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C-Achse Optimiert (APT eingefuegt PWM auf 20kHzz)

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Schalter Schaltschranktuer eingefuegt
This commit is contained in:
Michael Rest
2021-03-30 15:29:05 +02:00
parent 840d8e2c39
commit 215c50f1d4
38 changed files with 5722 additions and 86 deletions
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7
Logical/AcpParTab/AcpParTab.apt Normal file
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@@ -0,0 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio FileVersion="4.9"?>
<AcoposParameterTable>
<Root Name="Parameters">
<Parameter Name="F_SWITCH" ID="347" Value="20000" Unit="cps" Description="Inverter: Switch frequency" />
</Root>
</AcoposParameterTable>

7
Logical/AcpParTab/Apt.dob Normal file
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@@ -0,0 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio FileVersion="4.9"?>
<DataObject SubType="Apt" xmlns="http://br-automation.co.at/AS/DataObject">
<Files>
<File Description="ACOPOS Parameter table">AcpParTab.apt</File>
</Files>
</DataObject>

1835
Logical/Libraries/McAcpPar/McAcpPar.var Normal file
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Logical/Libraries/McAcpPar/SG4/ARM/McAcpPar.br Normal file
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Logical/Libraries/McAcpPar/SG4/ARM/libMcAcpPar.a Normal file
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Logical/Libraries/McAcpPar/SG4/IA32/McAcpPar.br Normal file
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Logical/Libraries/McAcpPar/SG4/IA32/libMcAcpPar.a Normal file
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Logical/Libraries/McAcpPar/SG4/McAcpPar.h Normal file
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10
Logical/Libraries/McAcpPar/binary.lby Normal file
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@@ -0,0 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio FileVersion="4.9"?>
<Library Version="5.13.1" SubType="binary" Description="[mapp Motion] ACOPOS parameter ID library" xmlns="http://br-automation.co.at/AS/Library">
<Files>
<File>McAcpPar.var</File>
</Files>
<Dependencies>
<Dependency ObjectName="McBase" FromVersion="5.13.0" ToVersion="5.13.9" />
</Dependencies>
</Library>

1
Logical/Libraries/Package.pkg
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@@ -44,5 +44,6 @@
<Object Type="Library" Language="binary" Description="[mapp Motion] ACOPOS axis library">McAcpAx</Object>
<Object Type="Library" Language="binary" Description="[mapp Motion] Program interpreter library">McProgInt</Object>
<Object Type="Library" Language="binary" Description="The BRSystem library provides the user with a number of system functions for e.g. handling permanent memory, accessing exception information, etc.">brsystem</Object>
<Object Type="Library" Language="binary" Description="[mapp Motion] ACOPOS parameter ID library">McAcpPar</Object>
</Objects>
</Package>

3
Logical/MachCtrl/MachCtrl/Action.st
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@@ -187,6 +187,7 @@ ACTION DoSafetyStates:
FUBs.TON_SimulationOn.IN := gMachine1.bMachineON AND gMachine1.bSimulation;
FUBs.TON_SimulationOn.PT := t#1s;
FUBs.TON_SimulationOn ();
//FixMe Tore
States.bSafetyLaserOk := gbSPLCInMaintDoorOk OR FUBs.TON_SimulationOn.Q;
END_ACTION
@@ -428,7 +429,7 @@ ACTION DoFUBs:
gbSOuOpenBreakZ := MpFUB.AxBasic_Z.PowerOn;
States.bAxPowerOffDoorReqManual := (gCmd1.bReqDoorOpen AND NOT MpFUB.MpCNC5Axis.MoveActive) AND (lMachine.enMode <> enMACH_AUTOMATIC);
States.bAxPowerOffDoorReqManual := (gCmd1.bReqDoorOpen AND gbSPLCInMaintDoorOk AND NOT MpFUB.MpCNC5Axis.MoveActive) AND (lMachine.enMode <> enMACH_AUTOMATIC);
States.bAxPowerOffAuto := (lMachine.enMode = enMACH_AUTOMATIC) AND MpFUB.AxBasic_A.IsHomed AND MpFUB.MpCNC5Axis.IsHomed AND
((enStepAuto = enAutoStep_WAIT_START));
// (NOT States.bSafetyDoorsOk AND ((enStepAuto = enAutoStep_MAN_GLUE) OR (enStepAuto = enAutoStep_MAN_OP))));

