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This commit is contained in:
@@ -3,7 +3,163 @@ ACTION DoDynVars:
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lMachine ACCESS ADR (gMachine1);
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lRecipe ACCESS ADR (gRecipies[uiRecipe + 1]);
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lCmdInterface ACCESS ADR (gCmd1);
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//Versorgungsmodul
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MpFUB.PSM.Axis := ADR (gACPMPowerSupply);
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//Axis Basic X - Gantry Virtual
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MpFUB.AxBasic_XVirtual.MpLink := ADR (gAxisQX_Virtual);
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MpFUB.AxBasic_XVirtual.Parameters := ADR (MpData.AxPar_XVirtual);
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MpFUB.AxBasic_XVirtual.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.MoveCyclicPos_XVirtual.Axis := ADR (gAxisQX_Virtual);
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MpFUB.ReadPos_XVirtual.Axis := ADR (gAxisQX_Virtual);
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MpFUB.ReadPos_XVirtual.Enable := TRUE;
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MpFUB.ReadPos_XVirtual.ValueSource := mcVALUE_SET; //Sollposition
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MpFUB.ReadRealPos_XVirtual.Axis := ADR (gAxisQX_Virtual);
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MpFUB.ReadRealPos_XVirtual.Enable := TRUE;
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MpFUB.ReadRealPos_XVirtual.ValueSource := mcVALUE_ACTUAL; //Istpositon
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MpFUB.ReadVel_XVirtual.Axis := ADR (gAxisQX_Virtual);
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MpFUB.ReadVel_XVirtual.Enable := TRUE;
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MpFUB.ProcessParam_XVirtual.Component := ADR (gAxisQX_Virtual);
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MpFUB.ProcessParam_XVirtual.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
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MpFUB.ProcessParam_XVirtual.DataAddress := ADR (MpData.ProcPar_XVirtual_MoveLim);
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MpFUB.ProcessParamHW_XVirtual.Component := ADR (gAxisQX_Virtual);
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MpFUB.ProcessParamHW_XVirtual.DataType := mcCFG_ACP_JERK_FLTR; //Movementlimits
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MpFUB.ProcessParamHW_XVirtual.DataAddress := ADR (MpData.ProcPar_XVirtual_MoveLim);
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//TEST.Controller.Mode.PositionController
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//Axis Basic X - Gantry Achse 0
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MpFUB.AxBasic_X.MpLink := ADR (gAxisQX);
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MpFUB.AxBasic_X.Parameters := ADR (MpData.AxPar_X);
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MpFUB.AxBasic_X.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.MoveCyclicPos_X.Axis := ADR (gAxisQX);
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MpFUB.MoveCyclicVelocity_X.Axis := ADR (gAxisQX);
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MpFUB.InitHome_X.Axis := ADR (gAxisQX);
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MpFUB.Home_X.Axis := ADR (gAxisQX);
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MpFUB.ReadRealPos_X.Axis := ADR (gAxisQX);
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MpFUB.ReadRealPos_X.Enable := TRUE;
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MpFUB.ReadRealPos_X.ValueSource := mcVALUE_ACTUAL; //Istpositon
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MpFUB.ReadVel_X.Axis := ADR (gAxisQX);
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MpFUB.ReadVel_X.Enable := TRUE;
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MpFUB.ReadActTorque_X.Axis := ADR (gAxisQX);
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MpFUB.ReadActTorque_X.Enable := TRUE;
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//Axis Basic X - Gantry Achse 1
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MpFUB.AxBasic_X1.MpLink := ADR (gAxisQX1);
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MpFUB.AxBasic_X1.Parameters := ADR (MpData.AxPar_X1);
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MpFUB.AxBasic_X1.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.MoveCyclicPos_X1.Axis := ADR (gAxisQX1);
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MpFUB.MoveCyclicVelocity_X1.Axis := ADR (gAxisQX1);
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MpFUB.InitHome_X1.Axis := ADR (gAxisQX1);
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MpFUB.Home_X1.Axis := ADR (gAxisQX1);
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MpFUB.ReadRealPos_X1.Axis := ADR (gAxisQX1);
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MpFUB.ReadRealPos_X1.Enable := TRUE;
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MpFUB.ReadRealPos_X1.ValueSource := mcVALUE_ACTUAL; //Istpositon
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MpFUB.ReadVel_X1.Axis := ADR (gAxisQX1);
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MpFUB.ReadVel_X1.Enable := TRUE;
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MpFUB.ReadActTorque_X1.Axis := ADR (gAxisQX1);
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MpFUB.ReadActTorque_X1.Enable := TRUE;
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//Axis Basic Y (2)
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MpFUB.AxBasic_Y.MpLink := ADR (gAxisQY);
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MpFUB.AxBasic_Y.Parameters := ADR (MpData.AxPar_Y);
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MpFUB.AxBasic_Y.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.MoveCyclicPos_Y.Axis := ADR (gAxisQY);
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MpFUB.InitHome_Y.Axis := ADR (gAxisQY);
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MpFUB.Home_Y.Axis := ADR (gAxisQY);
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MpFUB.ReadActTorque_Y.Axis := ADR (gAxisQY);
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MpFUB.ReadActTorque_Y.Enable := TRUE;
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MpFUB.ProcessParam_Y.Component := ADR (gAxisQY);
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MpFUB.ProcessParam_Y.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
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MpFUB.ProcessParam_Y.DataAddress := ADR (MpData.ProcPar_Y_MoveLim);
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//Axis Basic Z (1)
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MpFUB.AxBasic_Z.MpLink := ADR (gAxisQZ);
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MpFUB.AxBasic_Z.Parameters := ADR (MpData.AxPar_Z);
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MpFUB.AxBasic_Z.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.MoveCyclicPos_Z.Axis := ADR (gAxisQZ);
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MpFUB.InitHome_Z.Axis := ADR (gAxisQZ);
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MpFUB.Home_Z.Axis := ADR (gAxisQZ);
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MpFUB.ReadActTorque_Z.Axis := ADR (gAxisQZ);
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MpFUB.ReadActTorque_Z.Enable := TRUE;
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MpFUB.ProcessParam_Z.Component := ADR (gAxisQZ);
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MpFUB.ProcessParam_Z.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
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MpFUB.ProcessParam_Z.DataAddress := ADR (MpData.ProcPar_Z_MoveLim);
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//Axis Basic A (2)
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MpFUB.AxBasic_A.MpLink := ADR (gAxisQA);
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MpFUB.AxBasic_A.Parameters := ADR (MpData.AxPar_A);
