MC_ACP_ENCOD_REF := (0);
Axis_MC_ACP_ENCOD_PARAM_REF : MC_ACP_ENCOD_PARAM_REF := (0);
Axis_MC_GearIn : MC_GearIn := (0); (*Start electronic Gear coupling with master*)
Axis_MC_GearInPos : MC_GearInPos := (0); (*Start electronic Gear coupling (Position mode) with master*)
Axis_MC_GearOut : MC_GearOut := (0); (*Stop electronic Gear coupling*)
Axis_MC_BR_BrakeControl : MC_BR_BrakeControl := (0);
Axis_MC_BR_GetErrorText : MC_BR_GetErrorText := (0);
Axis_MC_BR_HomeAcpEncoder : MC_BR_HomeAcpEncoder := (0);
Axis_MC_BR_InitAxisPar : MC_BR_InitAxisPar := (0);
Axis_MC_BR_JogVelocity : MC_BR_JogVelocity := (0);
Axis_MC_BR_JogLimitPosition : MC_BR_JogLimitPosition := (0);
Axis_MC_BR_JogTargetPosition : MC_BR_JogTargetPosition := (0);
Axis_MC_BR_ReadDriveStatus : MC_BR_ReadDriveStatus := (0);
Axis_MC_BR_Simulation : MC_BR_Simulation := (0);
Axis_MC_BR_SetHardwareInputs : MC_BR_SetHardwareInputs := (0); (*Set HW-Inputs (Limits for Axises)*)
Axis_MC_BR_TorqueControl : MC_BR_TorqueControl := (0); (*Continuous Movement with Cyclic Torque*)
Axis_MC_BR_VelocityControl : MC_BR_VelocityControl := (0); (*Cyclic Velocity / Torque*)
Axis_MC_Halt : MC_Halt := (0); (*Halt*)
Axis_MC_Home : MC_Home := (0); (*Homing*)
Axis_MC_BR_InitModPos : MC_BR_InitModPos := (0); (*Modulo Position*)
Axis_MC_MoveAbsolute : MC_MoveAbsolute := (0); (*Absolute Movement*)
Axis_MC_BR_MoveAbsoluteTriggStop : MC_BR_MoveAbsoluteTriggStop := (0); (*Absolute Movement with Trigger Stop*)
Axis_MC_MoveAdditive : MC_MoveAdditive := (0); (*Additive Movement*)
Axis_MC_BR_MoveAdditiveTriggStop : MC_BR_MoveAdditiveTriggStop := (0); (*Additive Movement with Trigger Stop*)
Axis_MC_MoveVelocity : MC_MoveVelocity := (0); (*Continuous Movement with Cyclic Velocity*)
AXis_MC_BR_MoveVelocityTriggStop : MC_BR_MoveVelocityTriggStop := (0); (*Continuous Movement with Cyclic Velocity and Trigger Stop*)
Axis_MC_Power : MC_Power := (0);
Axis_MC_ReadActualPosition : MC_ReadActualPosition := (0);
Axis_MC_ReadActualTorque : MC_ReadActualTorque := (0);
Axis_MC_ReadActualVelocity : MC_ReadActualVelocity := (0);
Axis_MC_BR_ReadAxisError : MC_BR_ReadAxisError := (0);
Axis_MC_ReadStatus : MC_ReadStatus := (0);
Axis_MC_Reset : MC_Reset := (0);
Axis_MC_SetOverride : MC_SetOverride := (0);
Axis_MC_Stop : MC_Stop := (0);
END_VAR
(*//Further Parameter - Cyclic*)
VAR
Axis_MC_BR_CyclicRead : MC_BR_CyclicRead := (0); (*Read Further Axis Parameter*)
Axis_MC_BR_CyclicWrite : MC_BR_CyclicWrite := (0);
END_VAR
(*//Further Parameter*)
VAR
Axis_MC_BR_ReadParID : MC_BR_ReadParID := (0); (*Read Furhter Axis Parameter*)
END_VAR
(*//ParemeterTrace*)
VAR
Axis_MC_BR_WriteParID : MC_BR_WriteParID := (0); (*USER_R4_VAR1 used for Trace*)
END_VAR
(*//-----------------------------------------------------------------------------------------------------*)
(*//Dynamic Vars*)
VAR
lAxis : REFERENCE TO typAxis; (*Axis Datastruct *)
lAxisActPos : REFERENCE TO REAL;
lAxisMaster : REFERENCE TO typAxis;
lbSimulation : REFERENCE TO BOOL;
rUser_Var1 : REFERENCE TO REAL; (*Value for Cyclic transmission to Acopos*)
END_VAR
(*//-----------------------------------------------------------------------------------------------------*)
(*//Constants*)
VAR CONSTANT
uiTORQUE_NOT_REACHED : UINT := 0;
END_VAR
(*//-----------------------------------------------------------------------------------------------------*)
(*//Retain*)
(*//-----------------------------------------------------------------------------------------------------*)
(*//Local Vars*)
VAR
bAxisInit : BOOL := FALSE; (*Devel - Init Axis*)
bDisableCommands : BOOL := FALSE;
bHomeAbs : BOOL := FALSE; (*Devel - Home Absolue Encoder*)
bTest : BOOL := FALSE;
usCamTableID : USINT;
uiRestartDelay : UINT := 2500; (*Wait Cycles after Cold restart*)
uiAbsStatus : UINT;
uiAxisUserVar1 : UINT := 0;
uiMCReadError : UINT := 0; (*Error in MC_Read_Paramaeter*)
uiMCWriteError : UINT := 0; (*Error in MC_Write_Paramaeter*)
udAxisMasterObj : UDINT;
udAxisSlaveObj : UDINT;
udAxisObj : UDINT;
udEnableTorqueLimit : UDINT := 0;
rOldVelocity : REAL := 0.0;
rOldTorquelimit : REAL := 0.0; (*//Used to Trigger Sending Value to Axis*)
rUser_VarTemp : REAL := 0.0;
TON_HomingOk : TON;
END_VAR