10
Logical/MachCtrl/MachCtrl/Action_Axis.st
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@@ -203,7 +203,7 @@ ACTION DoSLSAxisProcPar:
States.ProcParamSlowSet.bAxis_Z := FALSE;
END_IF
IF States.ProcParamLoaded.bAxis_C AND NOT States.ProcParamFastSet.bAxis_C AND NOT MpFUB.ProcessParam_C.Error THEN
MpData.ProcPar_C_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 720; //Max 720
MpData.ProcPar_C_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 240; //Max 720
MpFUB.ProcessParam_C.Mode := mcPPM_WRITE;
MpFUB.ProcessParam_C.Execute := TRUE;
States.ProcParamFastSet.bAxis_C := TRUE;
@@ -356,10 +356,10 @@ ACTION DoCalibrateParameterC:
MpFUB.InitHome_C.HomingParameters.StartDirection := mcDIR_POSITIVE; // War neg
MpFUB.InitHome_C.HomingParameters.HomingDirection := mcDIR_NEGATIVE;
MpFUB.InitHome_C.HomingParameters.TorqueLimit := 1.0; // [Nm]
MpFUB.InitHome_C.HomingParameters.Acceleration := 750; // [<EFBFBD>/s2];
MpFUB.InitHome_C.HomingParameters.Acceleration := 360; // [<EFBFBD>/s2];
MpFUB.InitHome_C.HomingParameters.StartVelocity := 5.0; // [<EFBFBD>/s]
MpFUB.InitHome_C.HomingParameters.HomingVelocity := 2.5; // [<EFBFBD>/s]
MpFUB.InitHome_C.HomingParameters.Position := 0.0;//-0.018; // [<EFBFBD>]
MpFUB.InitHome_C.HomingParameters.Position := 0.055;//-0.018; // [<EFBFBD>]
MpFUB.InitHome_C.HomingParameters.BlockDetectionPositionError := 0.05; // [mm]
MpFUB.InitHome_C.HomingParameters.PositionErrorStopLimit := 0.75; // [mm]
END_ACTION
@@ -371,10 +371,10 @@ ACTION DoCalibrateParameterA:
MpFUB.InitHome_A.HomingParameters.StartDirection := mcDIR_POSITIVE; //War Neg
MpFUB.InitHome_A.HomingParameters.HomingDirection := mcDIR_NEGATIVE;
MpFUB.InitHome_A.HomingParameters.TorqueLimit := 1.0; // [Nm] max 1.27
MpFUB.InitHome_A.HomingParameters.Acceleration := 750; // [<EFBFBD>/s2];
MpFUB.InitHome_A.HomingParameters.Acceleration := 360; // [<EFBFBD>/s2];
MpFUB.InitHome_A.HomingParameters.StartVelocity := 5.0; // [<EFBFBD>/s]
MpFUB.InitHome_A.HomingParameters.HomingVelocity := 2.5; // [<EFBFBD>/s]
MpFUB.InitHome_A.HomingParameters.Position := +135.08; // [<EFBFBD>] (Parameter)
MpFUB.InitHome_A.HomingParameters.Position := +134.98; // [<EFBFBD>] (Parameter)
MpFUB.InitHome_A.HomingParameters.BlockDetectionPositionError := 0.05; // [<EFBFBD>]
MpFUB.InitHome_A.HomingParameters.PositionErrorStopLimit := 0.75; // [<EFBFBD>]
END_ACTION

2
Logical/MachCtrl/MachCtrl/Action_Manual.st
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@@ -883,7 +883,7 @@ ACTION DoManualCNC:
//FixMe
MpFUB.MpCNC5Axis.Continue := TRUE;
ELSE
IF (MpFUB.AxBasic_Z.Position > 600) THEN
IF (MpFUB.MpCNC5Axis.Z > 1200) THEN //FixMe Sicherheitsebene
MpFUB.MpCNC5Axis.MoveProgram := TRUE;
END_IF
END_IF