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MpFUB.AxBasic_A.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.MoveCyclicPos_A.Axis := ADR (gAxisQA);
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MpFUB.InitHome_A.Axis := ADR (gAxisQA);
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MpFUB.Home_A.Axis := ADR (gAxisQA);
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MpFUB.ReadActTorque_A.Axis := ADR (gAxisQA);
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MpFUB.ReadActTorque_A.Enable := TRUE;
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MpFUB.ProcessParam_A.Component := ADR (gAxisQA);
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MpFUB.ProcessParam_A.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
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MpFUB.ProcessParam_A.DataAddress := ADR (MpData.ProcPar_A_MoveLim);
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//Axis Basic C (1)
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MpFUB.AxBasic_C.MpLink := ADR (gAxisQC);
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MpFUB.AxBasic_C.Parameters := ADR (MpData.AxPar_C);
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MpFUB.AxBasic_C.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.MoveCyclicPos_C.Axis := ADR (gAxisQC);
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MpFUB.InitHome_C.Axis := ADR (gAxisQC);
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MpFUB.Home_C.Axis := ADR (gAxisQC);
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MpFUB.ReadActTorque_C.Axis := ADR (gAxisQC);
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MpFUB.ReadActTorque_C.Enable := TRUE;
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MpFUB.ProcessParam_C.Component := ADR (gAxisQC);
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MpFUB.ProcessParam_C.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
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MpFUB.ProcessParam_C.DataAddress := ADR (MpData.ProcPar_C_MoveLim);
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//Axis Basic Shuttle (2)
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MpFUB.AxBasic_Shuttle.MpLink := ADR (gAxisShuttle);
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MpFUB.AxBasic_Shuttle.Parameters := ADR (MpData.AxPar_Shuttle);
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MpFUB.AxBasic_Shuttle.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.InitHome_Shuttle.Axis := ADR (gAxisShuttle);
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MpFUB.Home_Shuttle.Axis := ADR (gAxisShuttle);
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MpFUB.ReadActTorque_Shuttle.Axis := ADR (gAxisShuttle);
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MpFUB.ReadActTorque_Shuttle.Enable := TRUE;
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//Axis Basic Shuttle (2)
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MpFUB.AxBasic_Shuttle2.MpLink := ADR (gAxisShuttle2);
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MpFUB.AxBasic_Shuttle2.Parameters := ADR (MpData.AxPar_Shuttle2);
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MpFUB.AxBasic_Shuttle2.Enable := TRUE;
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//Zusatzbausteine Versorgen
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MpFUB.InitHome_Shuttle2.Axis := ADR (gAxisShuttle2);
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MpFUB.Home_Shuttle2.Axis := ADR (gAxisShuttle2);
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MpFUB.ReadActTorque_Shuttle2.Axis := ADR (gAxisShuttle2);
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//CNC
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MpFUB.MpCNC5Axis.MpLink := ADR (gCncXYZCA);
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//MpFUB.MpCNC5Axis.Enable := FALSE;
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MpFUB.MpCNC5Axis.Parameters := ADR (MpData.MpCnc5AxisPar);
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//CNC FUbs
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MpFUB.MC_BR_GroupSetOverride.AxesGroup := ADR (gCncXYZCA);
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MpFUB.MC_BR_GroupSetOverride.Type := mcOVERRIDE_TIMESTRETCH;
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MpFUB.MC_GroupReadActualPosition.AxesGroup := ADR (gCncXYZCA);
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MpFUB.MC_BR_GroupJogAbsolute.AxesGroup := ADR (gCncXYZCA);
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MpFUB.MC_BR_GroupMoveCyclicPosition.AxesGroup := ADR (gCncXYZCA);
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MpFUB.MC_BR_SetFrameTableFrame.AxesGroup := ADR (gCncXYZCA);
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END_ACTION
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@@ -419,34 +575,34 @@ ACTION DoFUBs:
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END_IF
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//Homing Beendet
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IF MpFUB.MpCNC5Axis.IsHomed OR MpFUB.MpCNC5Axis.Error THEN
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IF MpFUB.MpCNC5Axis.IsHomed OR MpFUB.MpCNC5Axis.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.MpCNC5Axis.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_XVirtual.IsHomed OR MpFUB.AxBasic_XVirtual.Error THEN
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IF MpFUB.AxBasic_XVirtual.IsHomed OR MpFUB.AxBasic_XVirtual.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_XVirtual.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_X.IsHomed OR MpFUB.AxBasic_X.Error THEN
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IF MpFUB.AxBasic_X.IsHomed OR MpFUB.AxBasic_X.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_X.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_X1.IsHomed OR MpFUB.AxBasic_X1.Error THEN
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IF MpFUB.AxBasic_X1.IsHomed OR MpFUB.AxBasic_X1.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_X1.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_Y.IsHomed OR MpFUB.AxBasic_Y.Error THEN
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IF MpFUB.AxBasic_Y.IsHomed OR MpFUB.AxBasic_Y.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_Y.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_Z.IsHomed OR MpFUB.AxBasic_Z.Error THEN
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IF MpFUB.AxBasic_Z.IsHomed OR MpFUB.AxBasic_Z.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_Z.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_A.IsHomed OR MpFUB.AxBasic_A.Error THEN
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IF MpFUB.AxBasic_A.IsHomed OR MpFUB.AxBasic_A.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_A.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_C.IsHomed OR MpFUB.AxBasic_C.Error THEN
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IF MpFUB.AxBasic_C.IsHomed OR MpFUB.AxBasic_C.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_C.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_Shuttle.IsHomed OR MpFUB.AxBasic_Shuttle.Error THEN
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IF MpFUB.AxBasic_Shuttle.IsHomed OR MpFUB.AxBasic_Shuttle.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_Shuttle.Home := FALSE;
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END_IF
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IF MpFUB.AxBasic_Shuttle2.IsHomed OR MpFUB.AxBasic_Shuttle2.Error THEN
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IF MpFUB.AxBasic_Shuttle2.IsHomed OR MpFUB.AxBasic_Shuttle2.Error OR NOT gMachine1.bMachineON THEN
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MpFUB.AxBasic_Shuttle2.Home := FALSE;
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END_IF
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@@ -1,12 +1,14 @@
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ACTION DoAxisReferenceInitial:
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ACTION DoAxisReferenceInitial:
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//Anlagensimulation