716
Logical/Axises/Axisctrl/AxisctrlCyclic.st Normal file
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PROGRAM _CYCLIC
IF (uiRestartDelay > 0) THEN
uiRestartDelay := uiRestartDelay - 1;
END_IF
//Devel Axis Initialisation
Axis_MC_BR_InitAxisPar.Axis := udAxisObj;
Axis_MC_BR_InitAxisPar.Execute := bAxisInit;
Axis_MC_BR_InitAxisPar ();
IF Axis_MC_BR_InitAxisPar.Done THEN
bAxisInit := FALSE;
END_IF
//Devel Absolute Encoder Homing
Axis_MC_ACP_ENCOD_REF.Slot := 3;
Axis_MC_ACP_ENCOD_PARAM_REF.HomingMode := mcHOME_ABSOLUTE;
Axis_MC_ACP_ENCOD_PARAM_REF.Offset := 0;
Axis_MC_ACP_ENCOD_PARAM_REF.ReadOffset := FALSE;
Axis_MC_BR_HomeAcpEncoder.Execute := bHomeAbs;
Axis_MC_BR_HomeAcpEncoder.AcpEncoder := Axis_MC_ACP_ENCOD_REF;
Axis_MC_BR_HomeAcpEncoder.HomingParameters := Axis_MC_ACP_ENCOD_PARAM_REF;
Axis_MC_BR_HomeAcpEncoder ();
IF Axis_MC_BR_HomeAcpEncoder.Done THEN
bHomeAbs := FALSE;
END_IF
//Set Hardware inputs
//Direct map IO
Axis_MC_BR_SetHardwareInputs.Enable := lAxis.Para.bSetHWInputs;
Axis_MC_BR_SetHardwareInputs ();
//get axis information
Axis_MC_BR_AxisErrorCollector ();
(***********************CHECK FOR ERRORS**************************)
IF (lAxis.enStep < enAxSTATE_STOP_AFTER_ERROR) THEN
IF (Axis_MC_BR_AxisErrorCollector.Errorstop) THEN
lAxis.enStep := enAxSTATE_ERROR;
ELSIF (Axis_MC_BR_AxisErrorCollector.FunctionBlockError) OR
(Axis_MC_BR_AxisErrorCollector.AxisError) OR
(Axis_MC_BR_AxisErrorCollector.AxisWarning) THEN
lAxis.enStep := enAxSTATE_STOP_AFTER_ERROR;
END_IF
END_IF
Axis_MC_BR_ReadAxisError ();
Axis_MC_ReadStatus ();
IF Axis_MC_ReadStatus.Valid THEN
lAxis.Status.bDisabled := Axis_MC_ReadStatus.Disabled;
lAxis.Status.bStandstill := Axis_MC_ReadStatus.StandStill;
lAxis.Status.bStopping := Axis_MC_ReadStatus.Stopping;
lAxis.Status.bHoming := Axis_MC_ReadStatus.Homing;
lAxis.Status.bMotionDiscrete := Axis_MC_ReadStatus.DiscreteMotion;
lAxis.Status.bMotionContinous := Axis_MC_ReadStatus.ContinuousMotion;
lAxis.Status.bMotionSynchronized := Axis_MC_ReadStatus.SynchronizedMotion;
lAxis.Status.bErrorstop := Axis_MC_ReadStatus.Errorstop;
END_IF
Axis_MC_BR_ReadDriveStatus ();
TON_HomingOk.IN := lAxis.DriveStatus.bHomingOk AND NOT lAxis.Status.bHoming;
IF EDGEPOS (lAxis.bHome) THEN
TON_HomingOk.IN := FALSE;
END_IF
TON_HomingOk.PT := t#50ms;
TON_HomingOk ();
lAxis.Status.bHomingOkDelayed := TON_HomingOk.Q;
//Position
Axis_MC_ReadActualPosition ();
IF Axis_MC_ReadActualPosition.Valid THEN
lAxis.rActPosition := Axis_MC_ReadActualPosition.Position;
lAxisActPos := lAxis.rActPosition;
END_IF
//Velocity
Axis_MC_ReadActualVelocity ();
IF Axis_MC_ReadActualVelocity.Valid THEN
lAxis.rActVelocity := Axis_MC_ReadActualVelocity.Velocity;
END_IF
//Torque
IF lbSimulation OR lAxis.DriveStatus.bSimulation OR lAxis.bVAxis THEN
Axis_MC_ReadActualTorque.Enable := FALSE; //Disable for Simulation (not Possible)
END_IF
Axis_MC_ReadActualTorque ();
IF Axis_MC_ReadActualTorque.Valid THEN
lAxis.rActTorque := Axis_MC_ReadActualTorque.Torque;
END_IF
//Power OFF
IF NOT lAxis.bPower AND lAxis.DriveStatus.bControllerStatus THEN
lAxis.enStep := enAxSTATE_POWER_OFF;
END_IF
CASE lAxis.enStep OF
//==============================================
//WAIT
enAxSTATE_WAIT:
//IF lAxis.Status.bDisabled AND lbSimulation AND NOT lAxis.DriveStatus.bSimulation THEN
// lAxis.enStep := enAxSTATE_SIMULATION_ON;
//ELSIF lAxis.Status.bDisabled AND NOT lbSimulation AND lAxis.DriveStatus.bSimulation THEN
// lAxis.enStep := enAxSTATE_SIMULATION_OFF;
IF lAxis.bPower THEN
lAxis.enStep := enAxSTATE_POWER_ON;
ELSE
bDisableCommands := TRUE;
END_IF
//==============================================
//Simulation On
enAxSTATE_SIMULATION_ON:
Axis_MC_BR_Simulation.Execute := 1;
Axis_MC_BR_Simulation.SimulationCommand := mcMOTOR;
IF Axis_MC_BR_Simulation.Done THEN
Axis_MC_BR_Simulation.Execute := 0;
lAxis.enStep := enAxSTATE_WAIT;
ELSIF (Axis_MC_BR_Simulation.ErrorID <> 0) THEN
lAxis.enStep := enAxSTATE_ERROR;
END_IF
//==============================================
//Simulation Off
enAxSTATE_SIMULATION_OFF;
Axis_MC_BR_Simulation.Execute := 1;
Axis_MC_BR_Simulation.SimulationCommand := mcSIMULATION_OFF;
IF Axis_MC_BR_Simulation.Done THEN
Axis_MC_BR_Simulation.Execute := 0;
lAxis.enStep := enAxSTATE_WAIT;
ELSIF (Axis_MC_BR_Simulation.ErrorID <> 0) THEN
lAxis.enStep := enAxSTATE_ERROR;
END_IF
//==============================================
//Power On
enAxSTATE_POWER_ON:
Axis_MC_Power.Enable := TRUE;
IF Axis_MC_Power.Status THEN
lAxis.enStep := enAxSTATE_READY;
ELSIF (Axis_MC_Power.ErrorID <> 0) THEN
lAxis.enStep := enAxSTATE_ERROR;
END_IF
//==============================================
//Power Off
enAxSTATE_POWER_OFF:
Axis_MC_Power.Enable := FALSE;
IF Axis_MC_Power.Status THEN
lAxis.enStep := enAxSTATE_WAIT;
ELSIF (Axis_MC_Power.ErrorID <> 0) THEN
lAxis.enStep := enAxSTATE_ERROR;
END_IF
//==============================================
//Ready, wait for commands
enAxSTATE_READY:
IF lAxis.bStop THEN
lAxis.bStop := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF lAxis.bHome THEN
lAxis.enStep := enAxSTATE_HOME;
ELSIF lAxis.Move.bBraketest THEN
lAxis.Move.bBraketest := 0;
lAxis.enStep := enAxSTATE_BRAKE_TEST;
ELSIF lAxis.Move.bJogPos OR lAxis.Move.bJogNeg THEN
//Movement will stopped when command is resetted
lAxis.enStep := enAxSTATE_JOG;
ELSIF lAxis.Move.bAbsolute AND NOT lAxis.Para.bTriggStop THEN
//Movement will stopped when command is resetted
lAxis.enStep := enAxSTATE_MOVE_ABSOLUTE;
ELSIF lAxis.Move.bAbsolute AND lAxis.Para.bTriggStop THEN
//Movement will stopped when command is resetted
lAxis.enStep := enAxSTATE_MOVE_ABSOLUTE_TRIGSTP;
ELSIF lAxis.Move.bAdditive AND NOT lAxis.Para.bTriggStop THEN
//Movement will stopped when command is resetted
lAxis.enStep := enAxSTATE_MOVE_ADDITIVE;
ELSIF lAxis.Move.bAdditive AND lAxis.Para.bTriggStop THEN
//Movement will stopped when command is resetted
lAxis.enStep := enAxSTATE_MOVE_ADDITIVE_TRIGSTP;
ELSIF lAxis.Move.bVelocity THEN
lAxis.Move.bVelocity := 0;
lAxis.Status.bTorqueLimitReached := 0;
lAxis.enStep := enAxSTATE_MOVE_VELOCITY;
ELSIF lAxis.Move.bVelocityControl THEN
lAxis.Move.bVelocityControl := 0;
lAxis.Status.bTorqueLimitReached := 0;
lAxis.enStep := enAxSTATE_MOVE_VELOCITY_CTRL;
ELSIF lAxis.Move.bTorqueControl THEN
lAxis.Move.bTorqueControl := 0;
lAxis.Status.bTorqueLimitReached := 0;
lAxis.enStep := enAxSTATE_MOVE_TORQUE_CTRL;
ELSIF lAxis.Move.bStartGearSlave THEN
lAxis.Move.bStartGearSlave := 0;
lAxis.enStep := enAxSTATE_MOVE_GEAR_START;
ELSIF lAxis.Move.bStartGearPosSlave THEN
lAxis.Move.bStartGearSlave := 0;
lAxis.enStep := enAxSTATE_MOVE_GEARPOS_START;
ELSIF lAxis.Move.bStopGearSlave THEN
lAxis.Move.bStopGearSlave := 0;
lAxis.enStep := enAxSTATE_MOVE_GEAR_STOP;
END_IF
//==============================================
//Drive Home
enAxSTATE_HOME:
Axis_MC_Home.Position := lAxis.Para.rHomePosition;
Axis_MC_Home.HomingMode := lAxis.Para.usHomeingMode;
Axis_MC_Home.Execute := 1;
IF lAxis.bStop THEN
Axis_MC_Home.Execute := 0;
lAxis.enStep := enAxSTATE_STOP;
lAxis.bHome := 0;
ELSIF Axis_MC_Home.Done AND (lAxis.Para.udAxisModPosFactor > 0) AND (lAxis.Para.udAxisModPosPeriod > 0) THEN
Axis_MC_Home.Execute := 0;
lAxis.enStep := enAxSTATE_INIT_MOD_POS;
lAxis.bHome := 0;
ELSIF Axis_MC_Home.Done THEN
Axis_MC_Home.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
lAxis.bHome := 0;
END_IF
//==============================================
//Test Brake
enAxSTATE_BRAKE_TEST:
Axis_MC_BR_BrakeControl.Command := mcBRAKE_TEST_START;
Axis_MC_BR_BrakeControl.Configuration.BrakeTest.PositionLimit := lAxis.Para.rBraketestPosLimit;
Axis_MC_BR_BrakeControl.Configuration.BrakeTest.TestTorque := lAxis.Para.rBraketestTorque;
Axis_MC_BR_BrakeControl.Execute := 1;
IF lAxis.bStop THEN
Axis_MC_BR_BrakeControl.Execute := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF Axis_MC_Home.Done THEN
Axis_MC_BR_BrakeControl.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Initialize Modulo Position
enAxSTATE_INIT_MOD_POS:
Axis_MC_BR_InitModPos.Factor := lAxis.Para.udAxisModPosFactor;
Axis_MC_BR_InitModPos.Period := lAxis.Para.udAxisModPosPeriod;
Axis_MC_BR_InitModPos.Execute := 1;
IF Axis_MC_BR_InitModPos.Done THEN
Axis_MC_BR_InitModPos.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Stop Movement (as long as Stop Command is set)
enAxSTATE_STOP:
Axis_MC_Stop.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_Stop.Execute := 1;
IF Axis_MC_Stop.Done AND NOT lAxis.bStop THEN
Axis_MC_Stop.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
IF (Axis_MC_Stop.Error OR Axis_MC_Stop.CommandAborted) AND NOT lAxis.bStop THEN
Axis_MC_Stop.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Jog Positive
enAxSTATE_JOG:
Axis_MC_BR_JogVelocity.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_BR_JogVelocity.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_BR_JogVelocity.Velocity := lAxis.Para.rJogVelocity;
Axis_MC_BR_JogVelocity.JogPositive := lAxis.Move.bJogPos;
Axis_MC_BR_JogVelocity.JogNegative := lAxis.Move.bJogNeg;
Axis_MC_BR_JogVelocity.Enable := (lAxis.Para.JogMode = enAxJOG);
Axis_MC_BR_JogLimitPosition.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_BR_JogLimitPosition.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_BR_JogLimitPosition.Velocity := lAxis.Para.rJogVelocity;
Axis_MC_BR_JogLimitPosition.JogPositive := lAxis.Move.bJogPos;
Axis_MC_BR_JogLimitPosition.JogNegative := lAxis.Move.bJogNeg;
Axis_MC_BR_JogLimitPosition.FirstPosition := lAxis.Para.rJogLimitLow;
Axis_MC_BR_JogLimitPosition.LastPosition := lAxis.Para.rJogLimitHigh;
Axis_MC_BR_JogLimitPosition.Enable := (lAxis.Para.JogMode = enAxJOG_Limits);
Axis_MC_BR_JogTargetPosition.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_BR_JogTargetPosition.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_BR_JogTargetPosition.Velocity := lAxis.Para.rJogVelocity;
Axis_MC_BR_JogTargetPosition.TargetPosition:= lAxis.Para.rPosition;
Axis_MC_BR_JogTargetPosition.JogToTarget := lAxis.Move.bJogPos OR lAxis.Move.bJogNeg;
Axis_MC_BR_JogTargetPosition.JogPositive := FALSE;
Axis_MC_BR_JogTargetPosition.JogNegative := FALSE;
Axis_MC_BR_JogTargetPosition.Enable := (lAxis.Para.JogMode = enAxJOG_Target);
IF (NOT lAxis.Move.bJogPos AND NOT lAxis.Move.bJogNeg) OR lAxis.bStop THEN
Axis_MC_BR_JogVelocity.Enable := 0;
Axis_MC_BR_JogLimitPosition.Enable := 0;
Axis_MC_BR_JogTargetPosition.Enable := 0;
lAxis.enStep := enAxSTATE_STOP;
END_IF
//==============================================
//Move Absolute
enAxSTATE_MOVE_ABSOLUTE:
Axis_MC_MoveAbsolute.Position := lAxis.Para.rPosition;
Axis_MC_MoveAbsolute.Velocity := lAxis.Para.rVelocity;
Axis_MC_MoveAbsolute.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_MoveAbsolute.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_MoveAbsolute.Direction := lAxis.Para.usDirection; //Interesting on Periodic Axises
Axis_MC_MoveAbsolute.Execute := 1;
IF lAxis.bStop OR NOT lAxis.Move.bAbsolute THEN
;lAxis.bStop := 0;
Axis_MC_MoveAbsolute.Execute := 0;
lAxis.Move.bAbsolute := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF Axis_MC_MoveAbsolute.Done THEN
Axis_MC_MoveAbsolute.Execute := 0;
lAxis.Move.bAbsolute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Move Absolute (Stopp with Trigger
enAxSTATE_MOVE_ABSOLUTE_TRIGSTP:
Axis_MC_BR_MoveAbsoluteTriggStop.Position := lAxis.Para.rPosition;
Axis_MC_BR_MoveAbsoluteTriggStop.Velocity := lAxis.Para.rVelocity;
Axis_MC_BR_MoveAbsoluteTriggStop.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_BR_MoveAbsoluteTriggStop.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_BR_MoveAbsoluteTriggStop.Direction := lAxis.Para.usDirection; //Interesting on Periodic Axises
//Triggerinput is configured in Init Up
Axis_MC_BR_MoveAbsoluteTriggStop.TriggerDistance := lAxis.Para.rTriggDistance;
Axis_MC_BR_MoveAbsoluteTriggStop.ForceTriggerDistance := mcOFF; // --> force Trigger Dist even if Dest Pos is Exeeded
Axis_MC_BR_MoveAbsoluteTriggStop.Execute := 1;
IF lAxis.bStop OR NOT lAxis.Move.bAbsolute THEN
Axis_MC_BR_MoveAbsoluteTriggStop.Execute := 0;
lAxis.Move.bAbsolute := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF Axis_MC_BR_MoveAbsoluteTriggStop.Done THEN
Axis_MC_BR_MoveAbsoluteTriggStop.Execute := 0;
lAxis.Move.bAbsolute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Move Additive
enAxSTATE_MOVE_ADDITIVE:
Axis_MC_MoveAdditive.Distance := lAxis.Para.rDistance;
Axis_MC_MoveAdditive.Velocity := lAxis.Para.rVelocity;
Axis_MC_MoveAdditive.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_MoveAdditive.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_MoveAdditive.Execute := 1;
IF lAxis.bStop OR NOT lAxis.Move.bAdditive THEN
lAxis.Move.bAdditive := 0;
Axis_MC_MoveAdditive.Execute := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF Axis_MC_MoveAdditive.Done THEN
lAxis.Move.bAdditive := 0;
Axis_MC_MoveAdditive.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Move Additive
enAxSTATE_MOVE_ADDITIVE_TRIGSTP:
Axis_MC_BR_MoveAdditiveTriggStop.Distance := lAxis.Para.rDistance;
Axis_MC_BR_MoveAdditiveTriggStop.Velocity := lAxis.Para.rVelocity;
Axis_MC_BR_MoveAdditiveTriggStop.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_BR_MoveAdditiveTriggStop.Deceleration := lAxis.Para.rDeceleration;
//Triggerinput is configured in Init Up
Axis_MC_BR_MoveAdditiveTriggStop.TriggerDistance := lAxis.Para.rTriggDistance;
Axis_MC_BR_MoveAdditiveTriggStop.ForceTriggerDistance := mcOFF; // --> force Trigger Dist even if Dest Pos is Exeeded
Axis_MC_BR_MoveAdditiveTriggStop.Execute := 1;
IF lAxis.bStop OR NOT lAxis.Move.bAdditive THEN
lAxis.Move.bAdditive := 0;
Axis_MC_MoveAdditive.Execute := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF Axis_MC_BR_MoveAdditiveTriggStop.Done THEN
lAxis.Move.bAdditive := 0;
Axis_MC_BR_MoveAdditiveTriggStop.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Move Velocity
enAxSTATE_MOVE_VELOCITY:
Axis_MC_MoveVelocity.Velocity := lAxis.Para.rVelocity;
Axis_MC_MoveVelocity.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_MoveVelocity.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_MoveVelocity.Direction := lAxis.Para.usDirection;
Axis_MC_MoveVelocity.Execute := 1;
IF lAxis.bStop THEN
Axis_MC_MoveVelocity.Execute := 0;
lAxis.enStep := enAxSTATE_STOP;
END_IF
//==============================================
//Move Velocity Control (Only POWERLINK)
//FixMe just prepared
enAxSTATE_MOVE_VELOCITY_CTRL:
Axis_MC_BR_VelocityControl.CyclicVelocityCorrection := 0;
Axis_MC_BR_VelocityControl.CyclicVelocity := lAxis.Para.rVelocity;
Axis_MC_BR_VelocityControl.CyclicTorque := lAxis.Para.rTorqueLimit;
Axis_MC_BR_VelocityControl.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_BR_VelocityControl.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_BR_VelocityControl.TorqueMode := mcLIMIT;
Axis_MC_BR_VelocityControl.Enable := 1;
//==============================================
//Move Torque Control
enAxSTATE_MOVE_TORQUE_CTRL:
Axis_MC_BR_TorqueControl.StartSignal := NOT lAxis.bStop;
Axis_MC_BR_TorqueControl.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_BR_TorqueControl.PosMaxVelocity := lAxis.Para.rVelocity;
Axis_MC_BR_TorqueControl.NegMaxVelocity := -lAxis.Para.rVelocity;
Axis_MC_BR_TorqueControl.Mode := mcCHECK_HOMING_OFF;
//mcV_LIMIT_OFF; //(No Speed Limit)
//mcV_LIMIT_CALC; //(No Speed Overrrun)
//mcTIME_LIMIT; //(Enable Timelimit)
Axis_MC_BR_TorqueControl.TimeLimit := 0;
Axis_MC_BR_TorqueControl.StartParID := 0; //Not Used by now
Axis_MC_BR_TorqueControl.TorqueRamp := 0; //Ramp Disabled
Axis_MC_BR_TorqueControl.Torque := lAxis.Para.rTorqueLimit;
//Axis_MC_BR_TorqueControl.TorqueParID := 0; //Alternative Torque Source
Axis_MC_BR_TorqueControl.Enable := 1;
//Trigger Parameter rewrite
Axis_MC_BR_TorqueControl.InitData := (lAxis.Para.rVelocity <> rOldVelocity) OR
(lAxis.Para.rTorqueLimit <> rOldTorquelimit);
rOldVelocity := lAxis.Para.rVelocity;
rOldTorquelimit := lAxis.Para.rTorqueLimit;
lAxis.Status.bTorqueLimitReached := Axis_MC_BR_TorqueControl.InTorque AND
NOT Axis_MC_BR_TorqueControl.AxisLimitActive;
IF lAxis.bStop THEN
Axis_MC_BR_TorqueControl.Enable := 0;
lAxis.Status.bTorqueLimitReached := 0;
lAxis.enStep := enAxSTATE_STOP;
END_IF
//==============================================
//Move GEAR START
enAxSTATE_MOVE_GEAR_START:
Axis_MC_GearIn.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_GearIn.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_GearIn.RatioNumerator := lAxis.Para.iGearRatioNumerator;
Axis_MC_GearIn.RatioDenominator := lAxis.Para.uiGearRatioDenominator;
Axis_MC_GearIn.Execute := 1;
IF Axis_MC_GearIn.InGear THEN
Axis_MC_GearIn.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
ELSIF lAxis.bStop THEN
Axis_MC_GearIn.Execute := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF lAxis.Move.bStopGearSlave THEN
lAxis.Move.bStopGearSlave := 0;
Axis_MC_GearIn.Execute := 0;
lAxis.enStep := enAxSTATE_MOVE_GEAR_STOP;
END_IF
//==============================================
//Move GEAR POS START
enAxSTATE_MOVE_GEARPOS_START:
Axis_MC_GearInPos.Acceleration := lAxis.Para.rAcceleration;
Axis_MC_GearInPos.RatioNumerator := lAxis.Para.iGearRatioNumerator;
Axis_MC_GearInPos.RatioDenominator := lAxis.Para.uiGearRatioDenominator;
Axis_MC_GearInPos.MasterSyncPosition := lAxis.Para.rGearMasterSyncPos;
Axis_MC_GearInPos.SlaveSyncPosition := lAxis.Para.rGearSlaveSyncPos;
Axis_MC_GearInPos.Velocity := lAxis.Para.rGearSyncVelocity;
Axis_MC_GearInPos.Acceleration := lAxis.Para.rGearSyncAcceleration;
Axis_MC_GearInPos.SyncMode := mcSHORTEST_WAY;
Axis_MC_GearInPos.Execute := 1;
IF Axis_MC_GearInPos.InSync THEN
Axis_MC_GearIn.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
ELSIF lAxis.bStop THEN
Axis_MC_GearInPos.Execute := 0;
lAxis.enStep := enAxSTATE_STOP;
ELSIF lAxis.Move.bStopGearSlave THEN
lAxis.Move.bStopGearSlave := 0;
Axis_MC_GearInPos.Execute := 0;
lAxis.enStep := enAxSTATE_MOVE_GEAR_STOP;
END_IF
//==============================================
//Move GEAR STOP
enAxSTATE_MOVE_GEAR_STOP:
Axis_MC_GearOut.Execute := 1;
IF Axis_MC_GearOut.Done THEN
Axis_MC_GearOut.Execute := 0;
lAxis.enStep := enAxSTATE_READY;
END_IF
//==============================================
//Stop after an Error
enAxSTATE_STOP_AFTER_ERROR:
IF (lAxis.Status.bMotionContinous) OR
(lAxis.Status.bMotionDiscrete) OR
(lAxis.Status.bMotionSynchronized) OR
(lAxis.Status.bHoming) THEN
Axis_MC_Stop.Deceleration := lAxis.Para.rDeceleration;
Axis_MC_Stop.Execute := TRUE;
IF Axis_MC_Stop.Done OR Axis_MC_Stop.Error THEN
Axis_MC_Stop.Execute := FALSE;
lAxis.enStep := enAxSTATE_ERROR;
END_IF
ELSE
lAxis.enStep := enAxSTATE_ERROR;
END_IF
//==============================================
//Error
enAxSTATE_ERROR:
bDisableCommands := TRUE;
IF Axis_MC_BR_ReadAxisError.Valid THEN
IF (Axis_MC_BR_ReadAxisError.ErrorRecord.Number <> 0) THEN
lAxis.Error.uiID := Axis_MC_BR_ReadAxisError.ErrorRecord.Number;
END_IF
IF lAxis.Error.bAcknowledge THEN
lAxis.Error.bAcknowledge := FALSE;
IF (Axis_MC_BR_ReadAxisError.ErrorRecord.Number <> 0) THEN
Axis_MC_BR_ReadAxisError.Acknowledge:=TRUE;
END_IF
lAxis.enStep := enAxSTATE_ERROR_CHECK;
END_IF
ELSIF (Axis_MC_BR_ReadAxisError.ErrorID = 29294) THEN
IF lAxis.Error.bAcknowledge THEN
lAxis.Error.bAcknowledge := FALSE;
lAxis.enStep := enAxSTATE_ERROR_RESET;
END_IF
END_IF
//==============================================
//Error Axis
enAxSTATE_ERROR_CHECK:
IF (Axis_MC_BR_ReadAxisError.Valid) THEN
IF (Axis_MC_BR_ReadAxisError.ErrorRecord.Number = 0) THEN
lAxis.Error.uiID := 0;
(* reset axis state IF the axis is in state ErrorStop *)
IF lAxis.Status.bErrorstop AND Axis_MC_ReadStatus.Valid THEN
lAxis.enStep := enAxSTATE_ERROR_RESET;
ELSE
lAxis.enStep := enAxSTATE_WAIT;
END_IF
ELSE
lAxis.enStep := enAxSTATE_ERROR;
END_IF
Axis_MC_BR_ReadAxisError.Acknowledge := FALSE;
END_IF
//==============================================
//Reset DONE
enAxSTATE_ERROR_RESET:
Axis_MC_Reset.Execute := 1;
IF Axis_MC_Power.Error THEN
Axis_MC_Power.Enable := 0;
END_IF
IF Axis_MC_Reset.Done THEN
Axis_MC_Reset.Execute := 0;
lAxis.enStep := enAxSTATE_WAIT;
ELSIF (Axis_MC_Reset.ErrorID <> 0) THEN
lAxis.Error.uiID := Axis_MC_Reset.ErrorID;
Axis_MC_Reset.Execute := 0;
lAxis.enStep := enAxSTATE_ERROR;
END_IF
END_CASE
IF bDisableCommands THEN
//reset power
Axis_MC_Power.Enable := 0;
//reset all fb execute inputs we use
Axis_MC_Home.Execute := 0;
Axis_MC_BR_BrakeControl.Execute := 0;
Axis_MC_BR_Simulation.Execute := 0;
Axis_MC_Stop.Execute := 0;
Axis_MC_MoveAbsolute.Execute := 0;
Axis_MC_BR_MoveAbsoluteTriggStop.Execute := 0;
Axis_MC_MoveAdditive.Execute := 0;
Axis_MC_BR_MoveAdditiveTriggStop.Execute := 0;
Axis_MC_MoveVelocity.Execute := 0;
Axis_MC_MoveVelocity.Execute := 0;
Axis_MC_BR_VelocityControl.Enable := 0;
Axis_MC_BR_TorqueControl.Enable := 0;
Axis_MC_GearIn.Execute := 0;
Axis_MC_GearInPos.Execute := 0;
Axis_MC_GearOut.Execute := 0;
Axis_MC_Reset.Execute := 0;
//reset user commands
lAxis.bStop := 0;
lAxis.bHome := 0;
lAxis.Move.bBraketest := 0;
lAxis.Move.bJogPos := 0;
lAxis.Move.bJogNeg := 0;
lAxis.Move.bVelocity := 0;
lAxis.Move.bVelocityControl := 0;
lAxis.Move.bAbsolute := 0;
lAxis.Move.bAdditive := 0;
lAxis.Move.bTorqueControl := 0;
lAxis.Move.bStartGearSlave := 0;
lAxis.Move.bStartGearPosSlave := 0;
lAxis.Move.bStopGearSlave := 0;
bDisableCommands := FALSE;
END_IF
//--------------------------------------------
//Override Velocity and Acceleration
Axis_MC_SetOverride.Enable := (lAxis.Para.rOverrideVelocity <> 1.0) OR (lAxis.Para.rOverrideAcceleration <> 1.0);
Axis_MC_SetOverride.VelFactor := lAxis.Para.rOverrideVelocity;
Axis_MC_SetOverride.AccFactor := lAxis.Para.rOverrideAcceleration;
Axis_MC_SetOverride ();
//--------------------------------------------
//Call Function Blocks
Axis_MC_Power ();
Axis_MC_BR_Simulation ();
Axis_MC_Home ();
Axis_MC_BR_BrakeControl ();
Axis_MC_BR_InitModPos();
Axis_MC_BR_JogVelocity ();
Axis_MC_BR_JogLimitPosition ();
Axis_MC_BR_JogTargetPosition ();
Axis_MC_MoveAbsolute ();
Axis_MC_BR_MoveAbsoluteTriggStop();
Axis_MC_MoveAdditive ();
Axis_MC_BR_MoveAdditiveTriggStop ();
Axis_MC_MoveVelocity ();
AXis_MC_BR_MoveVelocityTriggStop ();
Axis_MC_GearIn ();
Axis_MC_GearInPos ();
Axis_MC_GearOut ();
Axis_MC_Stop ();
Axis_MC_Reset ();
Axis_MC_BR_TorqueControl ();
//--------------------------------------------
//Cyclic Parameter Read
Axis_MC_BR_CyclicRead.Enable := 0;
//Axis_MC_BR_CyclicRead.ParID ;= 4160 ; 4160 User Variable0 I2
//Axis_MC_BR_CyclicRead.DataAddress = adr ()
//Axis_MC_BR_CyclicRead.DataType = ncPAR_TYP_INT
Axis_MC_BR_CyclicRead ();
//---------------------------------------------
//Read individual Parameter
IF Axis_MC_BR_ReadParID.Done THEN
END_IF
IF Axis_MC_BR_ReadParID.Error THEN
uiMCReadError := Axis_MC_BR_ReadParID.ErrorID;
END_IF
Axis_MC_BR_ReadParID.Execute := 0;
Axis_MC_BR_ReadParID.ParID := 4128;
Axis_MC_BR_ReadParID.DataAddress := ADR (lAxis);
Axis_MC_BR_ReadParID.DataType := ncPAR_TYP_REAL;
Axis_MC_BR_ReadParID ();
//--------------------------------------------
//Write individual Parameter
//Write UserParam1 on change
(*
rUser_Var1 access lAxis.Para.udAdrParamUserVar1
if (rUser_VarTemp <> rUser_Var1) and\
not Axis_MC_BR_WriteParID.Busy then
Axis_MC_BR_WriteParID.Execute = 1
rUser_VarTemp = rUser_Var1
END_IF
if Axis_MC_BR_WriteParID.Done or Axis_MC_BR_WriteParID.Error then
if Axis_MC_BR_WriteParID.Error then
uiMCWriteError = Axis_MC_BR_WriteParID.ErrorID
END_IF
Axis_MC_BR_WriteParID.Execute := 0;
END_IF
Axis_MC_BR_WriteParID.ParID = 586 ;USER_R4_VAR1
Axis_MC_BR_WriteParID.DataAddress = adr (rUser_VarTemp)
Axis_MC_BR_WriteParID.DataType = ncPAR_TYP_REAL
Axis_MC_BR_WriteParID fub MC_BR_WriteParID ()
*)
//-----------------------------------------------
//Cyclick write of Parameter
Axis_MC_BR_CyclicWrite.Enable := 0;
Axis_MC_BR_CyclicWrite.DataAddress := ADR (rUser_VarTemp);
Axis_MC_BR_CyclicWrite.DataType := ncPAR_TYP_REAL;
Axis_MC_BR_CyclicWrite.ParID := 586; //USER_R4_VAR1
Axis_MC_BR_CyclicWrite ();
END_PROGRAM