33
Logical/MachCtrl/MachCtrl/Cyclic.st
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@@ -681,20 +681,20 @@ PROGRAM _CYCLIC
//CNC Gestartet
gMP7121.LED_Run := enLED_FLASH_FAST;
//M103 -Befehl laser einschalten
//Blockierend - wird quittiert wenn Kopf in Positionsregelung
//Hohenregelung wird aktiviert wenn nicht bereits aktiv
//---------------------------
IF MFlags.b103_LaserOn THEN
gRTLaserInterface.Out.bMidPos := States.TestMode.bNoHeightCtrl OR States.TestMode.bSimulateCNC;
gRTLaserInterface.Out.bFollowPos := NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC;
//Leistungsanpassung an Bahn deaktivieren -Standard FixMe
States.bLaserFullPower := TRUE;
gIPGLaserInterface.Out.bPilotLaserOn := ((gRTLaserInterface.In.bHeadIsInFollowpos AND States.TestMode.bNoLaser) OR States.TestMode.bNoHeightCtrl) AND NOT States.TestMode.bSimulateCNC;
IF gRTLaserInterface.In.bHeadIsInFollowpos AND NOT States.TestMode.bNoLaser AND NOT States.TestMode.bSimulateCNC THEN
gIPGLaserInterface.Out.uiOutputPower := uiTestPowerLaser; //FixMe
END_IF
IF (gIPGLaserInterface.Out.bPilotLaserOn AND gIPGLaserInterface.In.bPilotLaserIsOn)
OR ((gIPGLaserInterface.Out.uiOutputPower > 0) AND gIPGLaserInterface.In.bLaserIsEmitting)
OR ((gIPGLaserInterface.Out.uiOutputPower > 0)) // AND gIPGLaserInterface.In.bLaserIsEmitting)
OR States.TestMode.bSimulateCNC OR gMachine1.bSimulation THEN
//M Befehl quittieren
MFlags.b103_LaserOn := FALSE;
@@ -703,6 +703,7 @@ PROGRAM _CYCLIC
//M105 -Befehl Laser ausschalten
//nicht blockierend
//---------------------------
FUBs.TON_M105_LaserOff.IN := MFlags.b105_LaserOff;
FUBs.TON_M105_LaserOff.PT := t#10ms;
@@ -717,7 +718,7 @@ PROGRAM _CYCLIC
gRTLaserInterface.Out.bMidPos := TRUE;
//Leistungsanpassung an Bahn deaktivieren -Standard
States.bLaserFullPower := TRUE;
States.bLaserFullPower := FALSE;
IF (NOT gIPGLaserInterface.In.bPilotLaserIsOn
AND NOT gIPGLaserInterface.In.bLaserIsEmitting
@@ -730,6 +731,8 @@ PROGRAM _CYCLIC
//M110 -Befehl Hoehenregulierung deaktivieren
//nicht blockierend
//aktuelle H<EFBFBD>he wird gehalten
//---------------------------
IF MFlags.b110_StayAtHeight THEN
IF gRTLaserInterface.In.bHeadIsInFollowpos AND NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC THEN
@@ -740,6 +743,8 @@ PROGRAM _CYCLIC
//M111 -Befehl Mittelpos halten
//nicht blockierend
//Kopf f<EFBFBD>hrt in Mittelpos
//---------------------------
IF MFlags.b111_StayAtMid THEN
gRTLaserInterface.Out.bFollowPos := FALSE;
@@ -749,6 +754,7 @@ PROGRAM _CYCLIC
//M112 -Befehl Volle Laserleistung aktivieren
//nicht blockierend
//---------------------------
IF MFlags.b112_FullPowerOn THEN
States.bLaserFullPower := TRUE;
@@ -756,15 +762,18 @@ PROGRAM _CYCLIC
END_IF
//M115 -Befehl Hoehenregulierung reaktivieren
//M115 -Befehl Hoehenregulierung aktivieren
//nicht blockierend
//H<EFBFBD>henregelung aktivieren (im Anflug zum Zeitsparen)
//---------------------------
IF MFlags.b115_ReactivateFollow THEN
IF MFlags.b115_FollowHeight THEN
gRTLaserInterface.Out.bMidPos := States.TestMode.bNoHeightCtrl OR States.TestMode.bSimulateCNC;
gRTLaserInterface.Out.bFollowPos := NOT States.TestMode.bNoHeightCtrl AND NOT States.TestMode.bSimulateCNC;
MFlags.b115_ReactivateFollow := FALSE;
MFlags.b115_FollowHeight := FALSE;
END_IF
//M116 -Befehl Adaptive Laserleistung reaktivieren
//nicht blockierend
//---------------------------
IF MFlags.b116_AdaptivePower THEN
States.bLaserFullPower := FALSE;
@@ -813,7 +822,7 @@ PROGRAM _CYCLIC
MFlags.b110_StayAtHeight := FALSE;
MFlags.b111_StayAtMid := FALSE;
MFlags.b112_FullPowerOn := FALSE;
MFlags.b115_ReactivateFollow := FALSE;
MFlags.b115_FollowHeight := FALSE;
MFlags.b116_AdaptivePower := FALSE;
gIPGLaserInterface.Out.bPilotLaserOn := FALSE;
@@ -851,11 +860,11 @@ PROGRAM _CYCLIC
// OR ((enStepAuto > enAutoStep_WAIT_START) AND bBlink0_5 ));
//Handshake T<EFBFBD>rfreigebe
(*gCmd1.bRelDoorOpen := gCmd1.bReqDoorOpen AND NOT MpFUB.MpCNC5Axis.PowerOn AND NOT MpFUB.AxBasic_X.PowerOn AND
gCmd1.bRelDoorOpen := gCmd1.bReqDoorOpen AND NOT MpFUB.MpCNC5Axis.PowerOn AND NOT MpFUB.AxBasic_X.PowerOn AND
NOT MpFUB.AxBasic_Y.PowerOn AND NOT MpFUB.AxBasic_Z.PowerOn AND NOT MpFUB.AxBasic_A.PowerOn AND
((lMachine.enMode <> enMACH_AUTOMATIC) OR ((enStepAuto = enAutoStep_WAIT_START)));
*)
NOT MpFUB.AxBasic_C.PowerOn;
// ((lMachine.enMode <> enMACH_AUTOMATIC) OR ((enStepAuto = enAutoStep_WAIT_START)));
//Override setzen

2
Logical/MachCtrl/MachCtrl/Types.typ
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@@ -365,7 +365,7 @@ TYPE
b110_StayAtHeight : BOOL; (*Auf aktueller Hoehe halten (nur wenn laser an) nicht Blockierend*)
b111_StayAtMid : BOOL; (*Auf Mittelpos halten (nur wenn laser an) nicht Blockierend*)
b112_FullPowerOn : BOOL; (*Laserleisutung auf Sollwert nicht Blockierend*)
b115_ReactivateFollow : BOOL; (*H<>he wieder Folgen (nur wenn laser an) nicht Blockierend*)
b115_FollowHeight : BOOL; (*H<>he Folgen (nur wenn laser an) nicht Blockierend*)
b116_AdaptivePower : BOOL; (*Laserleisutung wieder an Bahngeschwindigkeit anpassen nicht Blockierend*)
END_STRUCT;
typ_enStepAuto :

2
Logical/MachCtrl/MachCtrl/Variables.var
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@@ -37,7 +37,7 @@ VAR
udi : UDINT;
uiRecipe : UINT; (*Aktueles Rezept*)
uiTestPowerLaser : UINT := 600;
uiTestMinPowerLaser : UINT := 600;
uiTestMinPowerLaser : UINT := 1000; (*Minimale Laserleistung f<>r Bahnabh. Leistung*)
END_VAR
VAR RETAIN
uiTestPowerLaserSimulation : {REDUND_UNREPLICABLE} UINT := 1200; (*Bahnabh<62>ngige Leistung*)

1
Logical/Machine/GlobalMachine.typ
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@@ -12,7 +12,6 @@ TYPE
bMachineHOME : BOOL; (*Anlage in Grundstellung*)
bRequestHoming : BOOL := 1; (*Anforderung Grundstellungsfahrt*)
bRequestDoor : BOOL := 1; (*Anmeldung T<>r*)
bReleaseDoor : BOOL; (*Freigabe T<>ranmeldung*)
bSetupMode : BOOL; (*Inbetriebnahme (Plausibilit<69>t deaktivieren)*)
enMode : enMACHMODE := enMACH_NOOP; (*Betriebsart*)
END_STRUCT;