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IF lMachine.bSimulation AND NOT MpFUB.MpCNC5Axis.Error AND NOT MpFUB.MpCNC5Axis.IsHomed AND NOT
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MpFUB.MpCNC5Axis.Home THEN
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MpFUB.MpCNC5Axis.Home := TRUE;
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END_IF
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//Achsen Initial referenzieren
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//einzelne Achsen
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IF NOT MpFUB.AxBasic_XVirtual.Error AND NOT MpFUB.AxBasic_XVirtual.IsHomed AND
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NOT MpFUB.AxBasic_XVirtual.Home AND MpFUB.AxBasic_X.IsHomed AND MpFUB.AxBasic_X1.IsHomed THEN
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NOT MpFUB.AxBasic_XVirtual.Home AND MpFUB.AxBasic_X.IsHomed AND MpFUB.AxBasic_X1.IsHomed AND NOT MpFUB.AxBasic_XVirtual.Home THEN
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MpData.AxPar_XVirtual.Homing.Mode := mcHOMING_DIRECT;
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MpData.AxPar_XVirtual.Homing.Position := (MpFUB.AxBasic_X.Position + MpFUB.AxBasic_X1.Position) * 0.5;
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MpFUB.AxBasic_XVirtual.Home := gMachine1.bMachineON; //FixMe
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@@ -14,57 +16,80 @@ ACTION DoAxisReferenceInitial:
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IF MpFUB.AxBasic_X.Power AND NOT MpFUB.AxBasic_X.Error AND NOT MpFUB.AxBasic_X.IsHomed AND
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NOT MpFUB.AxBasic_X.Home AND gCalibrationDone.bAxisX THEN
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MpData.AxPar_X.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_X.Homing.Position := 0;
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MpFUB.AxBasic_X.Home := TRUE;
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END_IF
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IF MpFUB.AxBasic_X1.Power AND NOT MpFUB.AxBasic_X1.Error AND NOT MpFUB.AxBasic_X1.IsHomed AND
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NOT MpFUB.AxBasic_X1.Home AND gCalibrationDone.bAxisX1 THEN
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MpData.AxPar_X1.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_X1.Homing.Position := 0;
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MpFUB.AxBasic_X1.Home := TRUE;
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END_IF
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IF MpFUB.AxBasic_Y.Power AND NOT MpFUB.AxBasic_Y.Error AND NOT MpFUB.AxBasic_Y.IsHomed AND
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NOT MpFUB.AxBasic_Y.Home AND gCalibrationDone.bAxisY THEN
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MpData.AxPar_Y.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_Y.Homing.Position := 0;
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MpFUB.AxBasic_Y.Home := TRUE;
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END_IF
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IF MpFUB.AxBasic_Z.Power AND NOT MpFUB.AxBasic_Z.Error AND NOT MpFUB.AxBasic_Z.IsHomed AND
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NOT MpFUB.AxBasic_Z.Home AND gCalibrationDone.bAxisZ THEN
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MpData.AxPar_Z.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_Z.Homing.Position := 0;
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MpFUB.AxBasic_Z.Home := TRUE;
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END_IF
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IF MpFUB.MpCNC5Axis.Power AND NOT MpFUB.MpCNC5Axis.Error AND NOT MpFUB.MpCNC5Axis.IsHomed AND
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NOT MpFUB.MpCNC5Axis.Home AND gCalibrationDone.bAxisX AND gCalibrationDone.bAxisX1 AND gCalibrationDone.bAxisY AND gCalibrationDone.bAxisZ AND gCalibrationDone.bAxisC AND gCalibrationDone.bAxisA THEN
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MpFUB.MpCNC5Axis.Home := TRUE;
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END_IF
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IF MpFUB.AxBasic_A.Power AND NOT MpFUB.AxBasic_A.Error AND NOT MpFUB.AxBasic_A.IsHomed AND
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NOT MpFUB.AxBasic_A.Home AND gCalibrationDone.bAxisA THEN
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MpData.AxPar_A.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_A.Homing.Position := 0;
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MpFUB.AxBasic_A.Home := TRUE;
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END_IF
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IF MpFUB.AxBasic_C.Power AND NOT MpFUB.AxBasic_C.Error AND NOT MpFUB.AxBasic_C.IsHomed AND
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NOT MpFUB.AxBasic_C.Home AND gCalibrationDone.bAxisC THEN
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MpData.AxPar_C.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_C.Homing.Position := 0;
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MpFUB.AxBasic_C.Home := TRUE;
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END_IF
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IF MpFUB.MpCNC5Axis.Power AND NOT MpFUB.MpCNC5Axis.Error AND NOT MpFUB.MpCNC5Axis.IsHomed AND
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NOT MpFUB.MpCNC5Axis.Home AND gCalibrationDone.bAxisX AND gCalibrationDone.bAxisX1 AND gCalibrationDone.bAxisY AND gCalibrationDone.bAxisZ AND gCalibrationDone.bAxisC AND gCalibrationDone.bAxisA THEN
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//Nur Referenzieren wenn nicht bereits alle Achsen bis auf XV Referenziert sind
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IF NOT (MpFUB.AxBasic_X.Home AND MpFUB.AxBasic_X1.Home AND MpFUB.AxBasic_Y.Home AND MpFUB.AxBasic_Z.Home AND MpFUB.AxBasic_A.Home AND MpFUB.AxBasic_C.Home) THEN
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MpFUB.MpCNC5Axis.Home := TRUE;
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MpData.AxPar_X.Homing.Position := 0;
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MpData.AxPar_X1.Homing.Position := 0;
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MpData.AxPar_Y.Homing.Position := 0;
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MpData.AxPar_Z.Homing.Position := 0;
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MpData.AxPar_C.Homing.Position := 0;
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MpData.AxPar_A.Homing.Position := 0;
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END_IF
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END_IF
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//Shuttles
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IF MpFUB.AxBasic_Shuttle.Power AND NOT MpFUB.AxBasic_Shuttle.Error AND NOT MpFUB.AxBasic_Shuttle.IsHomed AND
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NOT MpFUB.AxBasic_Shuttle.Home AND gCalibrationDone.bAxisShuttle1 THEN
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MpData.AxPar_Shuttle.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_Shuttle.Homing.Position := 0;
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MpFUB.AxBasic_Shuttle.Home := TRUE;
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END_IF
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IF MpFUB.AxBasic_Shuttle2.Power AND NOT MpFUB.AxBasic_Shuttle2.Error AND NOT MpFUB.AxBasic_Shuttle2.IsHomed AND
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NOT MpFUB.AxBasic_Shuttle2.Home AND gCalibrationDone.bAxisShuttle2 THEN
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MpData.AxPar_Shuttle2.Homing.Mode := mcHOMING_DEFAULT;
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MpData.AxPar_Shuttle.Homing.Position := 0;
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MpFUB.AxBasic_Shuttle2.Home := TRUE;
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END_IF
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END_ACTION
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ACTION DoReferenceXVirtualOnError:
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//Virtuelle Achse Referenzieren
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IF NOT MpFUB.AxBasic_X.Power AND NOT MpFUB.AxBasic_X1.Power AND NOT MpFUB.AxBasic_XVirtual.Error AND
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gCalibrationDone.bAxisX AND gCalibrationDone.bAxisX1 AND MpFUB.AxBasic_X.IsHomed AND MpFUB.AxBasic_X1.IsHomed AND
|
||||
NOT MpFUB.AxBasic_XVirtual.Home THEN
|
||||
gCalibrationDone.bAxisX AND gCalibrationDone.bAxisX1 AND MpFUB.AxBasic_X.IsHomed AND MpFUB.AxBasic_X1.IsHomed AND
|
||||
NOT States.PosState.bDiffX_Virtual_Ok AND
|
||||
NOT MpFUB.AxBasic_XVirtual.Home THEN
|
||||
|
||||
MpData.AxPar_XVirtual.Homing.Mode := mcHOMING_DIRECT;
|
||||
MpData.AxPar_XVirtual.Homing.Position := (MpFUB.AxBasic_X.Position + MpFUB.AxBasic_X1.Position) * 0.5;
|
||||
MpFUB.AxBasic_XVirtual.Home := gMachine1.bMachineON;
|
||||
MpFUB.AxBasic_XVirtual.Home := FALSE;
|
||||
END_IF
|
||||
END_ACTION
|
||||
|
||||
@@ -116,7 +141,7 @@ ACTION DoStopAxisParameter:
|
||||
END_ACTION
|
||||
|
||||
ACTION DoSLSAxisProcPar:
|
||||
IF (gMachine1.enMode = enMACH_JOG) AND NOT gbSPLCInMaintDoorOk THEN
|
||||
IF ((gMachine1.enMode = enMACH_JOG) OR (gMachine1.enMode = enMACH_MANUAL)) AND NOT gbSPLCInMaintDoorOk THEN
|
||||
//SLS Grenzwerte festlegen
|
||||
IF States.ProcParamLoaded.bAxis_XVirtual AND NOT States.ProcParamSlowSet.bAxis_XVirtual AND NOT MpFUB.ProcessParam_XVirtual.Error THEN
|
||||
MpData.ProcPar_XVirtual_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 195;
|
||||
@@ -155,35 +180,35 @@ ACTION DoSLSAxisProcPar:
|
||||
END_IF
|
||||
ELSIF gbSPLCInMaintDoorOk THEN
|
||||
IF States.ProcParamLoaded.bAxis_XVirtual AND NOT States.ProcParamFastSet.bAxis_XVirtual AND NOT MpFUB.ProcessParam_XVirtual.Error THEN
|
||||
MpData.ProcPar_XVirtual_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 500;
|
||||
MpData.ProcPar_XVirtual_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 1250;
|
||||
MpFUB.ProcessParam_XVirtual.Mode := mcPPM_WRITE;
|
||||
MpFUB.ProcessParam_XVirtual.Execute := TRUE;
|
||||
States.ProcParamFastSet.bAxis_XVirtual := TRUE;
|
||||
States.ProcParamSlowSet.bAxis_XVirtual := FALSE;
|
||||
END_IF
|
||||
IF States.ProcParamLoaded.bAxis_Y AND NOT States.ProcParamSlowSet.bAxis_Y AND NOT MpFUB.ProcessParam_Y.Error THEN
|
||||
MpData.ProcPar_Y_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 500;
|
||||
IF States.ProcParamLoaded.bAxis_Y AND NOT States.ProcParamFastSet.bAxis_Y AND NOT MpFUB.ProcessParam_Y.Error THEN
|
||||
MpData.ProcPar_Y_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 1250;
|
||||
MpFUB.ProcessParam_Y.Mode := mcPPM_WRITE;
|
||||
MpFUB.ProcessParam_Y.Execute := TRUE;
|
||||
States.ProcParamFastSet.bAxis_XVirtual := TRUE;
|
||||
States.ProcParamFastSet.bAxis_Y := TRUE;
|
||||
States.ProcParamSlowSet.bAxis_Y := FALSE;
|
||||
END_IF
|
||||
IF States.ProcParamLoaded.bAxis_Z AND NOT States.ProcParamSlowSet.bAxis_Z AND NOT MpFUB.ProcessParam_Z.Error THEN
|
||||
MpData.ProcPar_Z_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 500;
|
||||
IF States.ProcParamLoaded.bAxis_Z AND NOT States.ProcParamFastSet.bAxis_Z AND NOT MpFUB.ProcessParam_Z.Error THEN
|
||||
MpData.ProcPar_Z_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 850;
|
||||
MpFUB.ProcessParam_Z.Mode := mcPPM_WRITE;
|
||||
MpFUB.ProcessParam_Z.Execute := TRUE;
|
||||
States.ProcParamFastSet.bAxis_Z := TRUE;
|
||||
States.ProcParamSlowSet.bAxis_Z := FALSE;
|
||||
END_IF
|
||||
IF States.ProcParamLoaded.bAxis_C AND NOT States.ProcParamSlowSet.bAxis_C AND NOT MpFUB.ProcessParam_C.Error THEN
|
||||
MpData.ProcPar_C_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 80;
|
||||
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
|
||||
MpFUB.ProcessParam_C.Mode := mcPPM_WRITE;
|
||||
MpFUB.ProcessParam_C.Execute := TRUE;
|
||||
States.ProcParamFastSet.bAxis_C := TRUE;
|
||||
States.ProcParamSlowSet.bAxis_C := FALSE;
|
||||
END_IF
|
||||
IF States.ProcParamLoaded.bAxis_A AND NOT States.ProcParamSlowSet.bAxis_A AND NOT MpFUB.ProcessParam_A.Error THEN
|
||||
MpData.ProcPar_A_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 80;
|
||||
IF States.ProcParamLoaded.bAxis_A AND NOT States.ProcParamFastSet.bAxis_A AND NOT MpFUB.ProcessParam_A.Error THEN
|
||||
MpData.ProcPar_A_MoveLim.MovementLimits.InternalPathAxis.Velocity.Basic.Velocity := 670; //Max 670
|
||||
MpFUB.ProcessParam_A.Mode := mcPPM_WRITE;
|
||||
MpFUB.ProcessParam_A.Execute := TRUE;
|
||||
States.ProcParamFastSet.bAxis_A := TRUE;
|
||||
@@ -334,7 +359,7 @@ ACTION DoCalibrateParameterC:
|
||||
MpFUB.InitHome_C.HomingParameters.HomingVelocity := 2.5; // [<EFBFBD>/s]
|
||||
MpFUB.InitHome_C.HomingParameters.Position := -0.018; // [<EFBFBD>]
|
||||
MpFUB.InitHome_C.HomingParameters.BlockDetectionPositionError := 0.05; // [mm]
|
||||
MpFUB.InitHome_C.HomingParameters.PositionErrorStopLimit := 0.5; // [mm]
|
||||
MpFUB.InitHome_C.HomingParameters.PositionErrorStopLimit := 0.75; // [mm]
|
||||
END_ACTION
|
||||
|
||||
|
||||
@@ -349,7 +374,7 @@ ACTION DoCalibrateParameterA:
|
||||
MpFUB.InitHome_A.HomingParameters.HomingVelocity := 2.5; // [<EFBFBD>/s]
|
||||
MpFUB.InitHome_A.HomingParameters.Position := +135.08; // [<EFBFBD>] (Parameter)
|
||||
MpFUB.InitHome_A.HomingParameters.BlockDetectionPositionError := 0.05; // [<EFBFBD>]
|
||||
MpFUB.InitHome_A.HomingParameters.PositionErrorStopLimit := 0.5; // [<EFBFBD>]
|
||||
MpFUB.InitHome_A.HomingParameters.PositionErrorStopLimit := 0.75; // [<EFBFBD>]
|
||||
END_ACTION
|
||||
|
||||
ACTION DoCalibrateParameterShuttle:
|
||||
|
||||
@@ -165,12 +165,8 @@ ACTION DoJogAxis:
|
||||
IF gCalibrationDone.bAxisX AND gCalibrationDone.bAxisX1 AND States.PosState.bDiffX_Virtual_Ok AND States.PosState.bDiffX_X1_Ok THEN
|
||||
//Move CyclicPos OK
|
||||
//Einzelachsbewegung von X1 verhindern
|
||||
States.enXGantryMode := enXGantryDisabled; //Keine Kopplung FixMe eigtl. enXGantryFollowPosVirtX
|
||||
States.enXGantryMode := enXGantryFollowPosVirtX;
|
||||
VCButtons.X1Axis.bCommand := FALSE;
|
||||
bTemp := MpFUB.AxBasic_X.PowerOn AND NOT MpFUB.AxBasic_X.Error AND MpFUB.AxBasic_X1.PowerOn AND NOT MpFUB.AxBasic_X1.Error
|
||||
AND NOT MpFUB.MoveCyclicPos_X.Error AND NOT MpFUB.MoveCyclicPos_X1.Error;
|
||||
MpFUB.MoveCyclicPos_X.Enable := bTemp;
|
||||
MpFUB.MoveCyclicPos_X1.Enable := bTemp;
|
||||
|
||||
IF NOT lMachine.bSimulation THEN
|
||||
MpFUB.AxBasic_XVirtual.JogPositive := gMP7121.XInc AND (States.enSelectedAxis = 0) AND States.bSingleAxMode AND bTemp;
|
||||
@@ -872,13 +868,40 @@ ACTION DoJogHomeAxis:
|
||||
END_IF
|
||||
END_ACTION
|
||||
|
||||
ACTION DoManualCNC:
|
||||
|
||||
//Gantry Achsen
|
||||
IF gCalibrationDone.bAxisX AND gCalibrationDone.bAxisX1 AND States.PosState.bDiffX_Virtual_Ok AND States.PosState.bDiffX_X1_Ok THEN
|
||||
//Move CyclicPos OK
|
||||
States.enXGantryMode := enXGantryFollowPosVirtX; //Keine Kopplung FixMe eigtl. enXGantryFollowPosVirtX
|
||||
END_IF
|
||||
|
||||
//CNC Fahren
|
||||
MpData.MpCnc5AxisPar.ProgramName := 'CncPrg01.mpf';
|
||||
IF EDGEPOS (gMP7121.Start) AND States.bSafetyCNCAxisOk AND NOT States.bSingleAxMode THEN
|
||||
IF MpFUB.MpCNC5Axis.MoveInterrupted THEN
|
||||
MpFUB.MpCNC5Axis.Continue := TRUE;
|
||||
ELSE
|
||||
IF (MpFUB.AxBasic_Z.Position > 600) THEN
|
||||
MpFUB.MpCNC5Axis.MoveProgram := TRUE;
|
||||
END_IF
|
||||
END_IF
|
||||
ELSIF EDGEPOS (gMP7121.Stop) OR NOT States.bSafetyCNCAxisOk THEN
|
||||
IF MpFUB.MpCNC5Axis.MoveDone OR MpFUB.MpCNC5Axis.MoveInterrupted OR NOT States.bSafetyCNCAxisOk THEN
|
||||
MpFUB.MpCNC5Axis.MoveProgram := FALSE;
|
||||
ELSIF MpFUB.MpCNC5Axis.MoveActive THEN
|
||||
MpFUB.MpCNC5Axis.Interrupt := TRUE;
|
||||
END_IF
|
||||
END_IF
|
||||
END_ACTION
|
||||
|
||||
|
||||
ACTION DoManual:
|
||||
IF enOldMachMode <> enMACH_JOG THEN
|
||||
//Tipp betrieb neu angew<EFBFBD>hlt
|
||||
VCButtons.TuningMode.bCommand := FALSE;
|
||||
END_IF
|
||||
|
||||
//Limits
|
||||
//Limits - Positionsgrenzwerte Joggen
|
||||
DoJogLimits;
|
||||
|
||||
//Geschwindigkeiten
|
||||
@@ -902,34 +925,7 @@ ACTION DoManual:
|
||||
//Achsen Referenzieren
|
||||
DoJogHomeAxis;
|
||||
|
||||