90
Logical/Axises/Axisctrl/AxisctrlInit.st Normal file
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PROGRAM _INIT
(* init program *)
//Which Axis
lAxis ACCESS ADR (gAxis[0]);
lAxisActPos ACCESS ADR (gAxisActPos[0]);
lAxisMaster ACCESS ADR (gAxis[0]);
lbSimulation ACCESS ADR (gMachine.bSimulation);
rUser_Var1 ACCESS ADR (grDummy);
lAxis.bVAxis := FALSE;
//Configure Trigger for Triggermovements (Absolute/Additive/Velocity)
Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.InputSource := ncTRIGGER1; //ncTrigger2
Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.Edge := ncP_EDGE; //ncN_Edge
Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.InputSource := ncTRIGGER1; //ncTrigger2
Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.Edge := ncP_EDGE; //ncN_Edge
AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource := ncTRIGGER1; //ncTrigger2
AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge := ncP_EDGE; //ncN_Edge
//Access global ACP10 Axis Objects
udAxisObj := ADR (gAxShaft1);
//This Axis is always slave (in case OF CAM/Gear)
udAxisMasterObj := ADR (gAxShaft1);
udAxisSlaveObj := udAxisObj;
//Initial Step
lAxis.enStep := enAxSTATE_WAIT;
//Overhand Axis Obj to FunctionBlocks
Axis_MC_BR_AxisErrorCollector.Axis := udAxisObj;
Axis_MC_BR_ReadDriveStatus.Axis := udAxisObj;
Axis_MC_BR_ReadDriveStatus.AdrDriveStatus := ADR (lAxis.DriveStatus);
Axis_MC_BR_JogVelocity.Axis := udAxisObj;
Axis_MC_BR_JogLimitPosition.Axis := udAxisObj;
Axis_MC_BR_JogTargetPosition.Axis := udAxisObj;
Axis_MC_BR_Simulation.Axis := udAxisObj;
Axis_MC_BR_SetHardwareInputs.Axis := udAxisObj;
Axis_MC_BR_TorqueControl.Axis := udAxisObj;
Axis_MC_BR_VelocityControl.Axis := udAxisObj;
Axis_MC_ACP_ENCOD_REF.Axis := udAxisObj;
Axis_MC_GearIn.Master := udAxisMasterObj;
Axis_MC_GearIn.Slave := udAxisSlaveObj;
Axis_MC_GearInPos.Master := udAxisMasterObj;
Axis_MC_GearInPos.Slave := udAxisSlaveObj;
Axis_MC_GearOut.Slave := udAxisSlaveObj;
Axis_MC_Home.Axis := udAxisObj;
Axis_MC_BR_InitModPos.Axis := udAxisMasterObj;
Axis_MC_MoveAbsolute.Axis := udAxisObj;
Axis_MC_BR_MoveAbsoluteTriggStop.Axis := udAxisObj;
Axis_MC_MoveAdditive.Axis := udAxisObj;
Axis_MC_BR_MoveAdditiveTriggStop.Axis := udAxisObj;
Axis_MC_MoveVelocity.Axis := udAxisObj;
AXis_MC_BR_MoveVelocityTriggStop.Axis := udAxisObj;
Axis_MC_Power.Axis := udAxisObj;
Axis_MC_ReadActualPosition.Axis := udAxisObj;
Axis_MC_ReadActualVelocity.Axis := udAxisObj;
Axis_MC_ReadActualTorque.Axis := udAxisObj;
Axis_MC_BR_ReadAxisError.Axis := udAxisObj;
Axis_MC_BR_ReadAxisError.Mode := mcTEXT;
Axis_MC_BR_ReadAxisError.Configuration.DataAddress := ADR (lAxis.Error.Text);
Axis_MC_BR_ReadAxisError.Configuration.DataLength := SIZEOF (lAxis.Error.Text);
Axis_MC_BR_ReadAxisError.Configuration.DataObjectName := 'acp10etxde';
Axis_MC_BR_ReadAxisError.Configuration.Format := mcWRAP + mcNULL;
Axis_MC_BR_ReadAxisError.Configuration.LineLength := SIZEOF (lAxis.Error.Text[0]);
Axis_MC_ReadStatus.Axis := udAxisObj;
Axis_MC_Reset.Axis := udAxisObj;
Axis_MC_SetOverride.Axis := udAxisObj;
Axis_MC_Stop.Axis := udAxisObj;
//Parameter
Axis_MC_BR_CyclicRead.Axis := udAxisObj;
Axis_MC_BR_CyclicWrite.Axis := udAxisObj;
Axis_MC_BR_ReadParID.Axis := udAxisObj;
Axis_MC_BR_WriteParID.Axis := udAxisObj;
//Enable Fubs
Axis_MC_BR_AxisErrorCollector.Enable := TRUE;
Axis_MC_BR_ReadAxisError.Enable := TRUE;
Axis_MC_ReadStatus.Enable := TRUE;
Axis_MC_ReadActualPosition.Enable := TRUE;
Axis_MC_ReadActualVelocity.Enable := TRUE;
Axis_MC_ReadActualTorque.Enable := TRUE; //Not for Stepper Axises
Axis_MC_BR_ReadDriveStatus.Enable := TRUE;
END_PROGRAM

9
Logical/Axises/Axisctrl/IEC.prg Normal file
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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Program xmlns="http://br-automation.co.at/AS/Program">
<Files>
<File Description="Initialization code">AxisctrlInit.st</File>
<File Description="Cyclic code">AxisctrlCyclic.st</File>
<File Description="Local variables" Private="true">Axisctrl.var</File>
</Files>
</Program>

191
Logical/Axises/GlobalAxis.typ Normal file
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TYPE
typAxis_Move : STRUCT (*Achsbewegungen*)
bAbsolute : BOOL; (*Absolute Bewegung*)
bAdditive : BOOL; (*Inkrementelle Bewegung*)
bVelocity : BOOL; (*Bewegung mit konstanter Geschwindigkeit*)
bVelocityControl : BOOL; (*Bewegung mit konstanter Geschwindigkeit / Drehmomentbegrenzt (Nur EPL)*)
bTorqueControl : BOOL; (*Bewegung mit konstanter Geschwindigkeit / Drehmomentregelung*)
bJogPos : BOOL; (*Tipp Vorw<72>rts*)
bJogNeg : BOOL; (*Tipp R<>ckw<6B>rts*)
bBraketest : BOOL; (*Bremstest*)
bStartGearSlave : BOOL; (*Elektronisches Getriebe Slave (Geschwindigkeit)*)
bStartGearPosSlave : BOOL; (*Elektronisches Getriebe Slave (Positon)*)
bStopGearSlave : BOOL; (*Eektronisches Getriebe Slave Stoppen*)
END_STRUCT;
typAxis_Error : STRUCT (*Achsfehler*)
bAcknowledge : BOOL;
uiID : UINT;
Text : ARRAY[0..3]OF STRING[79];
END_STRUCT;
error_typ : STRUCT (*error structure *)
AxisErrorCount : UINT; (*number of active axis errors*)
AxisWarningCount : UINT; (*number of active axis warinings*)
FunctionBlockErrorCount : UINT; (*number of active function block errors*)
ErrorRecord : MC_ERRORRECORD_REF; (*error record information*)
ErrorText : ARRAY[0..3]OF STRING[79]; (*description of first active error or warning*)
END_STRUCT;
typAxis_Status : STRUCT (*Acopos Status*)
bDisabled : BOOL; (*Disabled*)
bStandstill : BOOL; (*Standstill*)
bStopping : BOOL; (*Stopping*)
bHoming : BOOL; (*Homing*)
bMotionDiscrete : BOOL; (*Motion Discrete*)
bMotionContinous : BOOL; (*Motion Continous*)
bMotionSynchronized : BOOL; (*Motion Synchronized*)
bErrorstop : BOOL; (*Error Stop*)
bTorqueLimitReached : BOOL; (*Torquelimit from Move.bTorqueControl *)
bHomingOkDelayed : BOOL;
END_STRUCT;
typAxis_DriveStatus : STRUCT (*Acopos Drive Statos*)
bSimulation : BOOL; (*Axis Simulation*)
bNetworkInit : BOOL;
bHomeSwitch : BOOL;
bPosHWSwitch : BOOL;
bNegHWSwitch : BOOL;
bTrigger1 : BOOL;
bTrigger2 : BOOL;
bDriveEnable : BOOL;
bControllerReady : BOOL;
bControllerStatus : BOOL;
bHomingOk : BOOL;
bAxisError : BOOL;
bLagWarning : BOOL;
END_STRUCT;
typAxis_Para : STRUCT (*Achsparameter*)
bTriggStop : BOOL; (*Use Trigger Stop for Move Absolute/Additive/Velocity*)
bSetHWInputs : BOOL := 0; (*Set HW Inputs (e.g. for ACPMulti when need Limit/Ref)*)
usDirection : USINT; (*Direction for Move Velocity*)
usHomeingMode : USINT := mcHOME_DEFAULT;
udAxisModPosPeriod : UDINT := 0; (*For Modulo Position - Axis period*)
udAxisModPosFactor : UDINT := 0; (*For Modulo Position - Axis Factor*)
udAdrParamUserVar1 : UDINT; (*Address: Cyclic to Acopos transmitted Value*)
rPosition : REAL; (*Position for Absolute Movement (And Jog Target)*)
rDistance : REAL; (*Distance for Additive Movement*)
rTriggDistance : REAL; (*Distance for Trigger Movements (Absolue/Additive/Velocity)*)
rVelocity : REAL; (*Velocity for Movements*)
rOverrideVelocity : REAL := 1.0; (*Overridevalue for Velicity*)
rAcceleration : REAL; (*Acceleration for Movements*)
rOverrideAcceleration : REAL := 1.0; (*Overridevalue for Acceleration*)
rDeceleration : REAL; (*Deceleration for Movements*)
rHomePosition : REAL; (*Homeposition for Homing*)
JogMode : enAxisJogMode := (0); (*Tippbetriebsart*)
rJogLimitLow : REAL; (*Unteres Limit f<>r Jog Limits*)
rJogLimitHigh : REAL; (*Oberes Limit f<>r Jog Limits*)
rJogVelocity : REAL; (*Velocity for Jog*)
rTorqueLimit : REAL; (*Torquelimit for TorqueControl*)
rBraketestTorque : REAL; (*Tourque for Braketest*)
rBraketestPosLimit : REAL; (*Tourque for Braketest*)
iGearRatioNumerator : INT := 1; (*CAM/Gear*)
uiGearRatioDenominator : UINT := 1; (*CAM/Gear*)
rGearMasterSyncPos : REAL; (*Pos Gear *)
rGearSlaveSyncPos : REAL; (*Pos Gear *)
rGearMasterStartDistance : REAL; (*Pos Gear*)
rGearSyncVelocity : REAL; (*Pos Gear*)
rGearSyncAcceleration : REAL; (*Pos Gear*)
END_STRUCT;
typAxis : STRUCT (*Acopos Achse*)
enStep : enAxisStep; (*Achs Schritt*)
bVAxis : BOOL; (*Achse ist Virtuell*)
bPower : BOOL; (*Achse Einschalten*)
bHome : BOOL; (*Achse referenzieren*)
bHalt : BOOL; (*Achse anhalten (kann durch andres Kommando abgebr. werden)*)
bStop : BOOL; (*Achse stoppen (solange Kommando gesetzt ist)*)
rActPosition : REAL; (*Aktuelle Position*)
rActVelocity : REAL; (*Aktuelle Geschwindigkeit*)
rActTorque : REAL; (*Aktuelles Drehmoment*)
rReachedTorque : REAL; (*Erreichtes Drehmoment bei Stop mit M-Limit*)
diPositionReachedTorque : DINT; (*Position bei Erreichen des Drehmoments*)
Move : typAxis_Move; (*Achsbewegungen*)
Error : typAxis_Error;
Status : typAxis_Status;
DriveStatus : typAxis_DriveStatus;
Para : typAxis_Para;
END_STRUCT;
typMultAx_Trace : STRUCT (*MultiaxTrace*)
sStep : STRING[25];
bStartSave : BOOL; (*Activate Trace*)
bLoadConfig : BOOL; (*Load Trace Config*)
bStop : USINT; (*Stop Trace*)
uiTraceStep : USINT; (*Step of Trace*)
uiTraceState : UINT; (*Status of Trace*)
uiTraceError : UINT; (*Error of Trace*)
Trace_Config : MC_PARTRACECONFIG_REF; (*Configuration of Trase*)
Trace_DatObj_Refercence : MC_DATOBJ_REF; (*Parameter for Save the Trace-Config*)
Trace_Error_Record : MC_ERRORRECORD_REF; (*Fehlerspeicher*)
END_STRUCT;
enAxisJogMode :
(
enAxJOG, (*Tippbetrieb un<75>berwacht*)
enAxJOG_Limits, (*Tippbetrieb innerhalb Limits*)
enAxJOG_Target (*Tippbetrieb auf Ziel*)
);
enAxisStep :
( (*Acopos Schritt*)
enAxSTATE_WAIT, (*Waruten*)
enAxSTATE_SIMULATION_ON, (*Simulation einschalten*)
enAxSTATE_SIMULATION_OFF, (*Simulation ausschalten*)
enAxSTATE_POWER_ON, (*Achse einschalten*)
enAxSTATE_POWER_OFF, (*Achse einschalten*)
enAxSTATE_READY, (*Achse Bereit*)
enAxSTATE_HOME, (*Achse referenzieren*)
enAxSTATE_BRAKE_TEST, (*Bremstest durchf<68>hren*)
enAxSTATE_INIT_MOD_POS, (*Modulo Posiotion initialisieren*)
enAxSTATE_STOP, (*Achse stopppen*)
enAxSTATE_JOG, (*Axhse tippen*)
enAxSTATE_MOVE_ABSOLUTE, (*Achse absolut positionieren*)
enAxSTATE_MOVE_ABSOLUTE_TRIGSTP, (*Achse absolut positionieren Stop mit Trigger*)
enAxSTATE_MOVE_ADDITIVE, (*Achse inkrementell positionieren*)
enAxSTATE_MOVE_ADDITIVE_TRIGSTP, (*Achse inkrementell positionieren Stop mit Trigger*)
enAxSTATE_MOVE_VELOCITY, (*Achse mit konstanter Geschwindigkeit bewegen*)
enAxSTATE_MOVE_VELOCITY_CTRL, (*Achse Geschwindigkeitsregeln (M-Regelung)*)
enAxSTATE_MOVE_TORQUE_CTRL, (*Achse Drehmomentregeln*)
enAxSTATE_MOVE_GEAR_START, (*Elektronisches Getriebe Starten*)
enAxSTATE_MOVE_GEARPOS_START, (*Elektronisches Getriebe (Positionsmodus) Starten*)
enAxSTATE_MOVE_GEAR_STOP, (*Elektronisches Getriebe Stoppen*)
enAxSTATE_STOP_AFTER_ERROR, (*Stoppen nach Fehler*)
enAxSTATE_ERROR, (*Fehler*)
enAxSTATE_ERROR_CHECK, (*Fehler pr<70>fen*)
enAxSTATE_ERROR_RESET (*Achsfehler quittieren*)
);
typPS_Command : STRUCT (*command structure for power supply modules*)
bPower : BOOL; (*switch on the controller of the psm*)
bStartPowerMeter : BOOL; (*start the power evaluation of psm*)
bStopPowerMeter : BOOL; (*stop the power evaluation of psm*)
bRestartInterval : BOOL; (*restart the interval of power evaluation*)
END_STRUCT;
typPS_Parameter : STRUCT (*parameter structure for psm*)
uiIntervalTime : UINT; (*interval time for the power evaluation*)
END_STRUCT;
typPS_Status : STRUCT (*status structure for psm*)
mcPowerData : MC_POWERDATA_REF; (*evaluated power data*)
uiMissedInterval : UINT; (*MissedIntervals with power evaluation*)
END_STRUCT;
typPS_Energy : STRUCT
rConsumedEnergy : REAL; (*Verbrauchte Energie [Ws]*)
rRegeneratedEnergy : REAL; (*R<>ckgespeiste Energie [Ws]*)
END_STRUCT;
typPS : STRUCT (*substructure for psm*)
enStep : enPSStep; (*Achs Schritt*)
Command : typPS_Command; (*command structure for psm*)
Parameter : typPS_Parameter; (*parameter structure for psm*)
Status : typPS_Status; (*status structure for psm*)
Energy : typPS_Energy;
AxisState : typAxis_Status; (*axis state structure*)
DriveStatus : typAxis_DriveStatus;
Error : typAxis_Error; (*error structure*)
END_STRUCT;
enPSStep :
(
enPSSTATE_WAIT, (*Waruten*)
enPSSTATE_READY,
enPSSTATE_POWER_OFF,
enPSSTATE_POWER_ON,
enPSSTATE_POWERMETER_START,
enPSSTATE_POWERMETER_STOP,
enPSSTATE_RESTART_INTERVAL,
enPSSTATE_ERROR, (*Fehler bei FUB ausf<73>hrung*)
enPSSTATE_ERROR_AXIS, (*Achsfehler*)
enPSSTATE_ERROR_RESET (*Achsfehler quittieren*)
);
END_TYPE

14
Logical/Axises/GlobalAxis.var Normal file
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VAR
gAxis : ARRAY[0..6] OF typAxis; (*Axis Datasructure / Controlinterface*)
gMAxTrace : typMultAx_Trace; (*Multiaxtrace*)
gAxisActPos : ARRAY[0..6] OF REAL;
grDummy : REAL; (*Dummy Real to be accessed from Axistasks*)
END_VAR
(*//ACP/SDC Axobjects*)
VAR
gAxShaft1 : ACP10AXIS_typ;
END_VAR
(*//-----------------------------------------------------------------------------------------------------*)
VAR RETAIN
grAxisABSOffShaft1 : REAL;
END_VAR

9
Logical/Axises/MAxTrace/IEC.prg Normal file
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@@ -0,0 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Program xmlns="http://br-automation.co.at/AS/Program">
<Files>
<File Description="Initialization code">MAxTraceInit.ab</File>
<File Description="Cyclic code">MAxTraceCyclic.ab</File>
<File Description="Local variables" Private="true">MAxTrace.var</File>
</Files>
</Program>