35
Logical/Machine/machine/Action.st
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@@ -1,3 +1,30 @@
ACTION DoTimes:
//Zeiten bilden
FUBs.TOF_KeyManual.IN := bInKeyManual;
FUBs.TOF_KeyManual.PT := t#500ms;
FUBs.TOF_KeyManual ();
FUBs.TOF_KeyAuto.IN := bInKeyAuto;
FUBs.TOF_KeyAuto.PT := t#500ms;
FUBs.TOF_KeyAuto ();
FUBs.TON_AutoOff.IN := FALSE;
FUBs.TON_AutoOff.PT := t#1s500ms;
FUBs.TON_AutoOff ();
//Anlage Ein Verz<EFBFBD>gert
FUBs.TOF_MachineOn.IN := gMachine1.bMachineON;
FUBs.TOF_MachineOn.PT := t#100ms;
FUBs.TOF_MachineOn ();
gMachine1.bMachineONDel := FUBs.TOF_MachineOn.Q;
//Nach Start der SLX Warten
FUBs.TON_StartDelay.IN := TRUE;
FUBs.TON_StartDelay.PT := t#35s;
FUBs.TON_StartDelay ();
END_ACTION
ACTION DoInitSetupmodeButtons:
//Buttons f<EFBFBD>r Einrichtbetrieb initialisieren
VCButtons.MachineJog.bCommand := FALSE;
@@ -236,17 +263,17 @@ ACTION DoOutputs:
bOuLedKeyReset := NOT gbSPLCInEstopOk;
//T<EFBFBD>r verriegeln
bOuLockDoorLeft := bInMaintDoorLeftClosed AND (NOT gMachine1.bRequestDoor AND gMachine1.bReleaseDoor);
bOuLockDoorRight := bInMaintDoorRightClosed AND (NOT gMachine1.bRequestDoor AND gMachine1.bReleaseDoor);
bOuLockDoorLeft := bInMaintDoorLeftClosed AND NOT (gCmd1.bReqDoorOpen AND gCmd1.bRelDoorOpen);
bOuLockDoorRight := bInMaintDoorRightClosed AND NOT (gCmd1.bReqDoorOpen AND gCmd1.bRelDoorOpen);
//LEDS
bOuLEDMaintDoorOk := gbSPLCInMaintDoorOk OR
((gbSInMaintDoorLeftOk AND gbSInMaintDoorRightOk) AND bBlink0_5);
IF EDGEPOS (bInKeyRequestMaintDoor) THEN
gMachine1.bRequestDoor := NOT gMachine1.bRequestDoor;
gCmd1.bReqDoorOpen := NOT gCmd1.bReqDoorOpen;
END_IF
bOuLEDReqMaintDoor := gMachine1.bRequestDoor; //FixMe
bOuLEDReqMaintDoor := gCmd1.bReqDoorOpen; //FixMe
END_ACTION

2
Logical/Machine/machine/IO.Var
View File

@@ -21,6 +21,8 @@ END_VAR
(*//60K4*)
VAR
bInKeyReset : BOOL; (*Resettaster Schaltschrankt<6B>r*)
bInKeyManual : BOOL;
bInKeyAuto : BOOL;
END_VAR
(*//Ausg<73>nge*)
(*#################################################################################################################*)

4
Logical/Machine/machine/Types.typ
View File

@@ -10,8 +10,10 @@ TYPE
TON_AirNOk1 : TON;
TON_ReleaseToolRob1 : TON;
TON_AutoOff : TON;
TOF_MachineOn : TOF; (*Nachlauf Anlage Ein*)
TON_StartDelay : TON; (*Wartezeit nach Start*)
TOF_MachineOn : TOF; (*Nachlauf Anlage Ein*)
TOF_KeyManual : TOF; (*Ausschaltvert<72>gerung Hand Schl<68>sselschalter (wg. Umschalten)*)
TOF_KeyAuto : TOF; (*Ausschaltvert<72>gerung Hand Schl<68>sselschalter (wg. Umschalten)*)
AsIOAccRead : AsIOAccRead; (*Register aus SLX Lesen*)
TARGETInfo : TARGETInfo;
END_STRUCT;