//CNC Fahren
|
||||
|
||||
MpData.MpCnc5AxisPar.ProgramName := 'CncPrg01.mpf';
|
||||
IF EDGEPOS (gMP7121.Start) AND States.bSafetyCNCAxisOk AND NOT States.bSingleAxMode THEN
|
||||
IF MpFUB.MpCNC5Axis.MoveInterrupted THEN
|
||||
MpFUB.MpCNC5Axis.Continue := TRUE;
|
||||
ELSE
|
||||
MpFUB.MpCNC5Axis.MoveProgram := TRUE;
|
||||
END_IF
|
||||
ELSIF EDGEPOS (gMP7121.Stop) OR NOT States.bSafetyCNCAxisOk THEN
|
||||
IF MpFUB.MpCNC5Axis.MoveDone OR MpFUB.MpCNC5Axis.MoveInterrupted OR NOT States.bSafetyCNCAxisOk THEN
|
||||
MpFUB.MpCNC5Axis.MoveProgram := FALSE;
|
||||
ELSIF MpFUB.MpCNC5Axis.MoveActive THEN
|
||||
MpFUB.MpCNC5Axis.Interrupt := TRUE;
|
||||
END_IF
|
||||
END_IF
|
||||
|
||||
//Gantry Achsen behandeln
|
||||
//==========================
|
||||
IF NOT MpFUB.ReadPos_XVirtual.Valid THEN
|
||||
MpFUB.MoveCyclicPos_X.Enable := FALSE;
|
||||
MpFUB.MoveCyclicPos_X1.Enable := FALSE;
|
||||
END_IF
|
||||
MpFUB.MoveCyclicPos_X.CyclicPosition := MpFUB.ReadPos_XVirtual.CyclicPosition;
|
||||
MpFUB.MoveCyclicPos_X1.CyclicPosition := MpFUB.ReadPos_XVirtual.CyclicPosition;
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
//Virtueller Achse folgen (Joggen - unkalibriert)
|
||||
@@ -960,24 +956,20 @@ ACTION DoManual:
|
||||
END_IF
|
||||
END_IF
|
||||
|
||||
|
||||
//Geschwindigkeit folgen deaktivieren
|
||||
IF NOT MpFUB.ReadVel_XVirtual.Valid OR (States.enXGantryMode = enXGantryDisabled) THEN
|
||||
MpFUB.MoveCyclicVelocity_X.Enable := FALSE;
|
||||
MpFUB.MoveCyclicVelocity_X1.Enable := FALSE;
|
||||
END_IF
|
||||
|
||||
|
||||
//Tuning Modus anwaehlen / Abwaehlen
|
||||
VCButtons.TuningMode.usStatus.0 := (gUserRights.Right6_Setup < mpUSERX_ACCESS_FULL);
|
||||
VCButtons.TuningMode.usStatus.1 := (gUserRights.Right6_Setup < mpUSERX_ACCESS_FULL);
|
||||
IF NOT States.bSingleAxMode OR (gUserRights.Right6_Setup < mpUSERX_ACCESS_FULL) THEN
|
||||
VCButtons.TuningMode.bCommand := FALSE;
|
||||
END_IF
|
||||
States.bSingleAxTuningMode := VCButtons.TuningMode.bCommand;
|
||||
//FixMe wg. Ausschalten der Achsen
|
||||
//States.bSingleAxTuningMode := VCButtons.TuningMode.bCommand;
|
||||
|
||||
|
||||
|
||||
//JogButtons anzeigen / Verriegeln
|
||||
//=================================
|
||||
VCButtons.AxisJogBw.usStatus.0 := NOT lMachine.bSimulation;
|
||||
VCButtons.AxisJogFw.usStatus.0 := NOT lMachine.bSimulation;
|
||||
|
||||
|
||||
@@ -75,6 +75,8 @@ PROGRAM _CYCLIC
|
||||
States.ProcParamFastSet.bAxis_C := FALSE;
|
||||
States.ProcParamFastSet.bAxis_A := FALSE;
|
||||
END_IF
|
||||
|
||||
//Processparameter f<EFBFBD>r Achse
|
||||
DoSLSAxisProcPar;
|
||||
|
||||
(*
|
||||
@@ -147,7 +149,6 @@ PROGRAM _CYCLIC
|
||||
|
||||
//Neu in Manuell
|
||||
IF EDGEPOS (lMachine.enMode = enMACH_JOG) THEN
|
||||
Parameter.rMaxOverrideInManual := 100; //FixMe
|
||||
MpFUB.MpCNC5Axis.RapidOverride := 100; // bei OVerride 100 := 200mms
|
||||
MpFUB.MpCNC5Axis.FeedrateOverride := 100;
|
||||
END_IF
|
||||
@@ -158,21 +159,7 @@ PROGRAM _CYCLIC
|
||||
END_IF
|
||||
|
||||
enOldMachMode := lMachine.enMode;
|
||||
|
||||
//Greifer wechsel (deaktiviert)
|
||||
FUBs.TON_GripperChange.IN := FALSE; //gbInKeyGripperChange;
|
||||
FUBs.TON_GripperChange.PT := t#2s;
|
||||
FUBs.TON_GripperChange ();
|
||||
|
||||
//IF gbOuGripperChangeOpen AND EDGEPOS (gbInKeyGripperChange) THEN
|
||||
//gbOuGripperChangeOpen := FALSE;
|
||||
//gbOuGripperChangeClose := TRUE;
|
||||
//END_IF
|
||||
|
||||
IF EDGEPOS (FUBs.TON_GripperChange.Q) THEN
|
||||
//gbOuGripperChangeOpen := TRUE;
|
||||
//gbOuGripperChangeClose := FALSE;
|
||||
END_IF
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -190,8 +177,10 @@ PROGRAM _CYCLIC
|
||||
DoManual;
|
||||
|
||||
|
||||
|
||||
ELSIF lMachine.enMode = enMACH_MANUAL THEN
|
||||
DoManualCNC;
|
||||
|
||||
|
||||
//Automatik betrieb
|
||||
//==========================================================================================
|
||||
ELSIF (lMachine.enMode = enMACH_AUTOMATIC) THEN
|
||||
@@ -675,6 +664,26 @@ PROGRAM _CYCLIC
|
||||
|
||||
|
||||
|
||||
//Gantry Achsen behandeln
|
||||
//==========================
|
||||
IF NOT MpFUB.ReadPos_XVirtual.Valid THEN
|
||||
MpFUB.MoveCyclicPos_X.Enable := FALSE;
|
||||
MpFUB.MoveCyclicPos_X1.Enable := FALSE;
|
||||
END_IF
|
||||
IF (States.enXGantryMode = enXGantryFollowPosVirtX) THEN
|
||||
//Virtueller Achse folgen
|
||||
bTemp := MpFUB.AxBasic_X.PowerOn AND NOT MpFUB.AxBasic_X.Error AND MpFUB.AxBasic_X1.PowerOn AND NOT MpFUB.AxBasic_X1.Error
|
||||
AND NOT MpFUB.MoveCyclicPos_X.Error AND NOT MpFUB.MoveCyclicPos_X1.Error;
|
||||
MpFUB.MoveCyclicPos_X.Enable := bTemp;
|
||||
MpFUB.MoveCyclicPos_X1.Enable := bTemp;
|
||||
|
||||
//Sollpositon entspricht Sollwertpos !!! nicht Realpos
|
||||
MpFUB.MoveCyclicPos_X.CyclicPosition := MpFUB.ReadPos_XVirtual.CyclicPosition;
|
||||
MpFUB.MoveCyclicPos_X1.CyclicPosition := MpFUB.ReadPos_XVirtual.CyclicPosition;
|
||||
END_IF
|
||||
|
||||
|
||||
|
||||
//CNCInterface
|
||||
//===============================================
|
||||
IF MpFUB.MpCNC5Axis.MoveProgram THEN
|
||||
@@ -687,7 +696,7 @@ PROGRAM _CYCLIC
|
||||
|
||||
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;
|
||||
gIPGLaserInterface.Out.uiOutputPower := uiTestPowerLaser; //FixMe
|
||||
END_IF
|
||||
IF (gIPGLaserInterface.Out.bPilotLaserOn AND gIPGLaserInterface.In.bPilotLaserIsOn)
|
||||
OR ((gIPGLaserInterface.Out.uiOutputPower > 0) AND gIPGLaserInterface.In.bLaserIsEmitting)
|
||||
@@ -697,6 +706,11 @@ PROGRAM _CYCLIC
|
||||
END_IF
|
||||
END_IF
|
||||
|
||||
//Leistung <EFBFBD>ndern - FixMe
|
||||
IF gIPGLaserInterface.Out.uiOutputPower > 0 THEN
|
||||
gIPGLaserInterface.Out.uiOutputPower := uiTestPowerLaser; //FixMe
|
||||
END_IF
|
||||
|
||||
//Hoehenregulierung deaktivieren
|
||||
IF MFlags.b110_StayAtHeight THEN
|
||||
//auf Hoehe halten
|
||||
@@ -758,6 +772,8 @@ PROGRAM _CYCLIC
|
||||
END_IF
|
||||
gIPGLaserInterface.Out.bEnalbeLaser := NOT States.TestMode.bNoLaser AND MpFUB.MpCNC5Axis.MoveProgram; // AND States.bSafetyLaserOk
|
||||
|
||||
|
||||
|
||||
//Ventile ansteuern (Sicherheit mit einschleifen)
|
||||
|
||||
|
||||
@@ -787,17 +803,17 @@ PROGRAM _CYCLIC
|
||||
|
||||
//Override setzen
|
||||
IF lMachine.enMode = enMACH_JOG THEN
|
||||
IF MpFUB.MpCNC5Axis.MoveProgram THEN
|
||||
//Bei Afahren in Hand den Override begrenzen auf
|
||||
IF (VCStatus.rOverride > Parameter.rMaxOverrideInManual) AND NOT gbSPLCInMaintDoorOk THEN
|
||||
VCStatus.rOverride := Parameter.rMaxOverrideInManual;
|
||||
END_IF
|
||||
MpFUB.MpCNC5Axis.Override := VCStatus.rOverride;
|
||||
ELSE
|
||||
MpFUB.MpCNC5Axis.Override := 100.0; //Bei Jog nur 100 erlaubt
|
||||
END_IF
|
||||
MpFUB.MpCNC5Axis.Override := 100;
|
||||
MpFUB.MpCNC5Axis.RapidOverride := 100; // bei OVerride 100 := 200mms
|
||||
MpFUB.MpCNC5Axis.FeedrateOverride := 100;
|
||||
ELSIF lMachine.enMode = enMACH_MANUAL THEN
|
||||
MpFUB.MpCNC5Axis.Override := VCStatus.rOverride;
|
||||
MpFUB.MpCNC5Axis.RapidOverride := 100; // bei OVerride 100 := 200mms
|
||||
MpFUB.MpCNC5Axis.FeedrateOverride := 100;
|
||||
ELSE
|
||||
MpFUB.MpCNC5Axis.Override := VCStatus.rOverride;
|
||||
MpFUB.MpCNC5Axis.RapidOverride := 100; // bei OVerride 100 := 200mms
|
||||
MpFUB.MpCNC5Axis.FeedrateOverride := 100;
|
||||
END_IF
|
||||
|
||||
//FB Aufrufe
|
||||
|
||||
@@ -2,107 +2,108 @@
|
||||
|
||||
PROGRAM _EXIT
|
||||
//Mapp Bausteine deaktivieren !!!
|
||||
MpFUB.PSM.Enable := FALSE;
|
||||
MpFUB.PSM ();
|
||||
|
||||
MpFUB.AxBasic_XVirtual.Power := FALSE;
|
||||
MpFUB.AxBasic_XVirtual.Enable := FALSE;
|
||||
MpFUB.AxBasic_XVirtual.Home := FALSE;
|
||||
MpFUB.AxBasic_XVirtual ();
|
||||
|
||||
MpFUB.AxBasic_X.Power := FALSE;
|
||||
MpFUB.AxBasic_X.Enable := FALSE;
|
||||
MpFUB.AxBasic_X.Home := FALSE;
|
||||
MpFUB.AxBasic_X ();
|
||||
|
||||
MpFUB.AxBasic_X1.Power := FALSE;
|
||||
MpFUB.AxBasic_X1.Enable := FALSE;
|
||||
MpFUB.AxBasic_X1.Home := FALSE;
|
||||
MpFUB.AxBasic_X1 ();
|
||||
|
||||
MpFUB.AxBasic_Y.Power := FALSE;
|
||||
MpFUB.AxBasic_Y.Enable := FALSE;
|
||||
MpFUB.AxBasic_Y.Home := FALSE;
|
||||
MpFUB.AxBasic_Y ();
|
||||
|
||||
MpFUB.AxBasic_Z.Power := FALSE;
|
||||
MpFUB.AxBasic_Z.Enable := FALSE;
|
||||
MpFUB.AxBasic_Z.Home := FALSE;
|