11
Logical/Axises/MAxTrace/MAxTrace.var Normal file
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(*//-----------------------------------------------------------------------------------------------------*)
(*//MC FunctionBlocks*)
VAR
Axis_MC_BR_ParTrace : MC_BR_ParTrace := (0); (*Parameter Trace*)
Axis_MC_BR_ReadParTraceStatus : MC_BR_ReadParTraceStatus := (0); (*Parameter Trace Status*)
END_VAR
(*//-----------------------------------------------------------------------------------------------------*)
(*//Dynamic Vars*)
VAR
lMAxTrace : REFERENCE TO typMultAx_Trace; (*Axis Datastruct *)
END_VAR

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Logical/Axises/MAxTrace/MAxTraceCyclic.ab Normal file
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(********************************************************************
* COPYRIGHT --
********************************************************************
* Program: MAxTrace
* File: MAxTraceCyclic.ab
* Author: michi
* Created: July 18, 2012
********************************************************************
* Implementation of program MAxTrace
********************************************************************)
PROGRAM _CYCLIC
;STATE Machine Trace
SELECT lMAxTrace.uiTraceStep
;==============================================
;READY
STATE AxTraceSTATE_READY
strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_READY")
WHEN (lMAxTrace.bLoadConfig = 1)
lMAxTrace.bLoadConfig = 0
NEXT AxTraceSTATE_LOAD_CONFIG
WHEN (lMAxTrace.bStartSave = 1)
lMAxTrace.bStartSave = 0
NEXT AxTraceSTATE_START_SAVE
Axis_MC_BR_ParTrace.Execute = 0
//Axis_MC_BR_ParTraceConfig.Execute = 0
Axis_MC_BR_ReadParTraceStatus.Enable = 0
;==============================================
;Load Trace Config
STATE AxTraceSTATE_LOAD_CONFIG
strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_LOAD_CONFIG")
//Axis_MC_BR_ParTraceConfig.Command = mcLoad
//Axis_MC_BR_ParTraceConfig.AdrTraceConfig = adr (lMAxTrace.Trace_DatObj_Refercence)
//Axis_MC_BR_ParTraceConfig.Execute = 1
;check if loading is finished
//when (Axis_MC_BR_ParTrace.Done)
// Axis_MC_BR_ParTraceConfig.Execute = 0
//next AxTraceSTATE_READY
;check for error occured
//when (Axis_MC_BR_ParTraceConfig.Error)
// Axis_MC_BR_ParTraceConfig.Execute = 0
// Axis_MC_BR_ParTraceConfig.ErrorRecord
//next AxTraceSTATE_ERROR
;==============================================
;Start and Save Trace
STATE AxTraceSTATE_START_SAVE
strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_START_SAVE")
Axis_MC_BR_ParTrace.Configuration = lMAxTrace.Trace_Config
Axis_MC_BR_ParTrace.Command = mcSTART + mcSAVE
Axis_MC_BR_ParTrace.Execute = 1
;check if Trace is finished
WHEN (Axis_MC_BR_ParTrace.Done)
Axis_MC_BR_ParTrace.Execute = 0
NEXT AxTraceSTATE_READY
;check for error occured
WHEN (Axis_MC_BR_ParTrace.Error)
Axis_MC_BR_ParTrace.Execute = 0
lMAxTrace.uiTraceError = Axis_MC_BR_ParTrace.ErrorID
lMAxTrace.Trace_Error_Record = Axis_MC_BR_ParTrace.ErrorRecord
NEXT AxTraceSTATE_ERROR
WHEN (lMAxTrace.bStop = 1)
Axis_MC_BR_ParTrace.Execute = 0
lMAxTrace.bStop = 0
NEXT AxTraceSTATE_STOP
;==============================================
;Stop Trace
STATE AxTraceSTATE_STOP
strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_STOP")
Axis_MC_BR_ParTrace.Command = mcSTOP
Axis_MC_BR_ParTrace.Execute = 1
;check if Trace is finished
WHEN (Axis_MC_BR_ParTrace.Done)
Axis_MC_BR_ParTrace.Execute = 0
NEXT AxTraceSTATE_READY
;check for error occured
WHEN (Axis_MC_BR_ParTrace.Error)
Axis_MC_BR_ParTrace.Execute = 0
;Axis_MC_BR_ParTrace.ErrorRecord
NEXT AxTraceSTATE_ERROR
;==============================================
;Error
STATE AxTraceSTATE_ERROR
strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_ERROR")
WHEN (1 = 1)
NEXT AxTraceSTATE_READY
ENDSELECT
Axis_MC_BR_ParTrace FUB MC_BR_ParTrace ()
//Axis_MC_BR_ParTraceConfig fub MC_BR_ParTraceConfig ()
Axis_MC_BR_ReadParTraceStatus FUB MC_BR_ReadParTraceStatus ()
END_PROGRAM

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Logical/Axises/MAxTrace/MAxTraceInit.ab Normal file
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(********************************************************************
* COPYRIGHT --
********************************************************************
* Program: MAxTrace
* File: MAxTraceInit.ab
* Author: michi
* Created: July 18, 2012
********************************************************************
* Implementation of program MAxTrace
********************************************************************)
PROGRAM _INIT
lMAxTrace ACCESS ADR (gMAxTrace);
END_PROGRAM

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Logical/Axises/Package.pkg Normal file
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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Package xmlns="http://br-automation.co.at/AS/Package">
<Objects>
<Object Type="File" Description="Achsdatentypen">GlobalAxis.typ</Object>
<Object Type="File" Description="Package variables">GlobalAxis.var</Object>
<Object Type="Program" Language="IEC" Description="Controller">PressCtrl</Object>
<Object Type="Program" Language="IEC" Description="Multi Axis Trace">MAxTrace</Object>
<Object Type="Program" Language="IEC" Description="AxisCtrl (Master)">Axisctrl</Object>
<Object Type="DataObject" Language="Ett">acp10etxde</Object>
</Objects>
</Package>

46
Logical/Axises/PressCtrl/HomeAxis.st Normal file
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FUNCTION HomeAxis
IF (enInStep = enHomeOffsetPerm) THEN
//Home with permanent Stored Offset
//---------------------------
InAxis.Para.rHomePosition := rInPermanentOffset;
InAxis.bHome := TRUE;
enInStep := enHomeOffsetPermDone;
ELSIF (enInStep = enHomeOffsetPermDone) THEN
//Home with permanent Stored Offset
//---------------------------
IF InAxis.Status.bHomingOkDelayed AND NOT InAxis.bHome THEN
enInStep := enHomeIdle;
END_IF
ELSIF (enInStep = enHomeOffset0) THEN
//Home with Stored 0
//---------------------------
InAxis.Para.rHomePosition := 0.0;
InAxis.bHome := TRUE;
enInStep := enHomeOffset0Done;
ELSIF (enInStep = enHomeOffset0Done) THEN
//Home with Stored 0
//---------------------------
IF InAxis.Status.bHomingOkDelayed AND NOT InAxis.bHome THEN
enInStep := enHomeStorePos;
END_IF
ELSIF (enInStep = enHomeOffset0NoStore) THEN
//Home with Stored 0
//---------------------------
InAxis.Para.rHomePosition := 0.0;
InAxis.bHome := TRUE;
enInStep := enHomeOffset0DoneNoStore;
ELSIF (enInStep = enHomeOffset0DoneNoStore) THEN
//Home with Stored 0
//---------------------------
IF InAxis.Status.bHomingOkDelayed AND NOT InAxis.bHome THEN
enInStep := enHomeIdle;
END_IF
ELSIF (enInStep = enHomeStorePos) THEN
//Store Axis Position
//---------------------------
rInPermanentOffset := - InAxis.rActPosition + rInOffset;
ERRxwarning (50001, 0 , ADR ('Permanenter Geberoffset einer Spindel wurde ver<65>ndert'));
enInStep := enHomeOffsetPerm;
END_IF
END_FUNCTION

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Logical/Axises/PressCtrl/IEC.prg Normal file
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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Program xmlns="http://br-automation.co.at/AS/Program">
<Files>
<File Description="Implementation code">PressCtrl.st</File>
<File Description="InitCode">PressCtrlInit.st</File>
<File Description="Local data types" Private="true">PressCtrl.typ</File>
<File Description="Local variables" Private="true">PressCtrl.var</File>
<File Description="Home an Absoulte Encoder Axis">HomeAxis.st</File>
<File Private="true">PressCtrl.fun</File>
</Files>
</Program>

9
Logical/Axises/PressCtrl/PressCtrl.fun Normal file
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FUNCTION HomeAxis : BOOL (*Home an Absoulte Encoder Axis*)
VAR_INPUT
InAxis : REFERENCE TO typAxis; (*Achsreferenz*)
rInPermanentOffset : REFERENCE TO REAL; (*Referenz auf permanenten Offset*)
rInOffset : REAL;
enInStep : REFERENCE TO typ_enHome; (*Step*)
END_VAR
END_FUNCTION

308
Logical/Axises/PressCtrl/PressCtrl.st Normal file
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PROGRAM _CYCLIC
//SIMULATION
bSafetyOk := TRUE; //Safety for Acopos is OK
bSafetyOkFP := EDGEPOS (bSafetyOk);
IF EDGEPOS (bBlink0_1) THEN
udSteptime := udSteptime + 100;
udCycletime := udCycletime + 100;
END_IF
//Calculate Force
rForce := lAxisShaft1.rActTorque * rTorqueForceFactor;
//Store Max Values
IF lAxisShaft1.rActTorque > rMaxTorque THEN
rMaxTorque := lAxisShaft1.rActTorque;
END_IF
IF rForce > rMaxForce THEN
rMaxForce := rForce;
END_IF
IF ManualCommands.bJogPosShaft1 THEN
rMaxTorque := 0;
rMaxForce := 0;
END_IF
//Set Override
IF (rOverrideVelocity < 1) THEN
rOverrideVelocity := 1;
ELSIF rOverrideVelocity > 100 THEN
rOverrideVelocity := 100;
END_IF
lAxisShaft1.Para.rOverrideVelocity := rOverrideVelocity * 0.01;
//Power Up Axises
lAxisShaft1.bPower := gMachine.bMachineON AND lAxisShaft1.DriveStatus.bControllerReady AND bSafetyOk AND
NOT (((gMachine.enMode = enMACH_AUTOMATIC) OR (gMachine.enMode = enMACH_MANUAL)) AND (enStepPress = enPressStep_WAIT_START)) AND
NOT ((gMachine.enMode = enMACH_HOMEPOS) AND (enStepPressHoming = enPressStepHoming_WAIT_START));
lAxisShaft1.bStop := bStop;
bPressIsInHomepos := (lAxisShaft1.rActPosition = rPressPosHomeIWIS); //rPressPosHome
//Move Conditions
MoveConditions.bEnableNegShaft1 := ((lAxisShaft1.rActPosition > rPressPosMin) OR gMachine.bSetupMode);
MoveConditions.bEnablePosShaft1 := ((lAxisShaft1.rActPosition < rPressPosMax) OR gMachine.bSetupMode);
//Load Referencepos
MoveConditions.bEnableReferencePressABS := lAxisShaft1.DriveStatus.bControllerReady;
//Status Control vor Visual Component Controls
StatusVCControls.usJogNegShaft1 := SHL (BOOL_TO_USINT (NOT MoveConditions.bEnableNegShaft1), VC_LOCK_BITPOS) +
SHL (BOOL_TO_USINT ((gMachine.enMode <> enMACH_JOG) OR (genAccessLevel < enACCESSLEVEL_4)), VC_HIDE_BITPOS);
StatusVCControls.usJogPosShaft1 := SHL (BOOL_TO_USINT (NOT MoveConditions.bEnablePosShaft1), VC_LOCK_BITPOS) +
SHL (BOOL_TO_USINT ((gMachine.enMode <> enMACH_JOG) OR (genAccessLevel < enACCESSLEVEL_4)), VC_HIDE_BITPOS);
StatusVCControls.usReferencePress := SHL (BOOL_TO_USINT (NOT MoveConditions.bEnableReferencePress), VC_LOCK_BITPOS) +
SHL (BOOL_TO_USINT ((gMachine.enMode <> enMACH_JOG) OR (genAccessLevel < enACCESSLEVEL_4)) , VC_HIDE_BITPOS);
StatusVCControls.usReferencePressABS := SHL (BOOL_TO_USINT (NOT MoveConditions.bEnableReferencePressABS), VC_LOCK_BITPOS) +
SHL (BOOL_TO_USINT (gMachine.enMode <> enMACH_JOG) , VC_HIDE_BITPOS);
//Home
IF (gMachine.bMachineON OR (gMachine.enMode = enMACH_JOG) OR (gMachine.enMode = enMACH_HOMEPOS)) AND bHome THEN
IF (enStepHomeShaft1 = enHomeIdle) AND (NOT lAxisShaft1.DriveStatus.bHomingOk OR bHome) AND lAxisShaft1.DriveStatus.bControllerReady THEN
enStepHomeShaft1 := enHomeOffsetPerm;
END_IF
END_IF
bHome :=FALSE;
HomeAxis (ADR (lAxisShaft1),
ADR (grAxisABSOffShaft1),
rHOMEPOS,
ADR (enStepHomeShaft1));
IF (gMachine.enMode <> enMACH_HOMEPOS) THEN
enStepPressHoming := 0;
END_IF
IF (gMachine.enMode <> enMACH_AUTOMATIC) AND (gMachine.enMode <> enMACH_MANUAL) THEN
enStepPress := 0;
END_IF
//Jog Mode
//==========================================================================================
IF gMachine.enMode = enMACH_JOG THEN
//Clear Commands
lAxisShaft1.Move.bAbsolute := FALSE;
//Uncritical Movements
IF gMachine.bSetupMode THEN
lAxisShaft1.Para.JogMode := enAxJOG;
ELSE
lAxisShaft1.Para.JogMode := enAxJOG_Limits;
lAxisShaft1.Para.rJogLimitLow := rPressPosMin;
lAxisShaft1.Para.rJogLimitHigh := rPressPosMax;
END_IF
lAxisShaft1.Move.bJogNeg := ManualCommands.bJogNegShaft1 AND MoveConditions.bEnableNegShaft1;
lAxisShaft1.Move.bJogPos := ManualCommands.bJogPosShaft1 AND MoveConditions.bEnablePosShaft1;
IF ManualCommands.bReferencePressABS THEN
bHome :=TRUE;
lAxisShaft1.Para.usHomeingMode := mcHOME_ABSOLUTE;
ManualCommands.bReferencePressABS := FALSE;
END_IF
//Home Machine
IF (ABS (lAxisShaft1.rActTorque) > 0.5) THEN
lAxisShaft1.Para.rJogVelocity := rSpeedPress;
ELSE
lAxisShaft1.Para.rJogVelocity := rSpeedJog;
END_IF
IF EDGEPOS (ManualCommands.bReferencePress) THEN
lAxisShaft1.Para.usHomeingMode := mcHOME_BLOCK_TORQUE;
lAxisShaft1.Para.rTorqueLimit := 0.5;
lAxisShaft1.bHome := 1;
ELSIF ManualCommands.bReferencePress THEN
IF lAxisShaft1.Status.bStandstill AND (lAxisShaft1.enStep = enAxSTATE_READY) THEN
enStepHomeShaft1 := enHomeOffset0;
bReferenedShaft1 := TRUE;
END_IF
IF bReferenedShaft1 THEN
ManualCommands.bReferencePress := FALSE;
bReferenedShaft1 := FALSE;
END_IF
END_IF
//Homing Mode
//==========================================================================================
ELSIF (gMachine.enMode = enMACH_HOMEPOS) THEN
//Press
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
CASE enStepPressHoming OF
//Init
//---------------------------
enPressStepHoming_INIT:
enStepPressHoming := enPressStepHoming_WAIT_START;
//Wait for Start
//---------------------------
enPressStepHoming_WAIT_START:
IF bSafetyOk AND gMachine.bRequestHoming THEN
enStepPressHoming := enPressStepHoming_MOVE_HOME;
END_IF
//Press up to Home
//---------------------------
enPressStepHoming_MOVE_HOME:
lAxisShaft1.Para.rPosition := rPressPosHomeIWIS; //rPressPosHome
lAxisShaft1.Para.rVelocity := rSpeedHandling;
IF MoveConditions.bEnablePosShaft1 THEN
lAxisShaft1.Move.bAbsolute :=TRUE;
enStepPressHoming := enPressStepHoming_MOVE_HOME_WAIT;
END_IF
//Press up to Home (Wait)
//---------------------------
enPressStepHoming_MOVE_HOME_WAIT:
lAxisShaft1.Move.bAbsolute := NOT bPressIsInHomepos;
IF bPressIsInHomepos AND lAxisShaft1.Status.bStandstill THEN
enStepPressHoming := enPressStepHoming_DONE;
lAxisShaft1.Move.bAbsolute := 0;
END_IF
//Homing Done
//---------------------------
enPressStepHoming_DONE:
gMachine.bRequestHoming := FALSE;
enStepPressHoming := enPressStepHoming_INIT;
END_CASE
//(Semi) - Automaticmode
//==========================================================================================
ELSIF (gMachine.enMode = enMACH_MANUAL) OR (gMachine.enMode = enMACH_AUTOMATIC) THEN
bEnableNextStep := EDGEPOS (ManualCommands.bNextManStep) OR (gMachine.enMode = enMACH_AUTOMATIC);
//Press
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
CASE enStepPress OF
//Init
//---------------------------
enPressStep_INIT:
bTransitionCondition := FALSE;
IF bPressIsInHomepos THEN
enStepPress := enPressStep_WAIT_START;
ELSE
enStepPress := enPressStep_MOVEHOMEPOS;
END_IF
//Press up to Home
//---------------------------
enPressStep_MOVEHOMEPOS:
lAxisShaft1.Para.rPosition := rPressPosHomeIWIS; //rPressPosHome
lAxisShaft1.Para.rVelocity := rSpeedHandling;
IF MoveConditions.bEnablePosShaft1 THEN
lAxisShaft1.Move.bAbsolute :=TRUE;
enStepPress := enPressStep_MOVEHOMEPOS_WAIT;
END_IF
//Press up to Home (Wait)
//---------------------------
enPressStep_MOVEHOMEPOS_WAIT:
IF bPressIsInHomepos AND lAxisShaft1.Status.bStandstill THEN
enStepPress := enPressStep_INIT;
lAxisShaft1.Move.bAbsolute := 0;
rMaxForce := 0;
rMaxTorque := 0;
END_IF
//Wait for Start
//---------------------------
enPressStep_WAIT_START:
udCycletime := 0;
bTransitionCondition := (EDGEPOS (gbInStartProcess) OR (gMachine.enMode = enMACH_MANUAL)) AND bSafetyOk ;
IF (bSafetyOkFP OR (bTransitionCondition AND (bEnableNextStep OR gbInStartProcess))) THEN
enStepPress := enPressStep_PRESS_PRESSPOS;
gMAxTrace.bStartSave := 1;
lAxisShaft1.Status.bTorqueLimitReached := FALSE;
END_IF
//Press down to Presspos
//---------------------------
enPressStep_PRESS_PRESSPOS:
// lAxisShaft1.Para.rPosition := lPressParamActTool1.rPosPress;
lAxisShaft1.Para.rVelocity := rSpeedPress;
lAxisShaft1.Para.rTorqueLimit := rParamForce / rTorqueForceFactor;
bTransitionCondition := MoveConditions.bEnableNegShaft1;
IF bTransitionCondition THEN
lAxisShaft1.Move.bTorqueControl := TRUE;
//lAxisShaft1.Move.bAbsolute := TRUE;
enStepPress := enPressStep_PRESS_PRESSPOS_WAIT;
END_IF
//Press down to Presspos (WAIT)
//---------------------------
enPressStep_PRESS_PRESSPOS_WAIT:
bTransitionCondition := lAxisShaft1.Status.bTorqueLimitReached OR
(lAxisShaft1.rActPosition <= rPressPosStopIWIS);
IF bTransitionCondition THEN
enStepPress := enPressStep_WAIT_PRESSED;
lAxisShaft1.Move.bTorqueControl := FALSE;
lAxisShaft1.bStop := 1;
udSteptime := 0;
END_IF
//Wait Pressed
//---------------------------
enPressStep_WAIT_PRESSED:
bTransitionCondition := FALSE;
IF udSteptime > udPresstime THEN
enStepPress := enPressStep_PRESS_HOMEPOS;
END_IF
//Press up to Home
//---------------------------
enPressStep_PRESS_HOMEPOS:
lAxisShaft1.Para.rPosition := rPressPosHomeIWIS; //rPressPosHome
lAxisShaft1.Para.rVelocity := rSpeedHandling;
bTransitionCondition := MoveConditions.bEnablePosShaft1;
IF bTransitionCondition THEN
lAxisShaft1.Move.bAbsolute :=TRUE;
enStepPress := enPressStep_PRESS_HOMEPOS_WAIT;
END_IF
//Press up to Home (Wait)
//---------------------------
enPressStep_PRESS_HOMEPOS_WAIT:
bTransitionCondition := bPressIsInHomepos AND lAxisShaft1.Status.bStandstill;
IF bTransitionCondition THEN
enStepPress := enPressStep_WAIT_START;
lAxisShaft1.Move.bAbsolute := 0;
END_IF
END_CASE
END_IF;
gbEnableNextStepBtn := bTransitionCondition AND (gMachine.enMode = enMACH_MANUAL);
//Set Ouputs
IF bSafetyOkFP THEN
FOR usi:=100 TO 126 DO
// gMachineAlarms.Alarm[usi] := FALSE;
END_FOR
END_IF
gStatusVCControls.usBtnErrorReset := (lAxisShaft1.Error.uiID = 0);
gbOuLEDStart := (enStepPress = enPressStep_WAIT_START);
TOF_ResetAxisErrors.IN := bSafetyOk;
TOF_ResetAxisErrors.PT := t#3s;
TOF_ResetAxisErrors ();
IF EDGEPOS (gVCCommands.bErrorReset) OR (TOF_ResetAxisErrors.Q AND bBlink0_1) OR EDGEPOS (FALSE) THEN
lAxisShaft1.Error.bAcknowledge := (lAxisShaft1.Error.uiID > 0);
usErrorReset := 0;
END_IF
END_PROGRAM