29
Logical/Machine/machine/machine.st
View File

@@ -30,6 +30,9 @@ PROGRAM _CYCLIC
//Dummyaufrufe
SafeMC_Status;
//Zeitfunktionen
DoTimes;
//Temperaturregelung Deaktiviert
VCButtons.TempCtrl.usStatus.0 := TRUE; //DisabledNOT gMachine1.bMachineON;
VCButtons.TempCtrl.usStatus.1 := NOT gbSPLCInEstopOk;
@@ -62,21 +65,23 @@ PROGRAM _CYCLIC
IF NOT gMachine1.bMachineON THEN
//Keine Betriebsart
gMachine1.enMode := enMACH_NOOP;
ELSIF (gMP7121.KeyLeft OR gMachine1.bSimulation) AND (gUserRights.Right4_Jog >= mpUSERX_ACCESS_ACTUATE) THEN
ELSIF ((FUBs.TOF_KeyManual.Q AND NOT bInKeyAuto) OR gMachine1.bSimulation) AND (gUserRights.Right4_Jog >= mpUSERX_ACCESS_ACTUATE) THEN
//Tippbetrieb nicht aktiv
IF (gMachine1.enMode <> enMACH_JOG) AND (gMachine1.enMode <> enMACH_MANUAL) THEN
gMachine1.enMode := enMACH_JOG;
gVisuCtrlMP.MainPage.usSetLayer := 0; //r<EFBFBD>cksetzen
ELSE
IF (gVisuCtrlMP.MainPage.usSetLayer = 2) THEN
//FixMe Tippbetrieb nur wenn CNC nicht steth
gMachine1.enMode := enMACH_JOG;
ELSIF (gVisuCtrlMP.MainPage.usSetLayer = 5) THEN
//FixMe Handbetrieb nur wenn Stillstand(
gMachine1.enMode := enMACH_MANUAL;
END_IF
gVisuCtrlMP.MainPage.usSetLayer := 0; //r<EFBFBD>cksetzen
END_IF
ELSIF gMP7121.KeyRight AND (gMachine1.enMode <> enMACH_AUTOMATIC) AND FALSE THEN //FixMe
ELSIF (FUBs.TOF_KeyAuto.Q AND NOT bInKeyManual) AND (gMachine1.enMode <> enMACH_AUTOMATIC) AND FALSE THEN //FixMe
// AND NOT gMachine1.bDisableMachine AND NOT gAlarmReaction.b1StopAutomatic
//AND (gUserRights.Right1_Operate >= mpUSER_ACCESS_ACTUATE) THEN //AND NOT gAlarmReaction.b2FinishCycle THEN
//Automatik anfordern
@@ -84,10 +89,6 @@ PROGRAM _CYCLIC
END_IF
//Nur Automatik betreffend
FUBs.TON_AutoOff.IN := FALSE;
FUBs.TON_AutoOff.PT := t#1s500ms;
FUBs.TON_AutoOff ();
IF (gMachine1.enMode = enMACH_AUTOMATIC) THEN
//FixMe
//IF FUBs.TON_AutoOff.Q OR NOT gbSPLCInEstopOk THEN
@@ -115,15 +116,13 @@ PROGRAM _CYCLIC
enLatchMachmode := gMachine1.enMode;
//On/OFF
IF (EDGEPOS (gMP7121.KeyLeft OR gMP7121.KeyRight ) OR EDGEPOS (VCButtons.MachineOnOff.bCommand))
IF ((FUBs.TOF_KeyManual.Q OR FUBs.TOF_KeyAuto.Q) OR EDGEPOS (VCButtons.MachineOnOff.bCommand AND gMachine1.bSimulation))
AND FUBs.TON_StartDelay.Q THEN
gMachine1.bMachineON := TRUE;
// MpAuditCustomEvent (gMpAuditTrail, "Machine", "", "on");
ELSIF (NOT gMP7121.KeyLeft AND NOT gMP7121.KeyRight AND NOT gMachine1.bSimulation) OR EDGENEG (VCButtons.MachineOnOff.bCommand) THEN
ELSIF (NOT FUBs.TOF_KeyManual.Q AND NOT FUBs.TOF_KeyAuto.Q AND NOT gMachine1.bSimulation) OR EDGENEG (VCButtons.MachineOnOff.bCommand AND gMachine1.bSimulation) THEN
gMachine1.bMachineON := FALSE;
// MpAuditCustomEvent (gMpAuditTrail, "Machine", "", "off");
//Beim Ausschalten der Anlage Licht ausmachen disabled
//VCButtons.MachineLight.bCommand := FALSE;
END_IF
//Anlage aus wg. Fehlerreaktion
IF MpAlarmXCheckReaction (gMpAlarmXCore, 'ReactionMachineOFF') THEN
@@ -295,16 +294,6 @@ PROGRAM _CYCLIC
*)
//Anlage Ein Verz<EFBFBD>gert
FUBs.TOF_MachineOn.IN := gMachine1.bMachineON;
FUBs.TOF_MachineOn.PT := t#100ms;
FUBs.TOF_MachineOn ();
gMachine1.bMachineONDel := FUBs.TOF_MachineOn.Q;
//Nach Start der SLX Warten
FUBs.TON_StartDelay.IN := TRUE;
FUBs.TON_StartDelay.PT := t#5s;
FUBs.TON_StartDelay ();
//Sch<EFBFBD>tz<EFBFBD>berwachugn R<EFBFBD>cklesesignale - Dummyaufruf wg. Mapping (werden direkt in SPLC gemappt
//St<EFBFBD>rung quittieren

3
Logical/Package.pkg
View File

@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio Version=4.7.4.67 SP?>
<?AutomationStudio FileVersion="4.9"?>
<Package Version="1.00.0" xmlns="http://br-automation.co.at/AS/Package">
<Objects>
<Object Type="File">Project.language</Object>
@@ -14,5 +14,6 @@
<Object Type="File" Description="Projektpasswörter">Passwords.txt</Object>
<Object Type="Package">CNCProgramme</Object>
<Object Type="Package" Description=" Scene Viewer für Simulation">SceneViewer</Object>
<Object Type="DataObject" Language="Apt">AcpParTab</Object>
</Objects>
</Package>

10
Logical/VCShared/DataSources/DataSource.dso
View File

@@ -7331,20 +7331,26 @@
<DataPoint Name="uiTestPowerLaser">
<Property Name="ConnectedBySharedResource" Value="False"/>
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
<Property Name="DPLimit" Value="Default"/>
<Property Name="Description" Value=""/>
<Property Name="PLCType" Value="UINT"/>
<Property Name="PLCUnit" Value="Source[relative:UnitGroup].Unit[Watt]"/>
<Property Name="UnitGroup" Value="Source[global].UnitGroup[Power]"/>
<Property Name="UpdateTime" Value="Default"/>
<Property Name="UserID" Value="None"/>
<Property Name="VCType" Value="INTEGER"/>
<Property Name="VCType" Value="SCALED"/>
</DataPoint>
<DataPoint Name="uiTestMinPowerLaser">
<Property Name="ConnectedBySharedResource" Value="False"/>
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
<Property Name="DPLimit" Value="Default"/>
<Property Name="Description" Value=""/>
<Property Name="PLCType" Value="UINT"/>
<Property Name="PLCUnit" Value="Source[relative:UnitGroup].Unit[Watt]"/>
<Property Name="UnitGroup" Value="Source[global].UnitGroup[Power]"/>
<Property Name="UpdateTime" Value="Default"/>
<Property Name="UserID" Value="None"/>
<Property Name="VCType" Value="INTEGER"/>
<Property Name="VCType" Value="SCALED"/>
</DataPoint>
</Folder>
<Folder Name="PartCount">