||||
MpFUB.AxBasic_Z ();
|
||||
|
||||
MpFUB.AxBasic_A.Power := FALSE;
|
||||
MpFUB.AxBasic_A.Enable := FALSE;
|
||||
MpFUB.AxBasic_A.Home := FALSE;
|
||||
MpFUB.AxBasic_A ();
|
||||
|
||||
MpFUB.AxBasic_C.Power := FALSE;
|
||||
MpFUB.AxBasic_C.Enable := FALSE;
|
||||
MpFUB.AxBasic_C.Home := FALSE;
|
||||
MpFUB.AxBasic_C ();
|
||||
|
||||
MpFUB.AxBasic_Shuttle.Power := FALSE;
|
||||
MpFUB.AxBasic_Shuttle.Enable := FALSE;
|
||||
MpFUB.AxBasic_Shuttle.Home := FALSE;
|
||||
MpFUB.AxBasic_Shuttle ();
|
||||
|
||||
MpFUB.AxBasic_Shuttle2.Power := FALSE;
|
||||
MpFUB.AxBasic_Shuttle2.Enable := FALSE;
|
||||
MpFUB.AxBasic_Shuttle2.Home := FALSE;
|
||||
MpFUB.AxBasic_Shuttle2 ();
|
||||
|
||||
MpFUB.ReadActTorque_X.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_X ();
|
||||
MpFUB.ReadActTorque_X1.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_X1 ();
|
||||
|
||||
MpFUB.ReadActTorque_Y.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_Y ();
|
||||
|
||||
MpFUB.ReadActTorque_Z.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_Z ();
|
||||
|
||||
MpFUB.ReadActTorque_C.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_C ();
|
||||
|
||||
MpFUB.ReadActTorque_A.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_A ();
|
||||
|
||||
MpFUB.ReadActTorque_Shuttle.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_Shuttle ();
|
||||
|
||||
MpFUB.ReadActTorque_Shuttle2.Enable := FALSE;
|
||||
MpFUB.ReadActTorque_Shuttle2 ();
|
||||
|
||||
MpFUB.ReadPos_XVirtual.Enable := FALSE;
|
||||
MpFUB.ReadPos_XVirtual ();
|
||||
|
||||
MpFUB.ReadRealPos_X.Enable := FALSE;
|
||||
MpFUB.ReadRealPos_X ();
|
||||
MpFUB.ReadRealPos_X1.Enable := FALSE;
|
||||
MpFUB.ReadRealPos_X1 ();
|
||||
MpFUB.ReadRealPos_XVirtual.Enable := FALSE;
|
||||
MpFUB.ReadRealPos_XVirtual ();
|
||||
|
||||
MpFUB.ReadVel_X.Enable := FALSE;
|
||||
MpFUB.ReadVel_X ();
|
||||
MpFUB.ReadVel_X1.Enable := FALSE;
|
||||
MpFUB.ReadVel_X1 ();
|
||||
MpFUB.ReadVel_XVirtual.Enable := FALSE;
|
||||
MpFUB.ReadVel_XVirtual ();
|
||||
|
||||
MpFUB.MpCNC5Axis.Power := FALSE;
|
||||
MpFUB.MpCNC5Axis.Enable := FALSE;
|
||||
MpFUB.MpCNC5Axis.Home := FALSE;
|
||||
MpFUB.MpCNC5Axis ();
|
||||
|
||||
MpFUB.MC_BR_GroupJogAbsolute.Enable := FALSE;
|
||||
MpFUB.MC_BR_GroupJogAbsolute ();
|
||||
|
||||
MpFUB.MC_BR_GroupMoveCyclicPosition.Enable := FALSE;
|
||||
MpFUB.MC_BR_GroupMoveCyclicPosition ();
|
||||
|
||||
MpFUB.MC_GroupReadActualPosition.Enable := FALSE;
|
||||
MpFUB.MC_GroupReadActualPosition ();
|
||||
|
||||
//FixMe nicht f<EFBFBD>r MappMotion
|
||||
// MpFUB.PSM.Enable := FALSE;
|
||||
// MpFUB.PSM ();
|
||||
//
|
||||
// MpFUB.AxBasic_XVirtual.Power := FALSE;
|
||||
// MpFUB.AxBasic_XVirtual.Enable := FALSE;
|
||||
// MpFUB.AxBasic_XVirtual.Home := FALSE;
|
||||
// MpFUB.AxBasic_XVirtual ();
|
||||
//
|
||||
// MpFUB.AxBasic_X.Power := FALSE;
|
||||
// MpFUB.AxBasic_X.Enable := FALSE;
|
||||
// MpFUB.AxBasic_X.Home := FALSE;
|
||||
// MpFUB.AxBasic_X ();
|
||||
//
|
||||
// MpFUB.AxBasic_X1.Power := FALSE;
|
||||
// MpFUB.AxBasic_X1.Enable := FALSE;
|
||||
// MpFUB.AxBasic_X1.Home := FALSE;
|
||||
// MpFUB.AxBasic_X1 ();
|
||||
//
|
||||
// MpFUB.AxBasic_Y.Power := FALSE;
|
||||
// MpFUB.AxBasic_Y.Enable := FALSE;
|
||||
// MpFUB.AxBasic_Y.Home := FALSE;
|
||||
// MpFUB.AxBasic_Y ();
|
||||
//
|
||||
// MpFUB.AxBasic_Z.Power := FALSE;
|
||||
// MpFUB.AxBasic_Z.Enable := FALSE;
|
||||
// MpFUB.AxBasic_Z.Home := FALSE;
|
||||
// MpFUB.AxBasic_Z ();
|
||||
//
|
||||
// MpFUB.AxBasic_A.Power := FALSE;
|
||||
// MpFUB.AxBasic_A.Enable := FALSE;
|
||||
// MpFUB.AxBasic_A.Home := FALSE;
|
||||
// MpFUB.AxBasic_A ();
|
||||
//
|
||||
// MpFUB.AxBasic_C.Power := FALSE;
|
||||
// MpFUB.AxBasic_C.Enable := FALSE;
|
||||
// MpFUB.AxBasic_C.Home := FALSE;
|
||||
// MpFUB.AxBasic_C ();
|
||||
//
|
||||
// MpFUB.AxBasic_Shuttle.Power := FALSE;
|
||||
// MpFUB.AxBasic_Shuttle.Enable := FALSE;
|
||||
// MpFUB.AxBasic_Shuttle.Home := FALSE;
|
||||
// MpFUB.AxBasic_Shuttle ();
|
||||
//
|
||||
// MpFUB.AxBasic_Shuttle2.Power := FALSE;
|
||||
// MpFUB.AxBasic_Shuttle2.Enable := FALSE;
|
||||
// MpFUB.AxBasic_Shuttle2.Home := FALSE;
|
||||
// MpFUB.AxBasic_Shuttle2 ();
|
||||
//
|
||||
// MpFUB.ReadActTorque_X.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_X ();
|
||||
// MpFUB.ReadActTorque_X1.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_X1 ();
|
||||
//
|
||||
// MpFUB.ReadActTorque_Y.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_Y ();
|
||||
//
|
||||
// MpFUB.ReadActTorque_Z.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_Z ();
|
||||
//
|
||||
// MpFUB.ReadActTorque_C.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_C ();
|
||||
//
|
||||
// MpFUB.ReadActTorque_A.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_A ();
|
||||
//
|
||||
// MpFUB.ReadActTorque_Shuttle.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_Shuttle ();
|
||||
//
|
||||
// MpFUB.ReadActTorque_Shuttle2.Enable := FALSE;
|
||||
// MpFUB.ReadActTorque_Shuttle2 ();
|
||||
//
|
||||
// MpFUB.ReadPos_XVirtual.Enable := FALSE;
|
||||
// MpFUB.ReadPos_XVirtual ();
|
||||
//
|
||||
// MpFUB.ReadRealPos_X.Enable := FALSE;
|
||||
// MpFUB.ReadRealPos_X ();
|
||||
// MpFUB.ReadRealPos_X1.Enable := FALSE;
|
||||
// MpFUB.ReadRealPos_X1 ();
|
||||
// MpFUB.ReadRealPos_XVirtual.Enable := FALSE;
|
||||
// MpFUB.ReadRealPos_XVirtual ();
|
||||
//
|
||||
// MpFUB.ReadVel_X.Enable := FALSE;
|
||||
// MpFUB.ReadVel_X ();
|
||||
// MpFUB.ReadVel_X1.Enable := FALSE;
|
||||
// MpFUB.ReadVel_X1 ();
|
||||
// MpFUB.ReadVel_XVirtual.Enable := FALSE;
|
||||
// MpFUB.ReadVel_XVirtual ();
|
||||
//
|
||||
// MpFUB.MpCNC5Axis.Power := FALSE;
|
||||
// MpFUB.MpCNC5Axis.Enable := FALSE;
|
||||
// MpFUB.MpCNC5Axis.Home := FALSE;
|
||||
// MpFUB.MpCNC5Axis ();
|
||||
//
|
||||
// MpFUB.MC_BR_GroupJogAbsolute.Enable := FALSE;
|
||||
// MpFUB.MC_BR_GroupJogAbsolute ();
|
||||
//
|
||||
// MpFUB.MC_BR_GroupMoveCyclicPosition.Enable := FALSE;
|
||||
// MpFUB.MC_BR_GroupMoveCyclicPosition ();
|
||||
//
|
||||
// MpFUB.MC_GroupReadActualPosition.Enable := FALSE;
|
||||
// MpFUB.MC_GroupReadActualPosition ();
|
||||
//
|
||||
|
||||
END_PROGRAM
|
||||
@@ -18,158 +18,13 @@ PROGRAM _INIT
|
||||
DoInitAxisparameter;
|
||||
DoInitAxLimits;
|
||||
|
||||
//Versorgungsmodul
|
||||
MpFUB.PSM.Axis := ADR (gACPMPowerSupply);
|
||||
|
||||
//Axis Basic X - Gantry Virtual
|
||||
MpFUB.AxBasic_XVirtual.MpLink := ADR (gAxisQX_Virtual);
|
||||
MpFUB.AxBasic_XVirtual.Parameters := ADR (MpData.AxPar_XVirtual);
|
||||
MpFUB.AxBasic_XVirtual.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.MoveCyclicPos_XVirtual.Axis := ADR (gAxisQX_Virtual);
|
||||
MpFUB.ReadPos_XVirtual.Axis := ADR (gAxisQX_Virtual);
|
||||
MpFUB.ReadPos_XVirtual.Enable := TRUE;
|
||||
MpFUB.ReadPos_XVirtual.ValueSource := mcVALUE_SET; //Sollposition
|
||||
MpFUB.ReadRealPos_XVirtual.Axis := ADR (gAxisQX_Virtual);
|
||||
MpFUB.ReadRealPos_XVirtual.Enable := TRUE;
|
||||
MpFUB.ReadRealPos_XVirtual.ValueSource := mcVALUE_ACTUAL; //Istpositon
|
||||
MpFUB.ReadVel_XVirtual.Axis := ADR (gAxisQX_Virtual);
|
||||
MpFUB.ReadVel_XVirtual.Enable := TRUE;
|
||||
MpFUB.ProcessParam_XVirtual.Component := ADR (gAxisQX_Virtual);
|
||||
//MpFUB.ProcessParam_XVirtual.AdvancedParameters := 'gAxisQX_Virtual';
|
||||
MpFUB.ProcessParam_XVirtual.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
|
||||
MpFUB.ProcessParam_XVirtual.DataAddress := ADR (MpData.ProcPar_XVirtual_MoveLim);
|
||||
|
||||
//Axis Basic X - Gantry Achse 0
|
||||
MpFUB.AxBasic_X.MpLink := ADR (gAxisQX);
|
||||
MpFUB.AxBasic_X.Parameters := ADR (MpData.AxPar_X);
|
||||
MpFUB.AxBasic_X.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.MoveCyclicPos_X.Axis := ADR (gAxisQX);
|
||||
MpFUB.MoveCyclicVelocity_X.Axis := ADR (gAxisQX);
|
||||
MpFUB.InitHome_X.Axis := ADR (gAxisQX);
|
||||
MpFUB.Home_X.Axis := ADR (gAxisQX);
|
||||
MpFUB.ReadRealPos_X.Axis := ADR (gAxisQX);
|
||||
MpFUB.ReadRealPos_X.Enable := TRUE;
|
||||
MpFUB.ReadRealPos_X.ValueSource := mcVALUE_ACTUAL; //Istpositon
|
||||
MpFUB.ReadVel_X.Axis := ADR (gAxisQX);
|
||||
MpFUB.ReadVel_X.Enable := TRUE;
|
||||
MpFUB.ReadActTorque_X.Axis := ADR (gAxisQX);