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Logical/Axises/PressCtrl/PressCtrl.typ Normal file
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(**)
TYPE
typ_enStepPress :
( (*Absolutoffset einstellen*)
enPressStep_INIT := 0, (*Grundstellung pr<70>fen*)
enPressStep_MOVEHOMEPOS, (*Presse auf Ruheposition fahren*)
enPressStep_MOVEHOMEPOS_WAIT, (*Presse auf Ruheposition fahren*)
enPressStep_WAIT_START, (*Auf Startbefehl warten (mit Teil)*)
enPressStep_PRESS_PRESSPOS, (*Presse auf Pressposition fahren*)
enPressStep_PRESS_PRESSPOS_WAIT, (*Presse auf Pressposition fahren*)
enPressStep_WAIT_PRESSED, (*Ruhezeit*)
enPressStep_PRESS_HOMEPOS, (*Presse auf Ruheposition fahren*)
enPressStep_PRESS_HOMEPOS_WAIT (*Presse auf Ruheposition fahren*)
);
typ_enStepHoming :
( (*Grundstellungsfahrt*)
enPressStepHoming_INIT, (*Auf Start warten*)
enPressStepHoming_WAIT_START, (*Auf Startbefehl warten*)
enPressStepHoming_REF_PRESS, (*Referenzwerte Laden*)
enPressStepHoming_MOVE_HOME, (*Presse abfahren*)
enPressStepHoming_MOVE_HOME_WAIT, (*Presse referenziert (auf Block)*)
enPressStepHoming_DONE (*GST-Fahrt abgeschlossen*)
);
typ_enHome :
(
enHomeIdle,
enHomeOffsetPerm, (*Mit permanet gesp. Offset*)
enHomeOffsetPermDone, (*Mit permanet gesp. Offset*)
enHomeOffset0, (*Mit Offset 0 referenzieren*)
enHomeOffset0Done, (*Mit Offset 0 referenzieren*)
enHomeOffset0NoStore, (*Mit Offset 0 referenzieren*)
enHomeOffset0DoneNoStore, (*Mit Offset 0 referenzieren*)
enHomeStorePos (*Aktuelle Pos als Offset (zum Allg Offset) speichern*)
);
typStatusPressVCControls : STRUCT (*Controlbytes f<>r Visu*)
usJogNegShaft1 : USINT;
usJogPosShaft1 : USINT;
usReferencePress : USINT; (*Presse Referenzieren*)
usReferencePressABS : USINT; (*Presse Referenzieren mit gespeicherten Absolutwerten*)
END_STRUCT;
typManualCommnands : STRUCT (*Kommandos f<>r Hand / Automatikbetrieb*)
bNextManStep : BOOL; (*N<>chster Schritt (Semi) Automatic*)
bToggleAutoRepCycle : BOOL; (*Reperaturzyklus antriggern*)
bJogNegShaft1 : BOOL;
bJogPosShaft1 : BOOL;
bReferencePress : BOOL; (*Presse Referenzieren*)
bReferencePressABS : BOOL; (*Presse Referenzieren mit gespeicherten Absolutwerten*)
END_STRUCT;
typMoveConditions : STRUCT (*Bewegungsfreigaben*)
bEnableNegShaft1 : BOOL;
bEnablePosShaft1 : BOOL;
bEnableReferencePress : BOOL; (*Presse Referenzieren*)
bEnableReferencePressABS : BOOL; (*Presse Referenzieren*)
END_STRUCT;
END_TYPE

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Logical/Axises/PressCtrl/PressCtrl.var Normal file
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(********************************************************************
* COPYRIGHT --
********************************************************************
* Program: AxCtrl
* File: AxCtrl.var
* Author: michi
* Created: July 17, 2012
********************************************************************
* Local variables of program AxCtrl
********************************************************************)
(*//-----------------------------------------------------------------------------------------------------*)
(*//Dynamic Vars*)
VAR
lAxisShaft1 : REFERENCE TO typAxis; (*Axis Datastruct *)
END_VAR
(*//Local Vars*)
VAR
bTransitionCondition : BOOL;
bSafetyOk : BOOL;
bSafetyOkFP : BOOL;
bReferenedShaft1 : BOOL;
bHome : BOOL := FALSE;
bStop : BOOL;
bHalt : BOOL;
bEnableNextStep : BOOL; (*N<>chsten Schritt (Semiautomatik) Freigeben*)
bPressIsInHomepos : BOOL;
usi : USINT;
usErrorReset : USINT;
udSteptime : UDINT; (*[0.1s]*)
udCycletime : UDINT := 0; (*ms*)
udCycletimeLast : UDINT := 0; (*ms*)
StatusVCControls : typStatusPressVCControls;
ManualCommands : typManualCommnands; (*Kommandos Betriebsart Hand*)
MoveConditions : typMoveConditions;
enStepHomeShaft1 : typ_enHome;
enStepPress : typ_enStepPress;
enStepPressHoming : typ_enStepHoming;
rOverrideVelocity : REAL := 100.0; (*[0.1mm]*)
END_VAR
VAR CONSTANT
rSpeedJog : REAL := 20.0; (*[0.1mm]*)
END_VAR
VAR RETAIN
rSpeedPress : REAL := 3.33; (*[0.1mm]*)
rSpeedHandling : REAL := 40.0; (*[0.1mm]*)
END_VAR
VAR
rMaxTorque : REAL; (*Maximales Drehmoment*)
rMaxForce : REAL; (*Maximale Kraft*)
rAveragePos : REAL;
END_VAR
VAR CONSTANT
rPressPosMin : REAL := 32.0; (*Presse Oben Pos Min [0.1mm]*)
rPressPosStopIWIS : REAL := 750.0; (*Presse Oben Pos Min (IWIS Werkzeug) [0.1mm]*)
rPressPosMax : REAL := 1725.0; (*Press Unten Pos Max [0.1mm]*)
rPressPosHome : REAL := 1725.0; (*Grundstellung*)
rPressPosHomeIWIS : REAL := 950.0; (*Grundstellung (IWIS Werkzeug)*)
rHOMEPOS : REAL := 1750.0; (*Referenzierpos[0.1mm]*)
END_VAR
(*//Pressparams*)
VAR
rParamForce : REAL := 16.0; (*[kN]*)
END_VAR
VAR RETAIN
udPresstime : UDINT := 500; (*[ms]*)
END_VAR
(*//Calculate Force*)
VAR
rForce : REAL; (*Skalierte Kraft*)
rTorqueForceFactor : REAL; (*Umrechnungsfaktor Drehmoment > Kraft*)
END_VAR
VAR CONSTANT
rGearFactor : REAL := 25.0; (*i Getriebe*)
rThreadPitch : REAL := 0.01; (*Steigung Spindel [m]*)
END_VAR
(*//FUBS*)
VAR
FUB_AsArLogWrite : AsArLogWrite;
TOF_ResetAxisErrors : TOF;
TON_Slay1Up : TON;
TON_Slay2Up : TON;
END_VAR

43
Logical/Axises/PressCtrl/PressCtrlInit.st Normal file
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PROGRAM _INIT
lAxisShaft1 ACCESS ADR (gAxis[0]);
//Prepare Trace (later from Dataobject)
strcpy (ADR (gMAxTrace.Trace_Config.DatObj.Device), ADR ('logfiles'));
strcpy (ADR (gMAxTrace.Trace_Config.DatObj.Name), ADR ('ParTrace'));
gMAxTrace.Trace_Config.DatObj.Type := mcFILE + mcADD_DATE_TIME;
//gMAxTrace.Trace_Config.DatObj.Type := mcDATOBJ;
//Setup Trace
gMAxTrace.Trace_Config.ParTrace.Parameter[0].Axis := ADR (gAxShaft1);
gMAxTrace.Trace_Config.ParTrace.Parameter[0].ParID := ACP10PAR_SCTRL_SPEED_ACT;
gMAxTrace.Trace_Config.ParTrace.Parameter[1].Axis := ADR (gAxShaft1);
gMAxTrace.Trace_Config.ParTrace.Parameter[1].ParID := ACP10PAR_TORQUE_ACT;
gMAxTrace.Trace_Config.ParTrace.Parameter[2].Axis := ADR (gAxShaft1);
gMAxTrace.Trace_Config.ParTrace.Parameter[2].ParID := ACP10PAR_PCTRL_LAG_ERROR;
gMAxTrace.Trace_Config.ParTrace.Parameter[3].Axis := ADR (gAxShaft1);
gMAxTrace.Trace_Config.ParTrace.Parameter[3].ParID := ACP10PAR_PCTRL_S_ACT ;
gMAxTrace.Trace_Config.ParTrace.Trigger.Axis := ADR (gAxShaft1);
gMAxTrace.Trace_Config.ParTrace.Trigger.ParID := ACP10PAR_PCTRL_V_SET;
gMAxTrace.Trace_Config.ParTrace.Trigger.Event:= mcOUT_WINDOW;
gMAxTrace.Trace_Config.ParTrace.Trigger.Threshold := 1;
gMAxTrace.Trace_Config.ParTrace.Trigger.Window := 1;
gMAxTrace.Trace_Config.ParTrace.Type := mcMULTI_AXIS_TRACE;
gMAxTrace.Trace_Config.ParTrace.TracingTime := 40;
gMAxTrace.Trace_Config.ParTrace.SamplingTime := 0.02;
gMAxTrace.Trace_Config.ParTrace.Delay := 0.0;
gMAxTrace.Trace_Config.ParTrace.NetTriggerDelay := 0;
FUB_AsArLogWrite.ident := arlogBASE_USER_LOG_IDENT;
lAxisShaft1.Para.rAcceleration := 500;
lAxisShaft1.Para.rDeceleration := 500;
lAxisShaft1.Para.rJogVelocity := 40; // [0.1mm/s]
lAxisShaft1.Para.rVelocity := 20; // [0.1mm/s]
//Calculate ForceFactor [kN] p=98%
rTorqueForceFactor := -2 * brmPI * rGearFactor * 0.98 / rThreadPitch / 1000;
lAxisShaft1.Para.usHomeingMode := mcHOME_ABSOLUTE;
END_PROGRAM

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
<Files>
<File>acp10etxde.ett</File>
</Files>
</DataObject>

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TYPE
typAlarm : STRUCT
Alarm : ARRAY[0..127]OF BOOL;
Ack : ARRAY[0..127]OF BOOL;
Bypass : ARRAY[0..127]OF BOOL;
END_STRUCT;
END_TYPE

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VAR
bBlink0_1 : BOOL;
bBlink0_5 : BOOL;
bBlink1_0 : BOOL;
bBlink2_0 : BOOL;
bBlink5_0 : BOOL;
gdtCurrentTime : DATE_AND_TIME; (*Current Date and Time*)
gDTstrucCurrentTime : DTStructure := (0); (*Current Date and Time as DTStructure*)
gsCurrentTime : STRING[25] := ''; (*Current Date and Time as String*)
gTCurrentTime : TIME := T#0ms; (*Current Time*)
END_VAR
VAR CONSTANT
gAInNull : INT := 0; (*O FOR Analog Input*)
gTrue : BOOL := TRUE; (*Konstant TRUE*)
gFalse : BOOL := FALSE; (*Konstant False*)
gInNull : BOOL := FALSE; (*FALSE FOR Input *)
END_VAR
VAR
gOuNull : BOOL; (*DUMMY for Output*)
END_VAR
VAR CONSTANT
iAIVoltageOverflow : INT := 16#7FFF; (* Analog Input Voltage Mode,Overflow *)
iAIVoltageUnderflow : INT := -32767; (* Analog Input Voltage Underflow *)
END_VAR

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Package xmlns="http://br-automation.co.at/AS/Package">
<Objects>
<Object Type="File">GlobalCommon.typ</Object>
<Object Type="File">GlobalComon.var</Object>
<Object Type="Program" Language="IEC" Description="Current Date_And_Time / DT Struct">get_dt</Object>
<Object Type="Program" Language="IEC" Description="Blinker 0,1 -0,5s">blinker</Object>
</Objects>
</Package>

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Program xmlns="http://br-automation.co.at/AS/Program">
<Files>
<File Description="Local variables" Private="true">blinker.var</File>
<File Description="Initialization code">blinkerInit.ab</File>
<File Description="Cyclic code">blinkerCyclic.ab</File>
</Files>
</Program>

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(********************************************************************
* COPYRIGHT -- kA
********************************************************************
* Program: blinker
* File: blinker.var
* Author: michi
* Created: November 23, 2009
********************************************************************
* Local variables of program blinker
********************************************************************)
VAR
iCount : USINT;
END_VAR

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(********************************************************************
* COPYRIGHT -- kA
********************************************************************
* Program: blinker
* File: blinkerCyclic.ab
* Author: michi
* Created: November 23, 2009
********************************************************************
* Implementation of program blinker
********************************************************************)
PROGRAM _CYCLIC
(* cyclic program *)
;Has to be taskclass 100ms
bBlink0_1 = not bBlink0_1
inc (iCount)
if ((iCount mod 5) = 0) then
bBlink0_5 = not bBlink0_5
endif
if ((iCount mod 10) = 0) then
bBlink1_0 = not bBlink1_0
endif
if ((iCount mod 20) = 0) then
bBlink2_0 = not bBlink2_0
endif
if ((iCount mod 50) = 0) then
bBlink5_0 = not bBlink5_0
iCount = 0
endif
END_PROGRAM

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(********************************************************************
* COPYRIGHT -- kA
********************************************************************
* Program: blinker
* File: blinkerInit.ab
* Author: michi
* Created: November 23, 2009
********************************************************************
* Implementation of program blinker
********************************************************************)
PROGRAM _INIT
iCount = 0
END_PROGRAM

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Program xmlns="http://br-automation.co.at/AS/Program">
<Files>
<File>get_dtCyclic.ab</File>
<File Private="true">get_dt.var</File>
<File>get_dtInit.ab</File>
</Files>
</Program>

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VAR
sTemp : STRING[10] := '';
lDTStructureGetTime : DTStructureGetTime := (0);
lDTGetTime : DTGetTime := (0);
lTimeStructure : TIMEStructure := (0);
END_VAR

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PROGRAM _CYCLIC
(* cyclic program *)
lDTGetTime.enable = true
lDTGetTime FUB DTGetTime()
gdtCurrentTime = lDTGetTime.DT1
lDTStructureGetTime.enable = true
lDTStructureGetTime FUB DTStructureGetTime ()
lDTStructureGetTime.pDTStructure = adr (gDTstrucCurrentTime)
ascDTStructure (adr (gDTstrucCurrentTime), adr (gsCurrentTime), 25)
strcpy (adr (gsCurrentTime), "")
itoa (gDTstrucCurrentTime.year, adr (sTemp))
strcat (adr (gsCurrentTime), adr (sTemp))
strcat (adr (gsCurrentTime), "/")
itoa (gDTstrucCurrentTime.month, adr (sTemp))
strcat (adr (gsCurrentTime), adr (sTemp))
strcat (adr (gsCurrentTime), "/")
itoa (gDTstrucCurrentTime.day, adr (sTemp))
strcat (adr (gsCurrentTime), adr (sTemp))
strcat (adr (gsCurrentTime), " ")
itoa (gDTstrucCurrentTime.hour, adr (sTemp))
strcat (adr (gsCurrentTime), adr (sTemp))
strcat (adr (gsCurrentTime), ":")
itoa (gDTstrucCurrentTime.minute, adr (sTemp))
strcat (adr (gsCurrentTime), adr (sTemp))
strcat (adr (gsCurrentTime), ":")
itoa (gDTstrucCurrentTime.second, adr (sTemp))
strcat (adr (gsCurrentTime), adr (sTemp))
strcat (adr (gsCurrentTime), ".")
itoa (gDTstrucCurrentTime.millisec, adr (sTemp))
strcat (adr (gsCurrentTime), adr (sTemp))
lTimeStructure.day = gDTstrucCurrentTime.day
lTimeStructure.hour = gDTstrucCurrentTime.hour
lTimeStructure.minute = gDTstrucCurrentTime.minute
lTimeStructure.second = gDTstrucCurrentTime.second
lTimeStructure.millisec = gDTstrucCurrentTime.millisec
lTimeStructure.microsec = gDTstrucCurrentTime.microsec
gTCurrentTime = TIMEStructure_TO_TIME (adr (lTimeStructure))
END_PROGRAM