2
Logical/VCShared/Package.vcp
View File

@@ -3,7 +3,7 @@
<Project xmlns="http://br-automation.co.at/AS/VC/Project">
<Property Name="EnableEvents" Value="True"/>
<Property Name="SharedTargetResourceRoot" Value=""/>
<Property Name="TextIDMax" Value="171384"/>
<Property Name="TextIDMax" Value="172359"/>
<SourceFiles>
<Source File="Languages.vcr"/>
<Source File="TextGroups\DateTimeFormats.txtgrp"/>

48
Logical/Vsualization/VisuMP/Pages/pg10_MainPage.page
View File

@@ -2188,6 +2188,7 @@
<Text ID="171382" Value="Power On"/>
<Text ID="171383" Value="Feedrate"/>
<Text ID="171384" Value="Cartrige - Pos Leer"/>
<Text ID="172359" Value="Cartrige - Pos Leer"/>
</TextLayer>
<TextLayer LanguageId="de">
<Text ID="169413" Value="Tipp"/>
@@ -2205,6 +2206,7 @@
<Text ID="171382" Value="Laserpower Voll"/>
<Text ID="171383" Value="Vorschub"/>
<Text ID="171384" Value="Min-Power"/>
<Text ID="172359" Value="Akt-Power"/>
</TextLayer>
<IndexMap>
<Index ID="169413" Value="13"/>
@@ -2222,6 +2224,7 @@
<Index ID="171382" Value="9"/>
<Index ID="171383" Value="10"/>
<Index ID="171384" Value="11"/>
<Index ID="172359" Value="12"/>
</IndexMap>
</TextGroup>
<Controls>
@@ -2330,7 +2333,7 @@
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Input]"/>
<Property Name="Height" Value="29"/>
<Property Name="Left" Value="352"/>
<Property Name="Left" Value="344"/>
<Property Name="MaxDatapoint" Value="None"/>
<Property Name="MaxValue" Value="None"/>
<Property Name="MinDatapoint" Value="None"/>
@@ -2429,7 +2432,7 @@
<Property Name="TextIndexOffset" Value="42"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="91"/>
<Property Name="Width" Value="78"/>
<Property Name="Width" Value="93"/>
</Control>
<Control ClassId="0x00001005" Name="bmpInMotion">
<Property Name="BitmapGroup" Value="Source[local].BitmapGroup[LED_32]"/>
@@ -2625,7 +2628,7 @@
<Property Name="Height" Value="160"/>
<Property Name="Left" Value="436"/>
<Property Name="MaxDatapoint" Value="None"/>
<Property Name="MaxValue" Value="3000"/>
<Property Name="MaxValue" Value="3100"/>
<Property Name="MinDatapoint" Value="None"/>
<Property Name="MinValue" Value="300"/>
<Property Name="Orientation" Value="BottomToTop"/>
@@ -2666,7 +2669,7 @@
<Property Name="MaxValue" Value="None"/>
<Property Name="MinDatapoint" Value="None"/>
<Property Name="MinValue" Value="None"/>
<Property Name="SimulationValue" Value="0"/>
<Property Name="SimulationValue" Value="3000"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TeachDatapoint" Value="None"/>
<Property Name="Top" Value="221"/>
@@ -2693,7 +2696,7 @@
<Property Name="TextIndexOffset" Value="9"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="152"/>
<Property Name="Width" Value="66"/>
<Property Name="Width" Value="94"/>
</Control>
<Control ClassId="0x00001005" Name="bmpFullPower">
<Property Name="AlignmentHorizontal" Value="Center"/>
@@ -2718,8 +2721,8 @@
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Labels]"/>
<Property Name="Height" Value="10"/>
<Property Name="Left" Value="52"/>
<Property Name="Height" Value="16"/>
<Property Name="Left" Value="26"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
@@ -2727,8 +2730,8 @@
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="10"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="98"/>
<Property Name="Width" Value="45"/>
<Property Name="Top" Value="96"/>
<Property Name="Width" Value="71"/>
</Control>
<Control ClassId="0x00001007" Name="numFeedrate">
<Property Name="ControlID" Value="0"/>
@@ -2758,7 +2761,7 @@
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Input]"/>
<Property Name="Height" Value="29"/>
<Property Name="Left" Value="269"/>
<Property Name="Left" Value="117"/>
<Property Name="MaxDatapoint" Value="None"/>
<Property Name="MaxValue" Value="None"/>
<Property Name="MinDatapoint" Value="None"/>
@@ -2791,7 +2794,7 @@
<Property Name="InputStart" Value="Any Key"/>
<Property Name="InputTouchpad" Value="Source[local].TouchPad[NumPad]"/>
<Property Name="InputUpDown" Value="Disabled"/>
<Property Name="Left" Value="101"/>
<Property Name="Left" Value="113"/>
<Property Name="MaxDatapoint" Value="None"/>
<Property Name="MaxValue" Value="None"/>
<Property Name="MinDatapoint" Value="None"/>
@@ -2800,7 +2803,7 @@
<Property Name="SimulationValue" Value="0.0036"/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TeachDatapoint" Value="None"/>
<Property Name="Top" Value="169"/>
<Property Name="Top" Value="171"/>
<Property Name="UnitText" Value="Abbreviation"/>
<Property Name="UnitTextAlignment" Value="Left"/>
<Property Name="UnitTextPosition" Value="Right"/>
@@ -2816,7 +2819,7 @@
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Header]"/>
<Property Name="Height" Value="12"/>
<Property Name="Height" Value="14"/>
<Property Name="Left" Value="23"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
@@ -2828,6 +2831,25 @@
<Property Name="Top" Value="181"/>
<Property Name="Width" Value="79"/>
</Control>
<Control ClassId="0x00001004" Name="lblPowerAkt">
<Property Name="AlignmentHorizontal" Value="Center"/>
<Property Name="AlignmentVertical" Value="Center"/>
<Property Name="Border" Value="Source[local].Border[OutputBorder]"/>
<Property Name="ControlID" Value="0"/>
<Property Name="Description" Value=""/>
<Property Name="Font" Value="Source[local].Font[Header]"/>
<Property Name="Height" Value="14"/>
<Property Name="Left" Value="33"/>
<Property Name="Multiline" Value="Automatic"/>
<Property Name="SimulationIndex" Value="0"/>
<Property Name="SimulationValue" Value=""/>
<Property Name="StyleClass" Value="Source[relative:StyleGroup].StyleClass[Default]"/>
<Property Name="TextGroup" Value="Source[embedded].TextGroup"/>
<Property Name="TextIndexOffset" Value="12"/>
<Property Name="TextSource" Value="SingleText"/>
<Property Name="Top" Value="152"/>
<Property Name="Width" Value="79"/>
</Control>
</Controls>
<KeyMapping>
<VirtualKey Name="%embVirtualKey_2">