|
||||
MpFUB.ReadActTorque_X.Enable := TRUE;
|
||||
|
||||
//Axis Basic X - Gantry Achse 1
|
||||
MpFUB.AxBasic_X1.MpLink := ADR (gAxisQX1);
|
||||
MpFUB.AxBasic_X1.Parameters := ADR (MpData.AxPar_X1);
|
||||
MpFUB.AxBasic_X1.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.MoveCyclicPos_X1.Axis := ADR (gAxisQX1);
|
||||
MpFUB.MoveCyclicVelocity_X1.Axis := ADR (gAxisQX1);
|
||||
MpFUB.InitHome_X1.Axis := ADR (gAxisQX1);
|
||||
MpFUB.Home_X1.Axis := ADR (gAxisQX1);
|
||||
MpFUB.ReadRealPos_X1.Axis := ADR (gAxisQX1);
|
||||
MpFUB.ReadRealPos_X1.Enable := TRUE;
|
||||
MpFUB.ReadRealPos_X1.ValueSource := mcVALUE_ACTUAL; //Istpositon
|
||||
MpFUB.ReadVel_X1.Axis := ADR (gAxisQX1);
|
||||
MpFUB.ReadVel_X1.Enable := TRUE;
|
||||
MpFUB.ReadActTorque_X1.Axis := ADR (gAxisQX1);
|
||||
MpFUB.ReadActTorque_X1.Enable := TRUE;
|
||||
|
||||
|
||||
//Axis Basic Y (2)
|
||||
MpFUB.AxBasic_Y.MpLink := ADR (gAxisQY);
|
||||
MpFUB.AxBasic_Y.Parameters := ADR (MpData.AxPar_Y);
|
||||
MpFUB.AxBasic_Y.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.MoveCyclicPos_Y.Axis := ADR (gAxisQY);
|
||||
MpFUB.InitHome_Y.Axis := ADR (gAxisQY);
|
||||
MpFUB.Home_Y.Axis := ADR (gAxisQY);
|
||||
MpFUB.ReadActTorque_Y.Axis := ADR (gAxisQY);
|
||||
MpFUB.ReadActTorque_Y.Enable := TRUE;
|
||||
MpFUB.ProcessParam_Y.Component := ADR (gAxisQY);
|
||||
MpFUB.ProcessParam_Y.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
|
||||
MpFUB.ProcessParam_Y.DataAddress := ADR (MpData.ProcPar_Y_MoveLim);
|
||||
//Achswerte zuweisen im Zyklischen Teil
|
||||
|
||||
|
||||
//Axis Basic Z (1)
|
||||
MpFUB.AxBasic_Z.MpLink := ADR (gAxisQZ);
|
||||
MpFUB.AxBasic_Z.Parameters := ADR (MpData.AxPar_Z);
|
||||
MpFUB.AxBasic_Z.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.MoveCyclicPos_Z.Axis := ADR (gAxisQZ);
|
||||
MpFUB.InitHome_Z.Axis := ADR (gAxisQZ);
|
||||
MpFUB.Home_Z.Axis := ADR (gAxisQZ);
|
||||
MpFUB.ReadActTorque_Z.Axis := ADR (gAxisQZ);
|
||||
MpFUB.ReadActTorque_Z.Enable := TRUE;
|
||||
MpFUB.ProcessParam_Z.Component := ADR (gAxisQZ);
|
||||
MpFUB.ProcessParam_Z.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
|
||||
MpFUB.ProcessParam_Z.DataAddress := ADR (MpData.ProcPar_Z_MoveLim);
|
||||
|
||||
|
||||
//Axis Basic A (2)
|
||||
MpFUB.AxBasic_A.MpLink := ADR (gAxisQA);
|
||||
MpFUB.AxBasic_A.Parameters := ADR (MpData.AxPar_A);
|
||||
MpFUB.AxBasic_A.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.MoveCyclicPos_A.Axis := ADR (gAxisQA);
|
||||
MpFUB.InitHome_A.Axis := ADR (gAxisQA);
|
||||
MpFUB.Home_A.Axis := ADR (gAxisQA);
|
||||
MpFUB.ReadActTorque_A.Axis := ADR (gAxisQA);
|
||||
MpFUB.ReadActTorque_A.Enable := TRUE;
|
||||
MpFUB.ProcessParam_A.Component := ADR (gAxisQA);
|
||||
MpFUB.ProcessParam_A.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
|
||||
MpFUB.ProcessParam_A.DataAddress := ADR (MpData.ProcPar_A_MoveLim);
|
||||
|
||||
|
||||
//Axis Basic C (1)
|
||||
MpFUB.AxBasic_C.MpLink := ADR (gAxisQC);
|
||||
MpFUB.AxBasic_C.Parameters := ADR (MpData.AxPar_C);
|
||||
MpFUB.AxBasic_C.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.MoveCyclicPos_C.Axis := ADR (gAxisQC);
|
||||
MpFUB.InitHome_C.Axis := ADR (gAxisQC);
|
||||
MpFUB.Home_C.Axis := ADR (gAxisQC);
|
||||
MpFUB.ReadActTorque_C.Axis := ADR (gAxisQC);
|
||||
MpFUB.ReadActTorque_C.Enable := TRUE;
|
||||
MpFUB.ProcessParam_C.Component := ADR (gAxisQC);
|
||||
MpFUB.ProcessParam_C.DataType := mcCFG_AX_MOVE_LIM; //Movementlimits
|
||||
MpFUB.ProcessParam_C.DataAddress := ADR (MpData.ProcPar_C_MoveLim);
|
||||
|
||||
|
||||
//Axis Basic Shuttle (2)
|
||||
MpFUB.AxBasic_Shuttle.MpLink := ADR (gAxisShuttle);
|
||||
MpFUB.AxBasic_Shuttle.Parameters := ADR (MpData.AxPar_Shuttle);
|
||||
MpFUB.AxBasic_Shuttle.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.InitHome_Shuttle.Axis := ADR (gAxisShuttle);
|
||||
MpFUB.Home_Shuttle.Axis := ADR (gAxisShuttle);
|
||||
MpFUB.ReadActTorque_Shuttle.Axis := ADR (gAxisShuttle);
|
||||
MpFUB.ReadActTorque_Shuttle.Enable := TRUE;
|
||||
|
||||
//Axis Basic Shuttle (2)
|
||||
MpFUB.AxBasic_Shuttle2.MpLink := ADR (gAxisShuttle2);
|
||||
MpFUB.AxBasic_Shuttle2.Parameters := ADR (MpData.AxPar_Shuttle2);
|
||||
MpFUB.AxBasic_Shuttle2.Enable := TRUE;
|
||||
//Zusatzbausteine Versorgen
|
||||
MpFUB.InitHome_Shuttle2.Axis := ADR (gAxisShuttle2);
|
||||
MpFUB.Home_Shuttle2.Axis := ADR (gAxisShuttle2);
|
||||
MpFUB.ReadActTorque_Shuttle2.Axis := ADR (gAxisShuttle2);
|
||||
|
||||
|
||||
|
||||
//CNC
|
||||
MpFUB.MpCNC5Axis.MpLink := ADR (gCncXYZCA);
|
||||
MpFUB.MpCNC5Axis.Enable := FALSE;
|
||||
MpFUB.MpCNC5Axis.Parameters := ADR (MpData.MpCnc5AxisPar);
|
||||
|
||||
//CNC FUbs
|
||||
MpFUB.MC_BR_GroupSetOverride.AxesGroup := ADR (gCncXYZCA);
|
||||
MpFUB.MC_BR_GroupSetOverride.Type := mcOVERRIDE_TIMESTRETCH;
|
||||
//Unn<EFBFBD>tige Fubs Deaktivieren
|
||||
MpFUB.MC_BR_GroupSetOverride.Enable := FALSE;
|
||||
MpFUB.MC_GroupReadActualPosition.AxesGroup := ADR (gCncXYZCA);
|
||||
MpFUB.MC_BR_GroupJogAbsolute.AxesGroup := ADR (gCncXYZCA);
|
||||
MpFUB.MC_BR_GroupMoveCyclicPosition.AxesGroup := ADR (gCncXYZCA);
|
||||
MpFUB.MC_BR_SetFrameTableFrame.AxesGroup := ADR (gCncXYZCA);
|
||||
|
||||
|
||||
//Reset important values
|
||||
MpFUB.MoveCyclicPos_X.AdvancedParameters.Jerk := 0.0; //Muss 0 sein derzeit nicht aktiviert
|
||||
MpFUB.MoveCyclicPos_X1.AdvancedParameters.Jerk := 0.0; //Muss 0 sein derzeit nicht aktiviert
|
||||
|
||||
@@ -4,7 +4,6 @@ TYPE
|
||||
bTestRun : BOOL; (*Probelauf (ohne Wasser)*)
|
||||
rSpeedJog : REAL; (*Tippgeschwindigkeit*)
|
||||
rIncrementsJog : REAL; (*Incremente Joggen 0.01 -10*)
|
||||
rMaxOverrideInManual : REAL := 30; (*Vorschub f. CNC (0-100%)*)
|
||||
rAccDecell : REAL; (*+*)
|
||||
rVelocityAxisLinear : REAL := 100; (*Verfahrgeschwindigkeit Einzelachsen Linear*)
|
||||
rVelocityAxisAngle : REAL := 45; (*Verfahrgeschwindigkeit Einzelachsen Winkel*)
|
||||
@@ -177,7 +176,6 @@ END_TYPE
|
||||
|
||||
TYPE
|
||||
typ_FUB : STRUCT (*Funktionsbausteine*)
|
||||
TON_GripperChange : TON;
|
||||
TON_PowerSingleAxes : TON;
|
||||
TON_PowerCNC : TON;
|
||||
TOF_Startkey : TOF;
|
||||
@@ -194,6 +192,7 @@ TYPE
|
||||
ReadPos_XVirtual : MC_BR_ReadCyclicPosition; (*Zyklische Sollposition auslesen (F<>r Pos Vorgabe Gantry)*)
|
||||
ReadVel_XVirtual : MC_ReadActualVelocity; (*Ist geschwindigkeit auslesen (F<>r Pos Vorgabe Gantry)*)
|
||||
ProcessParam_XVirtual : MC_BR_ProcessParam; (*Achskonfiguration*)
|
||||
ProcessParamHW_XVirtual : MC_BR_ProcessParam; (*Achskonfiguration HW*)
|
||||
AxBasic_X : MpAxisBasic; (*Einzelachsfunktionalit<69>t*)
|
||||
MoveCyclicPos_X : MC_BR_MoveCyclicPosition; (*Zyklische Positionsvorgabe (Gantry)*)
|
||||
MoveCyclicVelocity_X : MC_BR_MoveCyclicVelocity; (*Zyklische Geschwindigkeitsvorgabe (Gantry)*)
|
||||
@@ -216,12 +215,14 @@ TYPE
|
||||
InitHome_Y : MC_BR_InitHome_AcpAx; (*Homingparameter (nur f<>r Kalibrierung)*)
|
||||
Home_Y : MC_Home; (*Homing (nur f<>r Kalibrierung)*)
|
||||
ProcessParam_Y : {REDUND_UNREPLICABLE} MC_BR_ProcessParam; (*Achskonfiguration*)
|
||||
ProcessParamHW_Y : {REDUND_UNREPLICABLE} MC_BR_ProcessParam; (*Achskonfiguration HW*)
|
||||
AxBasic_Z : MpAxisBasic; (*Einzelachsfunktionalit<69>t*)
|
||||
MoveCyclicPos_Z : MC_BR_MoveCyclicPosition; (*Zyklische Positionsvorgabe (Joggen Handrad)*)
|
||||
ReadActTorque_Z : MC_ReadActualTorque; (*Drehmoment auslesen*)
|
||||
InitHome_Z : MC_BR_InitHome_AcpAx; (*Homingparameter (nur f<>r Kalibrierung)*)
|
||||
Home_Z : MC_Home; (*Homing (nur f<>r Kalibrierung)*)
|
||||
ProcessParam_Z : MC_BR_ProcessParam; (*Achskonfiguration*)
|
||||
ProcessParamHW_Z : MC_BR_ProcessParam; (*Achskonfiguration HW*)
|
||||
AxBasic_C : MpAxisBasic; (*Einzelachsfunktionalit<69>t*)
|
||||
MoveCyclicPos_C : MC_BR_MoveCyclicPosition; (*Zyklische Positionsvorgabe (Joggen Handrad)*)
|
||||
ReadActTorque_C : MC_ReadActualTorque; (*Drehmoment auslesen*)
|
||||
@@ -278,7 +279,6 @@ END_TYPE
|
||||
TYPE
|
||||
typ_VCButtons : STRUCT (*Visual Controls Buttons*)
|
||||
DisablePosLimits : gtyp_VCButton; (*PositionsLimit Deaktivieren*)
|
||||
TuningMode : gtyp_VCButton; (*Tuning aktivieren (damit Motor nicht eingeschalten wird)*)
|
||||