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PROGRAM _INIT
(* init program *)
END_PROGRAM

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(********************************************************************
* COPYRIGHT --
********************************************************************
* File: Global.typ
* Author: michi
* Created: March 15, 2013
********************************************************************
* Global data types of project franz_boerdel
********************************************************************)
TYPE
END_TYPE

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(********************************************************************
* COPYRIGHT -- kA
********************************************************************
* File: Global.typ
* Author: michi
* Created: August 14, 2009
********************************************************************
* Global data types of project schrauber
********************************************************************)
TYPE
END_TYPE

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(*//ST 2*)
VAR
gbInEStopPressed : BOOL;
gbInStartProcess : BOOL;
gbInEStopOk : BOOL; (*Nothaltkreis Ok*)
gbInSafetyChainOk : BOOL; (*Sicherheitskreis gesamt Ok*)
END_VAR
(*//ST3*)
VAR
gbOuLEDEStop : BOOL;
gbOuLEDStart : BOOL;
END_VAR

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Package xmlns="http://br-automation.co.at/AS/Package">
<Objects>
<Object Type="File" Description="Global data types">Global.typ</Object>
<Object Type="File" Description="Global variables">Global.var</Object>
</Objects>
</Package>

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=3.0.0.0?>
<Library Version="2.37.0" xmlns="http://br-automation.co.at/AS/Library" Description="PLCopen Motion Control function blocks">
<Files>
<File>acp10_mc.var</File>
<File>acp10_mc.typ</File>
<File>acp10_mc.fun</File>
</Files>
<Dependencies>
<Dependency ObjectName="Sys_lib" FromVersion="0.00.0" />
<Dependency ObjectName="Brsystem" FromVersion="0.00.0" />
<Dependency ObjectName="Acp10man" FromVersion="2.37.0" ToVersion="2.37.0" />
</Dependencies>
</Library>

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VAR CONSTANT
mc5TH_ORDER_POLYNOMIAL : UINT := 4; (*motion rule*)
mcABOVE_WINDOW : USINT := 40; (*trigger event mode*)
mcABSOLUTE : USINT := 0; (*start mode*)
mcABSOLUTE_NO_RESET : USINT := 2; (*definition for the shift input of MC_BR_Offset and MC_BR_Phasing*)
mcACKNOWLEDGE_ALL : UINT := 2; (*acknowledge all error records immediately*)
mcACT_CFG : UINT := 1;
mcADD_DATE_TIME : UINT := 1; (*additional data object type*)
mcALL_AXES : UDINT := 16#FFFFFFFF;
mcALL_EVENTS : USINT := 255; (*event index*)
mcALL_PARAMS : USINT := 0; (*parameter index*)
mcALL_STATES : USINT := 255; (*state index*)
mcAUTOMAT_POS : USINT := 100; (*additional movement direction*)
mcAVERAGE : UINT := 2;
mcAVERAGE_WEIGHTED : UINT := 4;
mcAXIS_ERROR : USINT := 0;
mcAXIS_WARNING : USINT := 1;
mcBASIS_PARAMETERS : REAL := 2.0; (*Option for DefaultMoveParameter*)
mcBELOW_WINDOW : USINT := 50; (*trigger event mode*)
mcBESTFIT_5TH_ORDER : UINT := 1024; (*interpolation rule*)
mcBESTFIT_6TH_ORDER : UINT := 1280; (*interpolation rule*)
mcBLANK : UINT := 0;
mcBRAKE_CONTROL_INIT : USINT := 8; (*brake command*)
mcBRAKE_TEST_INIT : USINT := 2; (*brake command*)
mcBRAKE_TEST_START : USINT := 4; (*brake command*)
mcCALCULATION : UINT := 11; (*setup mode*)
mcCATCH_UP : USINT := 4; (*synchronization mode*)
mcCHECK : UINT := 1; (*mode for automat compensation check*)
mcCHECK_HOMING_OFF : USINT := 1; (*disable homing check*)
mcCLOSE : USINT := 0;
mcCONTINUE_CONTROLLER_OFF : UINT := 128; (* continue if controller is off *)
mcCORRECT_CURRENT_CYCLE : UINT := 32768; (*additive StartMode for MC_BR_CrossCutterControl*)
mcCUBIC_SPLINE : UINT := 256; (*interpolation rule*)
mcCURRENT_DIR : USINT := 2; (*movement direction*)
mcCYCLIC : UINT := 2; (*event move mode*)
mcCYCLIC_ALL_EVENTS : UINT := 3; (*event move mode*)
mcDATOBJ : UINT := 0; (*data object type*)
mcDIRECT : USINT := 7; (*start mode*)
mcDISTANCE_BASED : UINT := 0; (*basis for cam movement (e.g. for MC_BR_CamTransition)*)
mcDITHER : USINT := 32; (*setup mode*)
mcEDGE_SENSITIVE : USINT := 4; (*additional mode for trigger event*)
mcENCODER : USINT := 0; (*setup mode*)
mcEQUAL : UINT := 2;
mcEVERY_RECORD : UINT := 1; (*mode for MC_BR_CyclicRead*)
mcEXCEED_PERIOD : USINT := 8; (*movement direction*)
mcFB_ERROR : USINT := 2;
mcFB_INPUTS : REAL := 255.0; (*option for DefaultMoveParameters*)
mcFF : USINT := 32; (*setup, torque mode*)
mcFF_NEG_MOVE : UINT := 34; (*setup mode*)
mcFF_POS_MOVE : UINT := 33; (*setup mode*)
mcFILE : UINT := 1; (*data object type*)
mcFILE_BIN : UINT := 0; (*binary format*)
mcFILE_CSV : UINT := 1; (*CSV format*)
mcFILE_TXT : UINT := 2; (*text format*)
mcFIRST_TRIGGER : UINT := 2;
mcFLUX : USINT := 1; (*setup mode*)
mcGE : UINT := 6;
mcGET_BRAKE_STATUS : USINT := 16; (*brake command*)
mcGREATER : UINT := 4;
mcHARMONIC_COMBINATION : UINT := 8; (*motion rule*)
mcHOLDOFF_DISTANCE : UINT := 16384;
mcHOME_ABS_SWITCH : USINT := 2; (*homing mode*)
mcHOME_ABSOLUTE : USINT := 4; (*homing mode*)
mcHOME_ABSOLUTE_CORR : USINT := 6; (*homing mode*)
mcHOME_AXIS_REF : USINT := 12; (*homing mode *)
mcHOME_BLOCK_DS : USINT := 14; (*homing mode *)
mcHOME_BLOCK_TORQUE : USINT := 13; (*homing mode *)
mcHOME_DCM : USINT := 9; (*homing mode*)
mcHOME_DCM_CORR : USINT := 10; (*homing mode*)
mcHOME_DEFAULT : USINT := 0; (*homing mode*)
mcHOME_DIRECT : USINT := 1; (*homing mode*)
mcHOME_LIMIT_SWITCH : USINT := 3; (*homing mode*)
mcHOME_REF_PULSE : USINT := 5; (*homing mode*)
mcHOME_RESTORE_POS : USINT := 11; (*homing mode*)
mcHOME_SET_PHASE : USINT := 7; (*homing mode*)
mcHOME_SWITCH_GATE : USINT := 8; (*homing mode*)
mcHORIZONTAL : USINT := 0; (*setup option for controller setup*)
mcIDENTIFICATION : UINT := 10; (*setup mode *)
mcIMMEDIATE : UINT := 0; (*mode for MC_BR_RegMarkCalc001, StartMode for MC_BR_CrossCutterControl, *)
mcIN_WINDOW : USINT := 20; (*trigger event mode*)
mcINCLINED_SINE_CURVE : UINT := 5; (*motion rule*)
mcINTERVAL_EVENT : UINT := 16;
mcIPL_LINEAR : USINT := 1; (*interpolation mode*)
mcIPL_OFF : USINT := 0; (*interpolation mode*)
mcIPL_QUADRATIC : USINT := 2; (*interpolation mode*)
mcIPL_QUADRATIC_NO_OVERSHOOT : USINT := 4; (*interpolation mode*)
mcISQ_F1_NOTCH : UINT := 128; (*setup mode*)
mcISQ_F2_NOTCH : UINT := 256; (*setup mode*)
mcISQ_F3_NOTCH : UINT := 512; (*setup mode*)
mcISQ_RIPPLE : UINT := 20; (*setup mode*)
mcLAST_POINT : UINT := 0; (*motion rule*)
mcLEAD_IN : UINT := 2;
mcLEAD_OUT : UINT := 4;
mcLENGTH_ONLY : UINT := 32;
mcLIMIT : USINT := 40; (*torque mode*)
mcLIMIT_PARAMETERS : REAL := 1.0; (*option for DefaultMoveParameters*)
mcLINEAR_CAM : USINT := 253; (*predefined 1:1 cam profile for MC_BR_CamDwell*)
mcLINEAR_CAM_NON_PERIODIC : USINT := 254; (*for predifined 1:1 cam profile*)
mcLINEAR_CAM_PERIODIC : USINT := 255; (*for predefined 1:1 cam profile*)
mcLOAD : UINT := 276; (*trace command*)
mcMANUAL_SEARCH : UINT := 64;
mcMASTER_DISTANCE_BASED : UINT := 3; (*basis for movement profile (e.g. for MC_BR_Offset or MC_BR_Phasing)*)
mcMASTER_POSITION : UINT := 256; (*additional basis for movement profile (e.g. for MC_BR_Offset), StartMode for MC_BR_CrossCutterControl*)
mcMASTER_POSITION_BASED : UINT := 2; (*basis for movement profile (e.g. for MC_BR_Offset or MC_BR_Phasing)*)
mcMAX_IV_TIME : USINT := 8; (*additional mode for power evaluation*)
mcMAX_SLAVE_COMP_DISTANCE_NEG : UINT := 4; (*mode for automat compensation check*)
mcMAX_SLAVE_COMP_DISTANCE_POS : UINT := 3; (*mode for automat compensation check*)
mcMIDDLE : USINT := 5;
mcMIN_MASTER_COMP_DISTANCE : UINT := 2; (*mode for automat compensation check*)
mcMODIFIED_ACCEL_TRAPEZOID : UINT := 6; (*motion rule*)
mcMODIFIED_SINE_CURVE : UINT := 7; (*motion rule*)
mcMOTOR : UINT := 258; (*switch on simulation mode*)
mcMULTI_AXIS_TRACE : UDINT := 0; (*parameter trace type*)
mcN_EDGE : USINT := 1;
mcNEGATIVE_DIR : USINT := 1; (*movement direction*)
mcNET_TRACE_GLOBAL : UDINT := 0; (*network trace type*)
mcNO_CHANGE_COMP : USINT := 2;
mcNO_EVENTS : USINT := 253; (*event index*)
mcNO_PARAMS : USINT := 253; (*parameter index*)
mcNO_POSITION : USINT := 0;
mcNO_START_COMP : USINT := 1;
mcNO_TEXT : UINT := 0; (*no error text determination active*)
mcNON_PERIODIC : BOOL := FALSE; (*cam profile mode*)
mcNOT_AXIS_RELATED : UDINT := 16#FFFFFFFF;
mcNULL : UINT := 1;
mcOFF : BOOL := FALSE;
mcON : BOOL := TRUE;
mcONCE : UINT := 1;
mcONE_RECORD : UINT := 0; (*mode for MC_BR_CyclicRead*)
mcONLY_EVENTS : USINT := 254; (*event index*)
mcONLY_PSM : USINT := 1; (*power evaluation mode*)
mcOPEN : USINT := 1;
mcOPTIMIZED_ACCELERATION : UINT := 768; (*interpolation rule*)
mcOPTIMIZED_VELOCITY : UINT := 512; (*interpolation rule*)
mcOUT_WINDOW : USINT := 30; (*trigger event mode*)
mcP_EDGE : USINT := 0;
mcPERIODIC : BOOL := TRUE; (*cam profile mode*)
mcPOSITION : USINT := 1; (*setup mode*)
mcPOSITIVE_DIR : USINT := 0; (*movement direction*)
mcQUADRATIC_PARABOLA : UINT := 2; (*motion rule*)
mcQUEUED : UINT := 1;
mcRELATIVE : USINT := 1; (*start mode*)
mcRESET : UINT := 320; (*trace command*)
mcRESTART : UINT := 273; (*StartMode for MC_BR_CrossCutterControl*)
mcREVERSE : UINT := 8;
mcSATURATION : USINT := 30; (*setup mode*)
mcSAVE : UINT := 341; (*trace command*)
mcSE : UINT := 3;
mcSET_OFFSET : USINT := 34; (*setup mode*)
mcSHIFT_FROM_EXPECTED : UINT := 50; (*input for MC_BR_TouchProbe*)
mcSHIFT_FROM_RESULT : UINT := 49; (*input for MC_BR_TouchProbe*)
mcSHORTEST_WAY : USINT := 3; (*synchronization mode, movement direction*)
mcSIMPLE_SINE_CURVE : UINT := 3; (*motion rule*)
mcSIMULATION_OFF : UINT := 259; (*switch off simulation mode*)
mcSLAVE_POSITION : UINT := 0; (*additional basis for movement profile (e.g. for MC_BR_Offset)*)
mcSLOW_DOWN : USINT := 5; (*synchronization mode*)
mcSMALLER : UINT := 1;
mcSPEED : USINT := 2; (*setup mode*)
mcSTART : UINT := 260;
mcSTART_ONLY : USINT := 3; (*power evaluation mode*)
mcSTEPPER : USINT := 31; (*setup mode*)
mcSTOP : UINT := 261;
mcSTRAIGHT_LINE : UINT := 1; (*motion rule*)
mcSW_END_ACTIVE : REAL := 0.0; (*SW end monitoring mode*)
mcSW_END_IGNORE : REAL := 1.0; (*SW end monitoring mode*)
mcSW_END_SPF : REAL := 2.0; (*SW end monitoring mode*)
mcSWITCH_OFF : UINT := 259; (*trace command*)
mcSWITCH_ON : UINT := 258; (*trace command*)
mcT_FILTER : UINT := 64; (*setup mode*)
mcTEST : UINT := 31; (*setup mode*)
mcTEXT : UINT := 1; (*error text determination active*)
mcTIME_BASED : UINT := 1; (*basis for movement profile (e.g. for MC_BR_Offset or MC_BR_Phasing)*)
mcTIME_LIMIT : USINT := 8; (*enable time dependent switch off of function*)
mcTRACE_DELAY : USINT := 6; (*trace status*)
mcTRACE_FINISHED : USINT := 1; (*trace status*)
mcTRACE_REST : USINT := 5; (*trace status*)
mcTRACE_RING : USINT := 4; (*trace status*)
mcTRACE_STARTED : USINT := 20; (*trace status*)
mcTRACE_TIME : USINT := 2; (*trace status*)
mcTRACE_TRIGGER : USINT := 3; (*trace status*)
mcTRANSITION_OFF : UINT := 0;
mcTRANSITION_ON : UINT := 1;
mcUNEQUAL : UINT := 5;
mcUPDATE_PERIOD : UINT := 16#8000; (*input for MC_BR_TouchProbe*)
mcUSE_AXIS_PERIOD : UINT := 16#4000; (*input for MC_BR_TouchProbe*)
mcUSE_FILTER_PAR : UINT := 4; (*setup mode *)
mcUSE_FIRST_TRIGGER_POS : UINT := 64; (*additional input for MC_BR_TouchProbe*)
mcUSE_STOP_COMP : USINT := 4;
mcV_LIMIT_CALC : USINT := 4; (*recalculate speed limit depending on user setting*)
mcV_LIMIT_OFF : USINT := 2; (*disable speed limit*)
mcVELOCITY_CONTROL : UINT := 4; (*basis for movement profile (e.g. for MC_BR_Offset or MC_BR_Phasing)*)
mcVERTICAL : USINT := 1; (*setup option for controller setup*)
mcWITH_PARAM : USINT := 2; (*power evaluation mode*)
mcWITHIN_PERIOD : USINT := 6; (*synchronization mode*)
mcWITHOUT_PERIOD : UINT := 4; (*input for MC_BR_TouchProbe*)
mcWRAP : UINT := 2;
END_VAR

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=3.0.0.0?>
<Library Version="2.37.0" xmlns="http://br-automation.co.at/AS/Library" Description="Motion Control Manager">
<Files>
<File>Acp10man.typ</File>
</Files>
<Dependencies>
<Dependency ObjectName="Acp10par" FromVersion="2.37.0" ToVersion="2.37.0" />
<Dependency ObjectName="Ncglobal" FromVersion="2.37.0" ToVersion="2.37.0" />
</Dependencies>
</Library>

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=3.0.0.0?>
<Library Version="2.37.0" xmlns="http://br-automation.co.at/AS/Library" Description="ACOPOS Parameters">
<Files>
<File>Acp10par.var</File>
</Files>
</Library>