4
Physical/Config0/5APC3100_KBU0_000/Cpu.sw
View File

@@ -38,6 +38,9 @@
<DataObject Name="assl1" Source="" Memory="UserROM" Language="Binary" />
<DataObject Name="prfmod$e" Source="" Memory="UserROM" Language="Binary" />
</DataObjects>
<NcDataObjects>
<NcDataObject Name="AcpParTab" Source="AcpParTab.dob" Memory="UserROM" Language="Apt" />
</NcDataObjects>
<VcDataObjects>
<VcDataObject Name="Visu2" Source="Vsualization.Visu2.dob" Memory="UserROM" Language="Vc" WarningLevel="2" />
<VcDataObject Name="VisuMP" Source="Vsualization.VisuMP.dob" Memory="UserROM" Language="Vc" WarningLevel="2" />
@@ -212,5 +215,6 @@
<LibraryObject Name="aseth" Source="" Memory="UserROM" Language="Binary" Debugging="true" />
<LibraryObject Name="asepl" Source="" Memory="UserROM" Language="Binary" Debugging="true" />
<LibraryObject Name="areventlog" Source="" Memory="UserROM" Language="Binary" Debugging="true" />
<LibraryObject Name="McAcpPar" Source="Libraries.McAcpPar.lby" Memory="UserROM" Language="binary" Debugging="true" />
</Libraries>
</SwConfiguration>

2
Physical/Config0/5APC3100_KBU0_000/IoMap.iom
View File

@@ -103,4 +103,6 @@ VAR_CONFIG
machine:bOuMachineLight AT %QX."62K3_X20DO9322-Allg-Int".DigitalOutput03;
machine:bOuLedKeyReset AT %QX."62K3_X20DO9322-Allg-Int".DigitalOutput02;
machine:bInKeyReset AT %IX."60K4_X20DI9371-Allg-TasterInt".DigitalInput03;
machine:bInKeyManual AT %IX."60K4_X20DI9371-Allg-TasterInt".DigitalInput04;
machine:bInKeyAuto AT %IX."60K4_X20DI9371-Allg-TasterInt".DigitalInput05;
END_VAR

BIN
Physical/Config0/5APC3100_KBU0_000/SafeLOGIC-1.swt
View File

Binary file not shown.

BIN
Physical/Config0/5APC3100_KBU0_000/SafeLOGIC-1/C/PLC/R/CPU/tmp.sto
View File

Binary file not shown.

BIN
Physical/Config0/5APC3100_KBU0_000/SafeLOGIC-1/src.st1
View File

Binary file not shown.

BIN
Physical/Config0/5APC3100_KBU0_000/SafeLOGIC-1/tmp.sto
View File

Binary file not shown.

9
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_10.axisfeature Normal file
View File

@@ -0,0 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
<?AutomationStudio FileVersion="4.9"?>
<Configuration>
<Element ID="ACPT_C" Type="axisfeature">
<Selector ID="Type" Value="ParTab">
<Property ID="ParTabRef" Value="AcpParTab" />
</Selector>
</Element>
</Configuration>

8
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_2.axis
View File

@@ -93,12 +93,12 @@
<Property ID="AccelerationIsReadOnly" Value="0" />
<Selector ID="Acceleration">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="7500" />
<Property ID="Acceleration" Value="8000" />
</Selector>
<Property ID="DecelerationIsReadOnly" Value="0" />
<Selector ID="Deceleration">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="7500" />
<Property ID="Deceleration" Value="8000" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
<Property ID="TorqueIsReadOnly" Value="0" />
@@ -130,12 +130,12 @@
<Property ID="AccelerationIsReadOnly" Value="0" />
<Selector ID="Acceleration">
<Property ID="AccelerationMax" Value="3.4E38" />
<Property ID="Acceleration" Value="5500" />
<Property ID="Acceleration" Value="8000" />
</Selector>
<Property ID="DecelerationIsReadOnly" Value="0" />
<Selector ID="Deceleration">
<Property ID="DecelerationMax" Value="3.4E38" />
<Property ID="Deceleration" Value="5500" />
<Property ID="Deceleration" Value="8000" />
</Selector>
<Property ID="JerkIsReadOnly" Value="0" />
<Property ID="TorqueIsReadOnly" Value="0" />