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(********************************************************************
* COPYRIGHT -- Bernecker + Rainer
********************************************************************
* Library: AsArLog
* File: AsArLog.fun
* Author: B+R
********************************************************************
* Functions and function blocks of library AsArLog
********************************************************************)
FUNCTION_BLOCK AsArLogCreate (*creates an AR logger user module; asynchronous execution*)
VAR_INPUT
enable : BOOL; (*enables execution*)
pName : UDINT; (*name of the AR logger user module to be created give as a pointer, e.g. "vclog".*)
len : UDINT; (*length of the log data area*)
memType : UDINT; (*memory type on the target: arlogDRAM, arlogUSRRAM, arlogUSRROM*)
END_VAR
VAR
intResult : UDINT; (*internal variable*)
intState : UDINT; (*internal variable*)
intRes : UDINT; (*internal variable*)
END_VAR
VAR_OUTPUT
status : UINT; (*execution status: ERR_OK, ERR_FUB_ENABLE_FALSE, ERR_FUB_BUSY, 0xXXXX = see help*)
ident : UDINT; (*ident of the AR logger basis module to be generated*)
END_VAR
END_FUNCTION_BLOCK
FUNCTION_BLOCK AsArLogDelete (*deletes an AR logger user module; asynchronous execution*)
VAR_INPUT
enable : BOOL; (*enables execution*)
ident : UDINT; (*ident of the AR logger user module to be deleted*)
END_VAR
VAR
intResult : UDINT; (*internal variable*)
intState : UDINT; (*internal variable*)
intRes : UDINT; (*internal variable*)
END_VAR
VAR_OUTPUT
status : UINT; (*execution status: ERR_OK, ERR_FUB_ENABLE_FALSE, ERR_FUB_BUSY, 0xXXXX = see help*)
END_VAR
END_FUNCTION_BLOCK
FUNCTION_BLOCK AsArLogWrite (*writes a log entry to a AR logger user module; asynchronous execution*)
VAR_INPUT
enable : BOOL; (*enables execution*)
ident : UDINT; (*ident for the AR logger module to be written (user module or base module)*)
logLevel : UDINT; (*log level of the log entry*)
errornr : UDINT; (*error number of the entry*)
mem : UDINT; (*binary log data given as a pointer*)
len : UDINT; (*length of the binary log data in bytes*)
asciiString : UDINT; (*log-specific zero-terminated ASCII string give as a pointer*)
END_VAR
VAR
intResult : UDINT; (*internal variable*)
intState : UDINT; (*internal variable*)
intRes : UDINT; (*internal variable*)
intTaskName : ARRAY[0..35] OF USINT; (*internal variable*)
intRtkTime : ARRAY[0..3] OF UDINT; (*internal variable*)
END_VAR
VAR_OUTPUT
status : UINT; (*execution status: ERR_OK, ERR_FUB_ENABLE_FALSE, ERR_FUB_BUSY, 0xXXXX = see help*)
END_VAR
END_FUNCTION_BLOCK
FUNCTION_BLOCK AsArLogRead (*reads a log entry from a AR logger module; asynchronous execution*)
VAR_INPUT
enable : BOOL; (*enables execution*)
ident : UDINT; (*ident for the AR logger module to be read (user module or base module)*)
index : UDINT; (*index of the log entry to be read*)
arlogRead : UDINT; (*specifies read structure (given as a pointer) where the header data for the log entry can be copied*)
memBin : UDINT; (*buffer for binary log data given as a pointer (if NULL, no binary log data is copied)*)
lenBin : UDINT; (*number of binary log data bytes to be read (if NULL, no binary log data is copied)*)
memAscii : UDINT; (*buffer for ASCII string given as a pointer*)
lenAscii : UDINT; (*number of bytes to be read for the ASCII string*)
END_VAR
VAR
intResult : UDINT; (*internal variable*)
intState : UDINT; (*internal variable*)
intRes : UDINT; (*internal variable*)
END_VAR
VAR_OUTPUT
status : UINT; (*execution status: ERR_OK, ERR_FUB_ENABLE_FALSE, ERR_FUB_BUSY, 0xXXXX = see help*)
END_VAR
END_FUNCTION_BLOCK
FUNCTION_BLOCK AsArLogClear (*deletes or reinitializes the log data in an AR logger user module; asynchronous execution*)
VAR_INPUT
enable : BOOL; (*enables execution*)
ident : UDINT; (*ident of the AR logger user module to be reinitialized*)
END_VAR
VAR
intResult : UDINT; (*internal variable*)
intState : UDINT; (*internal variable*)
intRes : UDINT; (*internal variable*)
END_VAR
VAR_OUTPUT
status : UINT; (*execution status: ERR_OK, ERR_FUB_ENABLE_FALSE, ERR_FUB_BUSY, 0xXXXX = see help*)
END_VAR
END_FUNCTION_BLOCK
FUNCTION_BLOCK AsArLogGetInfo (*reads information from a self-generated AR logger user module or AR logger base user module*)
VAR_INPUT
enable : BOOL; (*enables execution*)
pName : UDINT; (*name of the AR logger user module (e.g. "vclog") given as a pointer*)
END_VAR
VAR
intResult : UDINT; (*internal variable*)
intState : UDINT; (*internal variable*)
intRes : UDINT; (*internal variable*)
END_VAR
VAR_OUTPUT
status : UINT; (*execution status: ERR_OK, ERR_FUB_ENABLE_FALSE, 0xXXXX = see help*)
ident : UDINT; (*ident of the AR logger BR module*)
len : UDINT; (*length of the log data area*)
memType : UDINT; (*memory type on the target*)
actualIndex : UDINT; (*current entry index in the specified AR logger BR module*)
FormatVer : UDINT; (*version of de log data format*)
END_VAR
END_FUNCTION_BLOCK

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(********************************************************************
* COPYRIGHT -- Bernecker + Rainer
********************************************************************
* Library: AsArLog
* File: AsArLog.typ
* Author: B+R
********************************************************************
* Data types of library AsArLog
********************************************************************)
TYPE
asarlogRead : STRUCT
len : UDINT; (*length of the entire log entry (header + binary log data + ASCII string)*)
lenBin : UDINT; (*length of the binary log data*)
lenAscii : UDINT; (*length of the ASCII log data*)
logLevel : UDINT; (*log level of the log entry*)
errornr : UDINT; (*error number of the entry*)
taskName : ARRAY[0..35] OF USINT; (*task name*)
errYear : UDINT; (*year (date of error)*)
errMonth : UDINT; (*month (date of error)*)
errDay : UDINT; (*day (date of error)*)
errHour : UDINT; (*hour (time of error)*)
errMinute : UDINT; (*minute (time of error)*)
errSecond : UDINT; (*second (time of error)*)
errMilliSec : UDINT; (*millisecond (time of error)*)
errMicroSec : UDINT; (*microsecond (time of error)*)
END_STRUCT;
END_TYPE

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(********************************************************************
* COPYRIGHT -- Bernecker + Rainer
********************************************************************
* Library: AsArLog
* File: AsArLog.var
* Author: B+R
********************************************************************
* Local variables of library AsArLog
********************************************************************)
VAR CONSTANT
arlogDRAM : USINT := 65; (*temporary AR log modules (DRAM)*)
arlogUSRRAM : USINT := 3; (*USERRAM*)
arlogUSRROM : USINT := 2; (*USERROM (USER FLASH)*)
arlogLEVEL_INFO : UDINT := 1; (*log level INFO*)
arlogLEVEL_WARNING : UDINT := 2; (*log level WARNING*)
arlogLEVEL_FATAL : UDINT := 3; (*log level FATAL*)
arlogMIN_LOGDATA_SIZE : UINT := 4096; (*minimum log data size of 4 KB*)
arlogBASE_SYSTEM_LOG_IDENT : UDINT := 0; (*fixed ID for the "$arlogsys" base system module*)
arlogBASE_USER_LOG_IDENT : UDINT := 1; (*fixed ID for the "$arlogusr" base user module*)
arlogBASE_FIELDBUS_LOG_IDENT : UDINT := 2; (*fixed ID for the "fieldbus" logger module*)
arlogBASE_SAFETY_LOG_IDENT : UDINT := 3; (*fixed ID for the "safety" logger module*)
arlogERR_ILL_NAME : UINT := 31400; (*incorrect or invalid name*)
arlogERR_ILL_MEMTYPE : UINT := 31401; (*incorrect memory type*)
arlogERR_ILL_LOGLEVEL : UINT := 31402; (*invalid log level (only arlogLEVEL_INFO, arlogLEVEL_WARNING, and arlogLEVEL_FATAL valid)*)
arlogERR_ILL_PARAM : UINT := 31403; (*invalid parameters specified*)
arlogERR_ILL_LEN : UINT := 31404; (*incorrect log data length. Must be >= arlogMIN_LOGDATA_SIZE (4096 bytes)*)
arlogERR_EXISTING : UINT := 31405; (*log module already exists*)
arlogERR_CREATE : UINT := 31406; (*general create error (create failed)*)
arlogERR_INSTALL : UINT := 31407; (*install error for AsArLogCreate*)
arlogERR_ACCESS_DENIED : UINT := 31408; (*cannot access the "$arlogsys" and "$arlogusr" base log modules*)
arlogERR_IN_ACCESS : UINT := 31409; (*access denied since other critical FBK simultaneously active*)
arlogERR_INVALID_IDENT : UINT := 31410; (*invalid ident specified*)
arlogERR_DELETE : UINT := 31411; (*general delete error (delete failed)*)
arlogERR_NOMEMORY : UINT := 31412; (*not enough buffer to copy*)
arlogERR_NOTEXISTING : UINT := 31416; (*AR log module doesn't exist*)
arlogERR_WRITE : UINT := 31417; (*general write error (write failed)*)
arlogERR_WRITE_CALC_DATA : UINT := 31418; (*error calculating referencing index*)
arlogERR_READ : UINT := 31419; (*general read error (read failed)*)
arlogERR_READ_BUFFER : UINT := 31420; (*invalid buffer specified*)
arlogERR_INVALID_INDEX : UINT := 31421; (*invalid index (smaller than the reference index and larger than the current index)*)
arlogERR_INVALID_ENTRY : UINT := 31422; (*invalid log entry read*)
arlogERR_READ_BINARY_BUFFER : UINT := 31423; (*buffer length for binary data too small*)
arlogERR_READ_ASCII_BUFFER : UINT := 31424; (*buffer length for ASCII data too small*)
arlogERR_NO_MORE_ENTRY : UINT := 31425; (*FBK still working*)
END_VAR

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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Library Description="The AsArLog library can be used to collect additional error information and for further processing." xmlns="http://br-automation.co.at/AS/Library">
<Files>
<File>AsArLog.var</File>
<File>AsArLog.typ</File>
<File>AsArLog.fun</File>
</Files>
<Dependencies>
<Dependency ObjectName="runtime" />
</Dependencies>
</Library>

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/* Automation Studio generated header file */
/* Do not edit ! */
#ifndef _ASARLOG_
#define _ASARLOG_
#ifdef __cplusplus
extern "C"
{
#endif
#include <bur/plctypes.h>
#include <runtime.h>
#ifndef _IEC_CONST
#define _IEC_CONST _WEAK const
#endif
/* Constants */
#ifdef _REPLACE_CONST
#define arlogERR_NO_MORE_ENTRY 31425U
#define arlogERR_READ_ASCII_BUFFER 31424U
#define arlogERR_READ_BINARY_BUFFER 31423U
#define arlogERR_INVALID_ENTRY 31422U
#define arlogERR_INVALID_INDEX 31421U
#define arlogERR_READ_BUFFER 31420U
#define arlogERR_READ 31419U
#define arlogERR_WRITE_CALC_DATA 31418U
#define arlogERR_WRITE 31417U
#define arlogERR_NOTEXISTING 31416U
#define arlogERR_NOMEMORY 31412U
#define arlogERR_DELETE 31411U
#define arlogERR_INVALID_IDENT 31410U
#define arlogERR_IN_ACCESS 31409U
#define arlogERR_ACCESS_DENIED 31408U
#define arlogERR_INSTALL 31407U
#define arlogERR_CREATE 31406U
#define arlogERR_EXISTING 31405U
#define arlogERR_ILL_LEN 31404U
#define arlogERR_ILL_PARAM 31403U
#define arlogERR_ILL_LOGLEVEL 31402U
#define arlogERR_ILL_MEMTYPE 31401U
#define arlogERR_ILL_NAME 31400U
#define arlogBASE_SAFETY_LOG_IDENT 3U
#define arlogBASE_FIELDBUS_LOG_IDENT 2U
#define arlogBASE_USER_LOG_IDENT 1U
#define arlogBASE_SYSTEM_LOG_IDENT 0U
#define arlogMIN_LOGDATA_SIZE 4096U
#define arlogLEVEL_FATAL 3U
#define arlogLEVEL_WARNING 2U
#define arlogLEVEL_INFO 1U
#define arlogUSRROM 2U
#define arlogUSRRAM 3U
#define arlogDRAM 65U
#else
_IEC_CONST unsigned short arlogERR_NO_MORE_ENTRY = 31425U;
_IEC_CONST unsigned short arlogERR_READ_ASCII_BUFFER = 31424U;
_IEC_CONST unsigned short arlogERR_READ_BINARY_BUFFER = 31423U;
_IEC_CONST unsigned short arlogERR_INVALID_ENTRY = 31422U;
_IEC_CONST unsigned short arlogERR_INVALID_INDEX = 31421U;
_IEC_CONST unsigned short arlogERR_READ_BUFFER = 31420U;
_IEC_CONST unsigned short arlogERR_READ = 31419U;
_IEC_CONST unsigned short arlogERR_WRITE_CALC_DATA = 31418U;
_IEC_CONST unsigned short arlogERR_WRITE = 31417U;
_IEC_CONST unsigned short arlogERR_NOTEXISTING = 31416U;
_IEC_CONST unsigned short arlogERR_NOMEMORY = 31412U;
_IEC_CONST unsigned short arlogERR_DELETE = 31411U;
_IEC_CONST unsigned short arlogERR_INVALID_IDENT = 31410U;
_IEC_CONST unsigned short arlogERR_IN_ACCESS = 31409U;
_IEC_CONST unsigned short arlogERR_ACCESS_DENIED = 31408U;
_IEC_CONST unsigned short arlogERR_INSTALL = 31407U;
_IEC_CONST unsigned short arlogERR_CREATE = 31406U;
_IEC_CONST unsigned short arlogERR_EXISTING = 31405U;
_IEC_CONST unsigned short arlogERR_ILL_LEN = 31404U;
_IEC_CONST unsigned short arlogERR_ILL_PARAM = 31403U;
_IEC_CONST unsigned short arlogERR_ILL_LOGLEVEL = 31402U;
_IEC_CONST unsigned short arlogERR_ILL_MEMTYPE = 31401U;
_IEC_CONST unsigned short arlogERR_ILL_NAME = 31400U;
_IEC_CONST unsigned long arlogBASE_SAFETY_LOG_IDENT = 3U;
_IEC_CONST unsigned long arlogBASE_FIELDBUS_LOG_IDENT = 2U;
_IEC_CONST unsigned long arlogBASE_USER_LOG_IDENT = 1U;
_IEC_CONST unsigned long arlogBASE_SYSTEM_LOG_IDENT = 0U;
_IEC_CONST unsigned short arlogMIN_LOGDATA_SIZE = 4096U;
_IEC_CONST unsigned long arlogLEVEL_FATAL = 3U;
_IEC_CONST unsigned long arlogLEVEL_WARNING = 2U;
_IEC_CONST unsigned long arlogLEVEL_INFO = 1U;
_IEC_CONST unsigned char arlogUSRROM = 2U;
_IEC_CONST unsigned char arlogUSRRAM = 3U;
_IEC_CONST unsigned char arlogDRAM = 65U;
#endif
/* Datatypes and datatypes of function blocks */
typedef struct asarlogRead
{ unsigned long len;
unsigned long lenBin;
unsigned long lenAscii;
unsigned long logLevel;
unsigned long errornr;
unsigned char taskName[36];
unsigned long errYear;
unsigned long errMonth;
unsigned long errDay;
unsigned long errHour;
unsigned long errMinute;
unsigned long errSecond;
unsigned long errMilliSec;
unsigned long errMicroSec;
} asarlogRead;
typedef struct AsArLogCreate
{
/* VAR_INPUT (analog) */
unsigned long pName;
unsigned long len;
unsigned long memType;
/* VAR_OUTPUT (analog) */
unsigned short status;
unsigned long ident;
/* VAR (analog) */
unsigned long intResult;
unsigned long intState;
unsigned long intRes;
/* VAR_INPUT (digital) */
plcbit enable;
} AsArLogCreate_typ;
typedef struct AsArLogDelete
{
/* VAR_INPUT (analog) */
unsigned long ident;
/* VAR_OUTPUT (analog) */
unsigned short status;
/* VAR (analog) */
unsigned long intResult;
unsigned long intState;
unsigned long intRes;
/* VAR_INPUT (digital) */
plcbit enable;
} AsArLogDelete_typ;
typedef struct AsArLogWrite
{
/* VAR_INPUT (analog) */
unsigned long ident;
unsigned long logLevel;
unsigned long errornr;
unsigned long mem;
unsigned long len;
unsigned long asciiString;
/* VAR_OUTPUT (analog) */
unsigned short status;
/* VAR (analog) */
unsigned long intResult;
unsigned long intState;
unsigned long intRes;
unsigned char intTaskName[36];
unsigned long intRtkTime[4];
/* VAR_INPUT (digital) */
plcbit enable;
} AsArLogWrite_typ;
typedef struct AsArLogRead
{
/* VAR_INPUT (analog) */
unsigned long ident;
unsigned long index;
unsigned long arlogRead;
unsigned long memBin;
unsigned long lenBin;
unsigned long memAscii;
unsigned long lenAscii;
/* VAR_OUTPUT (analog) */
unsigned short status;
/* VAR (analog) */
unsigned long intResult;
unsigned long intState;
unsigned long intRes;
/* VAR_INPUT (digital) */
plcbit enable;
} AsArLogRead_typ;
typedef struct AsArLogClear
{
/* VAR_INPUT (analog) */
unsigned long ident;
/* VAR_OUTPUT (analog) */
unsigned short status;
/* VAR (analog) */
unsigned long intResult;
unsigned long intState;
unsigned long intRes;
/* VAR_INPUT (digital) */
plcbit enable;
} AsArLogClear_typ;
typedef struct AsArLogGetInfo
{
/* VAR_INPUT (analog) */
unsigned long pName;
/* VAR_OUTPUT (analog) */
unsigned short status;
unsigned long ident;
unsigned long len;
unsigned long memType;
unsigned long actualIndex;
unsigned long FormatVer;
/* VAR (analog) */
unsigned long intResult;
unsigned long intState;
unsigned long intRes;
/* VAR_INPUT (digital) */
plcbit enable;
} AsArLogGetInfo_typ;
/* Prototyping of functions and function blocks */
void AsArLogCreate(struct AsArLogCreate* inst);
void AsArLogDelete(struct AsArLogDelete* inst);
void AsArLogWrite(struct AsArLogWrite* inst);
void AsArLogRead(struct AsArLogRead* inst);
void AsArLogClear(struct AsArLogClear* inst);
void AsArLogGetInfo(struct AsArLogGetInfo* inst);
#ifdef __cplusplus
};
#endif
#endif /* _ASARLOG_ */

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(********************************************************************
* COPYRIGHT -- Bernecker + Rainer
********************************************************************
* Library: AsBrMath
* File: AsBrMath.fun
* Author: B+R
********************************************************************
* Functions and function blocks of library AsBrMath
********************************************************************)
FUNCTION brmatan2 : REAL (*calculates the arc tangent of y/x*)
VAR_INPUT
y :REAL; (*y*)
x :REAL; (*x*)
END_VAR
END_FUNCTION
FUNCTION brmceil : REAL (*calculates the smallest integer value which is greater than or equal to the input value*)
VAR_INPUT
x :REAL; (*input value*)
END_VAR
END_FUNCTION
FUNCTION brmcosh : REAL (*calculates the hyperbolic cosine of x*)
VAR_INPUT
x :REAL; (*input value*)
END_VAR
END_FUNCTION
FUNCTION brmfloor : REAL (*calculates the largest integer value which is less than or equal to the input value*)
VAR_INPUT
x :REAL; (*input value*)
END_VAR
END_FUNCTION
FUNCTION brmfmod : REAL (*calculates the remainder of the division x/y*)
VAR_INPUT
x :REAL; (*numerator*)
y :REAL; (*denominator*)
END_VAR
END_FUNCTION
FUNCTION brmfrexp : REAL (*calculates the mantissa and the exponent of a floating point number*)
VAR_INPUT
x :REAL; (*input value*)
pExp :UDINT; (*address of the exponent (address of DINT) (base 2)*)
END_VAR
END_FUNCTION
FUNCTION brmldexp : REAL (*calculates a floating point number from mantissa x and exponent exp*)
VAR_INPUT
x :REAL; (*mantissa*)
exp_val :DINT; (*exponent (base 2)*)
END_VAR
END_FUNCTION
FUNCTION brmmodf : REAL (*separates a floating point number into an integer and decimal part*)
VAR_INPUT
x :REAL; (*input value*)
plp :UDINT; (*address of the integer part (address of a REAL value)*)
END_VAR
END_FUNCTION
FUNCTION brmpow : REAL (*calculates x raised to the power of y*)
VAR_INPUT
x :REAL; (*base*)
y :REAL; (*exponent*)
END_VAR
END_FUNCTION
FUNCTION brmsinh : REAL (*calculates the hyperbolic sine of x*)
VAR_INPUT
x :REAL; (*input value*)
END_VAR
END_FUNCTION
FUNCTION brmtanh : REAL (*calculates the hyperbolic tangent of x*)
VAR_INPUT
x :REAL; (*input value*)
END_VAR
END_FUNCTION