6
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_3.mechanicalsystem
View File

@@ -22,12 +22,12 @@
</Group>
<Group ID="TranslationFromQCToQA">
<Property ID="X" Value="0" />
<Property ID="Y" Value="0.0" />
<Property ID="Y" Value="0" />
<Property ID="Z" Value="0" />
</Group>
<Group ID="TranslationFromQAToFlange">
<Property ID="X" Value="303" />
<Property ID="Y" Value="0.0" />
<Property ID="X" Value="302.7" Description="Translation in X direction 303 + 0.3 Korrektur" />
<Property ID="Y" Value="1.2" />
<Property ID="Z" Value="-327" Description="Translation in Z direction (akt 323.3 incl 1.5 bei Laser -10, + 3.7 SiAbst; war -387 =-383 incl. 1,5 Schneidabstand bei Laser -10)" />
</Group>
</Group>

6
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Config_4.axesgroupfeature
View File

@@ -100,7 +100,7 @@
</Group>
<Group ID="MFunction[2]" Description="M105 Laser Aus">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="105" Description="M5 Spindel Aus" />
<Property ID="Index" Value="105" Description="M105 Laser Aus" />
</Selector>
<Selector ID="Blocking" Value="Disabled" />
<Selector ID="Output" Value="After" />
@@ -138,14 +138,14 @@
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b112_FullPowerOn" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[6]" Description="M115 Folgen reaktivieren">
<Group ID="MFunction[6]" Description="M115 Höhe Folgen aktivieren">
<Selector ID="IndexType" Value="Single">
<Property ID="Index" Value="115" />
</Selector>
<Selector ID="Blocking" Value="Disabled" />
<Selector ID="Output" Value="Before" />
<Selector ID="InSimulation" Value="NotUsed" />
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b115_ReactivateFollow" />
<Property ID="PvMapping" Value="::MachCtrl:MFlags.b115_FollowHeight" />
<Property ID="Counter" />
</Group>
<Group ID="MFunction[7]" Description="M116 AdaptivePower reaktivieren">

1
Physical/Config0/5APC3100_KBU0_000/mappMotion/5AxesCNCXYZCA/Package.pkg
View File

@@ -9,5 +9,6 @@
<Object Type="File">Config_5.objecthierarchy</Object>
<Object Type="File">Config_6.frametable</Object>
<Object Type="File">Config_7.limitset</Object>
<Object Type="File">Config_10.axisfeature</Object>
</Objects>
</Package>

2
Physical/Config0/5APC3100_KBU0_000/mappMotion/PureVAxis/Config_8.purevaxcfg
View File

@@ -12,7 +12,7 @@
</Group>
<Selector ID="JerkFilter" Value="Used">
<Property ID="MaxJerkTime" Value="0.13" />
<Property ID="JerkTime" Value="0.0644" />
<Property ID="JerkTime" Value="0.0624" />
</Selector>
</Group>
</Element>

23
Physical/Config0/Hardware.hw
View File

@@ -240,23 +240,23 @@
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionControllerWithTorqueFeedForward" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="600" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="500" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0" />
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0016" />
<Parameter ID="ProportionalGainIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="1.65" />
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="2.3" />
<Parameter ID="IntegrationTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.01" />
<Parameter ID="FilterTimeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0" />
<Parameter ID="FilterTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="0.0" />
<Parameter ID="FeedForwardIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode" Value="0" />
<Parameter ID="FeedForward" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode" Value="Standard" />
<Parameter ID="TorqueLoad" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.39" />
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.39" />
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.011" />
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0008" />
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.19" />
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.17" />
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.066" />
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0008245" />
<Parameter ID="AccelerationFilterTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
<Parameter ID="LoopFilter1" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
<Parameter ID="LoopFilter2" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
@@ -268,7 +268,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.0644" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.0624" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />
@@ -280,6 +280,7 @@
<Parameter ID="Input" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/Quickstop" Value="Trigger2" />
<Parameter ID="SimulationModeOnPLC" Location="DriveConfiguration/Channel[1]/RealAxis/Simulation" Value="SetValueGeneration" />
<Parameter ID="SimulationModeOnACOPOS" Location="DriveConfiguration/Channel[1]/RealAxis/Simulation" Value="NotUsed" />
<Parameter ID="FeatureRef[1]" Location="DriveConfiguration/Channel[1]/ChannelFeatures" Value="ACPT_C" />
<Parameter ID="AxisReference" Location="DriveConfiguration/Channel[2]/RealAxis" Value="gAxisQA" />
<Parameter ID="InputIsReadOnly" Location="DriveConfiguration/Channel[2]/RealAxis/MechanicalElements/Gearbox" Value="0" />
<Parameter ID="Input" Location="DriveConfiguration/Channel[2]/RealAxis/MechanicalElements/Gearbox" Value="81" />
@@ -318,7 +319,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[2]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[2]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[2]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[2]/RealAxis/JerkFilter" Value="0.0644" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[2]/RealAxis/JerkFilter" Value="0.0624" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[2]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />
@@ -675,7 +676,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.0644" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.0624" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />
@@ -779,7 +780,7 @@
<Parameter ID="PositionError" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="1.0" />
<Parameter ID="VelocityErrorMonitoring" Location="DriveConfiguration/Channel[1]/RealAxis/MovementErrorLimits" Value="Automatic1" />
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.0644" />
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.0624" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="NotUsed" />
<Parameter ID="Level" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/HomingSwitch" Value="High" />
<Parameter ID="Source" Location="DriveConfiguration/Channel[1]/RealAxis/DigitalInputs/PositiveLimitSwitch" Value="NotUsed" />