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(********************************************************************
* COPYRIGHT -- Bernecker + Rainer
********************************************************************
* Library: AsBrMath
* File: AsBrMath.var
* Author: B+R
********************************************************************
* Local variables of library AsBrMath
********************************************************************)
VAR CONSTANT
brm2_SQRTPI : REAL := 1.12838; (*2/(square root from PI)*)
brmSQRT1_2 : REAL := 0.707107; (*square root from 1/2*)
brmSQRTPI : REAL := 1.77245; (*square root from PI*)
brmLOG2_E : REAL := 0.693147; (*log with the base 2 from E*)
brmLOG10E : REAL := 0.434294; (*log with the base 10 from E*)
brmIVLN10 : REAL := 0.434294; (*1/(ln from 10)*)
brmINVLN2 : REAL := 1.4427; (*1/(ln from 2)*)
brmTWOPI : REAL := 6.28319; (*2 PI*)
brmSQRT3 : REAL := 1.73205; (*square root from 3*)
brmSQRT2 : REAL := 1.41421; (*square root from 2*)
brmLOG2E : REAL := 1.4427; (*log with the base 2 from E*)
brmLN2LO : REAL := 1.90821e-010; (*log with the base 2 from LOW*)
brmLN2HI : REAL := 0.693147; (*log with the base 2 from HIGH*)
brm3PI_4 : REAL := 2.35619; (*3/4 PI*)
brmPI_4 : REAL := 0.785398; (*PI/4*)
brmPI_2 : REAL := 1.5708; (*PI/2*)
brmLN10 : REAL := 2.30259; (*ln from 10*)
brm2_PI : REAL := 0.63662; (*2/PI*)
brm1_PI : REAL := 0.31831; (*1/PI*)
brmLN2 : REAL := 0.693147; (*ln from 2*)
brmPI : REAL := 3.14159; (*PI*)
brmE : REAL := 2.71828; (*E*)
END_VAR

8
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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.0.14.207?>
<Library Description="This library integrates mathematical functions such as angle functions, rounding off, etc. into the program." xmlns="http://br-automation.co.at/AS/Library">
<Files>
<File>AsBrMath.var</File>
<File>AsBrMath.fun</File>
</Files>
</Library>

90
Logical/Libraries/AsBrMath/SG3/AsBrMath.h Normal file
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/* Automation Studio generated header file */
/* Do not edit ! */
#ifndef _ASBRMATH_
#define _ASBRMATH_
#ifdef __cplusplus
extern "C"
{
#endif
#include <bur/plctypes.h>
#ifndef _IEC_CONST
#define _IEC_CONST _WEAK const
#endif
/* Constants */
#ifdef _REPLACE_CONST
#define brm2_SQRTPI 1.12838
#define brmSQRT1_2 0.707107
#define brmSQRTPI 1.77245
#define brmLOG2_E 0.693147
#define brmLOG10E 0.434294
#define brmIVLN10 0.434294
#define brmINVLN2 1.4427
#define brmTWOPI 6.28319
#define brmSQRT3 1.73205
#define brmSQRT2 1.41421
#define brmLOG2E 1.4427
#define brmLN2LO 1.90821e-010
#define brmLN2HI 0.693147
#define brm3PI_4 2.35619
#define brmPI_4 0.785398
#define brmPI_2 1.5708
#define brmLN10 2.30259
#define brm2_PI 0.63662
#define brm1_PI 0.31831
#define brmLN2 0.693147
#define brmPI 3.14159
#define brmE 2.71828
#else
_IEC_CONST float brm2_SQRTPI = 1.12838;
_IEC_CONST float brmSQRT1_2 = 0.707107;
_IEC_CONST float brmSQRTPI = 1.77245;
_IEC_CONST float brmLOG2_E = 0.693147;
_IEC_CONST float brmLOG10E = 0.434294;
_IEC_CONST float brmIVLN10 = 0.434294;
_IEC_CONST float brmINVLN2 = 1.4427;
_IEC_CONST float brmTWOPI = 6.28319;
_IEC_CONST float brmSQRT3 = 1.73205;
_IEC_CONST float brmSQRT2 = 1.41421;
_IEC_CONST float brmLOG2E = 1.4427;
_IEC_CONST float brmLN2LO = 1.90821e-010;
_IEC_CONST float brmLN2HI = 0.693147;
_IEC_CONST float brm3PI_4 = 2.35619;
_IEC_CONST float brmPI_4 = 0.785398;
_IEC_CONST float brmPI_2 = 1.5708;
_IEC_CONST float brmLN10 = 2.30259;
_IEC_CONST float brm2_PI = 0.63662;
_IEC_CONST float brm1_PI = 0.31831;
_IEC_CONST float brmLN2 = 0.693147;
_IEC_CONST float brmPI = 3.14159;
_IEC_CONST float brmE = 2.71828;
#endif
/* Prototyping of functions and function blocks */
float brmatan2(float y, float x);
float brmceil(float x);
float brmcosh(float x);
float brmfloor(float x);
float brmfmod(float x, float y);
float brmfrexp(float x, unsigned long pExp);
float brmldexp(float x, signed long exp_val);
float brmmodf(float x, unsigned long plp);
float brmpow(float x, float y);
float brmsinh(float x);
float brmtanh(float x);
#ifdef __cplusplus
};
#endif
#endif /* _ASBRMATH_ */

91
Logical/Libraries/AsBrMath/SG4/AsBrMath.h Normal file
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/* Automation Studio generated header file */
/* Do not edit ! */
#ifndef _ASBRMATH_
#define _ASBRMATH_
#ifdef __cplusplus
extern "C"
{
#endif
#include <bur/plctypes.h>
#ifndef _IEC_CONST
#define _IEC_CONST _WEAK const
#endif
/* Constants */
#ifdef _REPLACE_CONST
#define brm2_SQRTPI 1.12838
#define brmSQRT1_2 0.707107
#define brmSQRTPI 1.77245
#define brmLOG2_E 0.693147
#define brmLOG10E 0.434294
#define brmIVLN10 0.434294
#define brmINVLN2 1.4427
#define brmTWOPI 6.28319
#define brmSQRT3 1.73205
#define brmSQRT2 1.41421
#define brmLOG2E 1.4427
#define brmLN2LO 1.90821e-010
#define brmLN2HI 0.693147
#define brm3PI_4 2.35619
#define brmPI_4 0.785398
#define brmPI_2 1.5708
#define brmLN10 2.30259
#define brm2_PI 0.63662
#define brm1_PI 0.31831
#define brmLN2 0.693147
#define brmPI 3.14159
#define brmE 2.71828
#else
_IEC_CONST float brm2_SQRTPI = 1.12838;
_IEC_CONST float brmSQRT1_2 = 0.707107;
_IEC_CONST float brmSQRTPI = 1.77245;
_IEC_CONST float brmLOG2_E = 0.693147;
_IEC_CONST float brmLOG10E = 0.434294;
_IEC_CONST float brmIVLN10 = 0.434294;
_IEC_CONST float brmINVLN2 = 1.4427;
_IEC_CONST float brmTWOPI = 6.28319;
_IEC_CONST float brmSQRT3 = 1.73205;
_IEC_CONST float brmSQRT2 = 1.41421;
_IEC_CONST float brmLOG2E = 1.4427;
_IEC_CONST float brmLN2LO = 1.90821e-010;
_IEC_CONST float brmLN2HI = 0.693147;
_IEC_CONST float brm3PI_4 = 2.35619;
_IEC_CONST float brmPI_4 = 0.785398;
_IEC_CONST float brmPI_2 = 1.5708;
_IEC_CONST float brmLN10 = 2.30259;
_IEC_CONST float brm2_PI = 0.63662;
_IEC_CONST float brm1_PI = 0.31831;
_IEC_CONST float brmLN2 = 0.693147;
_IEC_CONST float brmPI = 3.14159;
_IEC_CONST float brmE = 2.71828;
#endif
/* Prototyping of functions and function blocks */
float brmatan2(float y, float x);
float brmceil(float x);
float brmcosh(float x);
float brmfloor(float x);
float brmfmod(float x, float y);
float brmfrexp(float x, unsigned long pExp);
float brmldexp(float x, signed long exp_val);
float brmmodf(float x, unsigned long plp);
float brmpow(float x, float y);
float brmsinh(float x);
float brmtanh(float x);
#ifdef __cplusplus
};
#endif
#endif /* _ASBRMATH_ */

90
Logical/Libraries/AsBrMath/SGC/AsBrMath.h Normal file
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/* Automation Studio generated header file */
/* Do not edit ! */
#ifndef _ASBRMATH_
#define _ASBRMATH_
#ifdef __cplusplus
extern "C"
{
#endif
#include <bur/plctypes.h>
#ifndef _IEC_CONST
#define _IEC_CONST _WEAK const
#endif
/* Constants */
#ifdef _REPLACE_CONST
#define brm2_SQRTPI 1.12838
#define brmSQRT1_2 0.707107
#define brmSQRTPI 1.77245
#define brmLOG2_E 0.693147
#define brmLOG10E 0.434294
#define brmIVLN10 0.434294
#define brmINVLN2 1.4427
#define brmTWOPI 6.28319
#define brmSQRT3 1.73205
#define brmSQRT2 1.41421
#define brmLOG2E 1.4427
#define brmLN2LO 1.90821e-010
#define brmLN2HI 0.693147
#define brm3PI_4 2.35619
#define brmPI_4 0.785398
#define brmPI_2 1.5708
#define brmLN10 2.30259
#define brm2_PI 0.63662
#define brm1_PI 0.31831
#define brmLN2 0.693147
#define brmPI 3.14159
#define brmE 2.71828
#else
_IEC_CONST float brm2_SQRTPI = 1.12838;
_IEC_CONST float brmSQRT1_2 = 0.707107;
_IEC_CONST float brmSQRTPI = 1.77245;
_IEC_CONST float brmLOG2_E = 0.693147;
_IEC_CONST float brmLOG10E = 0.434294;
_IEC_CONST float brmIVLN10 = 0.434294;
_IEC_CONST float brmINVLN2 = 1.4427;
_IEC_CONST float brmTWOPI = 6.28319;
_IEC_CONST float brmSQRT3 = 1.73205;
_IEC_CONST float brmSQRT2 = 1.41421;
_IEC_CONST float brmLOG2E = 1.4427;
_IEC_CONST float brmLN2LO = 1.90821e-010;
_IEC_CONST float brmLN2HI = 0.693147;
_IEC_CONST float brm3PI_4 = 2.35619;
_IEC_CONST float brmPI_4 = 0.785398;
_IEC_CONST float brmPI_2 = 1.5708;
_IEC_CONST float brmLN10 = 2.30259;
_IEC_CONST float brm2_PI = 0.63662;
_IEC_CONST float brm1_PI = 0.31831;
_IEC_CONST float brmLN2 = 0.693147;
_IEC_CONST float brmPI = 3.14159;
_IEC_CONST float brmE = 2.71828;
#endif
/* Prototyping of functions and function blocks */
float brmatan2(float y, float x);
float brmceil(float x);
float brmcosh(float x);
float brmfloor(float x);
float brmfmod(float x, float y);
float brmfrexp(float x, unsigned long pExp);
float brmldexp(float x, signed long exp_val);
float brmmodf(float x, unsigned long plp);
float brmpow(float x, float y);
float brmsinh(float x);
float brmtanh(float x);
#ifdef __cplusplus
};
#endif
#endif /* _ASBRMATH_ */

1738
Logical/Libraries/AsIecCon/AsIecCon.fun Normal file
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10
Logical/Libraries/AsIecCon/Binary.lby Normal file
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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=3.0.0.0?>
<Library xmlns="http://br-automation.co.at/AS/Library" Description="This library contains function interfaces for IEC 1131-3 conversion functions.">
<Files>
<File>AsIecCon.fun</File>
</Files>
<Dependencies>
<Dependency ObjectName="AsTime" />
</Dependencies>
</Library>

49
Logical/Libraries/AsIecCon/SG3/AsIecCon.h Normal file
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/* Automation Studio Generated Header File, Format Version 1.00 */
/* do not change */
#ifndef ASIECCON_H_
#define ASIECCON_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <bur/plc.h>
/* Constants */
/* Datatypes */
/* Datatypes of function blocks */
/* Prototyping of functions and function blocks */
signed short H_TO_NINT(signed short IN);
unsigned short H_TO_NUINT(unsigned short IN);
signed long H_TO_NDINT(signed long IN);
unsigned long H_TO_NUDINT(unsigned long IN);
float H_TO_NREAL(float IN);
plctime H_TO_NTIME(plctime IN);
DATE_AND_TIME H_TO_NDT(DATE_AND_TIME IN);
signed short N_TO_HINT(signed short IN);
unsigned short N_TO_HUINT(unsigned short IN);
signed long N_TO_HDINT(signed long IN);
unsigned long N_TO_HUDINT(unsigned long IN);
float N_TO_HREAL(float IN);
plctime N_TO_HTIME(plctime IN);
DATE_AND_TIME N_TO_HDT(DATE_AND_TIME IN);
signed short swapINT(signed short IN);
unsigned short swapUINT(unsigned short IN);
signed long swapDINT(signed long IN);
unsigned long swapUDINT(unsigned long IN);
float swapREAL(float IN);
#ifdef __cplusplus
};
#endif
#endif /* ASIECCON_H_ */

62
Logical/Libraries/AsIecCon/SG4/AsIecCon.h Normal file
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@@ -0,0 +1,62 @@
/* Automation Studio Generated Header File, Format Version 1.00 */
/* do not change */
#ifndef ASIECCON_H_
#define ASIECCON_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <bur/plc.h>
/* Constants */
/* Datatypes */
/* Datatypes of function blocks */
/* Prototyping of functions and function blocks */
signed short H_TO_NINT(signed short IN);
unsigned short H_TO_NUINT(unsigned short IN);
signed long H_TO_NDINT(signed long IN);
unsigned long H_TO_NUDINT(unsigned long IN);
float H_TO_NREAL(float IN);
plctime H_TO_NTIME(plctime IN);
DATE_AND_TIME H_TO_NDT(DATE_AND_TIME IN);
DATE H_TO_NDATE(DATE IN);
TOD H_TO_NTOD(TOD IN);
signed short N_TO_HINT(signed short IN);
unsigned short N_TO_HUINT(unsigned short IN);
signed long N_TO_HDINT(signed long IN);
unsigned long N_TO_HUDINT(unsigned long IN);
float N_TO_HREAL(float IN);
plctime N_TO_HTIME(plctime IN);
DATE_AND_TIME N_TO_HDT(DATE_AND_TIME IN);
DATE N_TO_HDATE(DATE IN);
TOD N_TO_HTOD(TOD IN);
signed short swapINT(signed short IN);
unsigned short swapUINT(unsigned short IN);
WORD swapWORD(WORD IN);
signed long swapDINT(signed long IN);
unsigned long swapUDINT(unsigned long IN);
DWORD swapDWORD(DWORD IN);
TIME swapTIME(TIME IN);
DATE_AND_TIME swapDT(DATE_AND_TIME IN);
DATE swapDATE(DATE IN);
TOD swapTOD(TOD IN);
float swapREAL(float IN);
/* The interface declarations of the AsIecCon functions are not included here
* because they are inline in IEC languages. The x_TO_STRING and the
* STRING_TO_x functions are not available for C programms. */
#ifdef __cplusplus
};
#endif
#endif /* ASIECCON_H_ */

62
Logical/Libraries/AsIecCon/SGC/AsIecCon.h Normal file
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/* Automation Studio Generated Header File, Format Version 1.00 */
/* do not change */
#ifndef ASIECCON_H_
#define ASIECCON_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <bur/plc.h>
/* Constants */
/* Datatypes */
/* Datatypes of function blocks */
/* Prototyping of functions and function blocks */
signed short H_TO_NINT(signed short IN);
unsigned short H_TO_NUINT(unsigned short IN);
signed long H_TO_NDINT(signed long IN);
unsigned long H_TO_NUDINT(unsigned long IN);
float H_TO_NREAL(float IN);
plctime H_TO_NTIME(plctime IN);
DATE_AND_TIME H_TO_NDT(DATE_AND_TIME IN);
DATE H_TO_NDATE(DATE IN);
TOD H_TO_NTOD(TOD IN);
signed short N_TO_HINT(signed short IN);
unsigned short N_TO_HUINT(unsigned short IN);
signed long N_TO_HDINT(signed long IN);
unsigned long N_TO_HUDINT(unsigned long IN);
float N_TO_HREAL(float IN);
plctime N_TO_HTIME(plctime IN);
DATE_AND_TIME N_TO_HDT(DATE_AND_TIME IN);
DATE N_TO_HDATE(DATE IN);
TOD N_TO_HTOD(TOD IN);
signed short swapINT(signed short IN);
unsigned short swapUINT(unsigned short IN);
WORD swapWORD(WORD IN);
signed long swapDINT(signed long IN);
unsigned long swapUDINT(unsigned long IN);
DWORD swapDWORD(DWORD IN);
TIME swapTIME(TIME IN);
DATE_AND_TIME swapDT(DATE_AND_TIME IN);
DATE swapDATE(DATE IN);
TOD swapTOD(TOD IN);
float swapREAL(float IN);
/* The interface declarations of the AsIecCon functions are not included here
* because they are inline in IEC languages. The x_TO_STRING and the
* STRING_TO_x functions are not available for C programms. */
#ifdef __cplusplus
};
#endif
#endif /* ASIECCON_H_ */

9
Logical/Libraries/NcGlobal/Binary.lby Normal file
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<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=3.0.0.0?>
<Library Version="2.37.0" xmlns="http://br-automation.co.at/AS/Library" Description="Global NC functions">
<Files>
<File>Ncglobal.fun</File>
<File>Ncglobal.typ</File>
<File>Ncglobal.var</File>
</Files>
</Library>

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