AxisJogFw : gtyp_VCButton; (*Achse Vorw<72>rts Tippen*)
|
||||
AxisJogBw : gtyp_VCButton; (*Achse R<>ckw<6B>rts Tippen*)
|
||||
AxisMovePos : gtyp_VCButton; (*Achse Position Anfahren*)
|
||||
|
||||
@@ -57,6 +57,7 @@ VAR
|
||||
END_VAR
|
||||
(*//Strukturen*)
|
||||
VAR
|
||||
TEST : McCfgAcpCtrlType;
|
||||
enStepAuto : typ_enStepAuto; (*Schrittkette Automatik*)
|
||||
enStepAutoRestartPoint : typ_enStepAuto; (*Wiederstartpunkt Automatik*)
|
||||
enOldMachMode : enMACHMODE; (*Letzte Betriebsart*)
|
||||
|
||||
@@ -19,8 +19,9 @@ VAR CONSTANT
|
||||
END_VAR
|
||||
VAR
|
||||
LAYER_MAINPAGE_MAIN : USINT := 1; (*Hauptlayer*)
|
||||
LAYER_MAINPAGE_JOG : USINT := 2; (*Tipp-Betrieb*)
|
||||
LAYER_MAINPAGE_JOG : USINT := 2; (*Handbetrieb-CNC-Tippen*)
|
||||
LAYER_MAINPAGE_AUTO : USINT := 3; (*Automatikbetrieb*)
|
||||
LAYER_MAINPAGE_SETUPMODE : USINT := 4; (*Einrichtbetrieb (Anwahl aus Hand)*)
|
||||
LAYER_MAINPAGE_SETUPMODE : USINT := 4; (*Einrichtbetrieb (Anwahl aus Hand) - Einzelachsmodus*)
|
||||
LAYER_MAINPAGE_MANUAL : USINT := 5; (*Handbetrieb-CNC*)
|
||||
LAYER_MAINPAGE_STARTUP : USINT := 16; (*Hochlauf Sicherheits SPS*)
|
||||
END_VAR
|
||||
|
||||
@@ -80,7 +80,8 @@ ACTION DoLayerSettings:
|
||||
//Layer 4 Tippbetrieb
|
||||
gVisuCtrl.MainPage.usStateLayer[LAYER_MAINPAGE_SETUPMODE].0 := NOT gMachine1.bMachineON OR NOT gMachine1.bSetupMode OR
|
||||
(gMachine1.enMode <> enMACH_JOG);
|
||||
|
||||
|
||||
|
||||
//Layer 16 Anlauf
|
||||
gVisuCtrl.MainPage.usStateLayer[LAYER_MAINPAGE_STARTUP].0 := FUBs.TON_StartDelay.Q OR gMachine1.bMachineON;
|
||||
|
||||
@@ -152,6 +153,9 @@ ACTION DoLayerSettingsMP:
|
||||
gVisuCtrlMP.MainPage.usStateLayer[LAYER_MAINPAGE_SETUPMODE].0 := NOT gMachine1.bMachineON OR NOT gMachine1.bSetupMode OR
|
||||
(gMachine1.enMode <> enMACH_JOG);
|
||||
|
||||
//Layer 5 Tippbetrieb
|
||||
gVisuCtrlMP.MainPage.usStateLayer[LAYER_MAINPAGE_MANUAL].0 := NOT gMachine1.bMachineON OR
|
||||
(gMachine1.enMode <> enMACH_MANUAL);
|
||||
//Layer 16 Anlauf
|
||||
gVisuCtrlMP.MainPage.usStateLayer[LAYER_MAINPAGE_STARTUP].0 := FUBs.TON_StartDelay.Q OR gMachine1.bMachineON;
|
||||
|
||||
|
||||
@@ -60,7 +60,18 @@ PROGRAM _CYCLIC
|
||||
gMachine1.enMode := enMACH_NOOP;
|
||||
ELSIF (gMP7121.KeyLeft OR gMachine1.bSimulation) AND (gUserRights.Right4_Jog >= mpUSERX_ACCESS_ACTUATE) THEN
|
||||
//Tippbetrieb nicht aktiv
|
||||
gMachine1.enMode := enMACH_JOG;
|
||||
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
|
||||
gMachine1.enMode := enMACH_JOG;
|
||||
ELSIF (gVisuCtrlMP.MainPage.usSetLayer = 5) THEN
|
||||
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
|
||||
// AND NOT gMachine1.bDisableMachine AND NOT gAlarmReaction.b1StopAutomatic
|
||||
//AND (gUserRights.Right1_Operate >= mpUSER_ACCESS_ACTUATE) THEN //AND NOT gAlarmReaction.b2FinishCycle THEN
|
||||
|
||||
@@ -5561,6 +5561,28 @@
|
||||
<Property Name="VCType" Value="SCALED"/>
|
||||
</DataPoint>
|
||||
</Folder>
|
||||
<Folder Name="TestMode">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="FolderType" Value="Struct"/>
|
||||
<DataPoint Name="bNoHeightCtrl">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="BOOL"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="BOOL"/>
|
||||
</DataPoint>
|
||||
<DataPoint Name="bNoLaser">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="BOOL"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="BOOL"/>
|
||||
</DataPoint>
|
||||
</Folder>
|
||||
</Folder>
|
||||
<Folder Name="Parameter">
|
||||
<Property Name="Description" Value=""/>
|
||||
@@ -5810,7 +5832,7 @@
|
||||
<Property Name="FolderType" Value="Struct"/>
|
||||
<DataPoint Name="bCommand">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\Visu2,Vsualization\VisuMP"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\Visu2"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="BOOL"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
@@ -5819,7 +5841,7 @@
|
||||
</DataPoint>
|
||||
<DataPoint Name="usStatus">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\Visu2,Vsualization\VisuMP"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\Visu2"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="USINT"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
@@ -7008,6 +7030,15 @@
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="SCALED"/>
|
||||
</DataPoint>
|
||||
<DataPoint Name="MoveInterrupted">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="BOOL"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="BOOL"/>
|
||||
</DataPoint>
|
||||
</Folder>
|
||||
<Folder Name="AxBasic_Shuttle">
|
||||
<Property Name="Description" Value=""/>
|
||||
@@ -7288,6 +7319,15 @@
|
||||
<Property Name="VCType" Value="SCALED"/>
|
||||
</DataPoint>
|
||||
</Folder>
|
||||
<DataPoint Name="uiTestPowerLaser">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="UINT"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="INTEGER"/>
|
||||
</DataPoint>
|
||||
</Folder>
|
||||
<Folder Name="PartCount">
|
||||
<Property Name="Description" Value=""/>
|
||||
@@ -9935,7 +9975,7 @@
|
||||
</DataPoint>
|
||||
<DataPoint Name="usSetLayer">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\Visu2,Vsualization\VisuMP"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\Visu2"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="USINT"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
@@ -11285,6 +11325,24 @@
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="INTEGER"/>
|
||||
</DataPoint>
|
||||
<DataPoint Name="usStateLayer[5]">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="USINT"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="INTEGER"/>
|
||||
</DataPoint>
|
||||
</DataPoint>
|
||||
<DataPoint Name="usSetLayer">
|
||||
<Property Name="ConnectedBySharedResource" Value="False"/>
|
||||
<Property Name="ConnectingVisus" Value="Vsualization\VisuMP"/>
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="PLCType" Value="USINT"/>
|
||||
<Property Name="UpdateTime" Value="Default"/>
|
||||
<Property Name="UserID" Value="None"/>
|
||||
<Property Name="VCType" Value="INTEGER"/>
|
||||
</DataPoint>
|
||||
</Folder>
|
||||
<Folder Name="IOPage">
|
||||
|
||||
@@ -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="168436"/>
|
||||
<Property Name="TextIDMax" Value="170410"/>
|
||||
<SourceFiles>
|
||||
<Source File="Languages.vcr"/>
|
||||
<Source File="TextGroups\DateTimeFormats.txtgrp"/>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1917,10 +1917,6 @@
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_123">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_7">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
@@ -1941,14 +1937,6 @@
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_139">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_140">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_137">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
@@ -2033,22 +2021,6 @@
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_127">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_138">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_167">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_168">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_146">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
@@ -2117,4 +2089,40 @@
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_2">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_139">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_140">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_127">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_138">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_167">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_168">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_153">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
<VirtualKey Name="%embVirtualKey_160">
|
||||
<Property Name="Description" Value=""/>
|
||||
<Property Name="VirtualKey_LED" Value="False"/>
|
||||
</VirtualKey>
|
||||
</KeyMapping>
|
||||
@@ -26,7 +26,7 @@
|
||||
<Build GccVersion="4.1.2" />
|
||||
<DefaultTargetMemory Tasks="UserROM" />
|
||||
<Safety SafetyRelease="1.10" />
|
||||
<Transfer AddToUserPart="False" AdditionalUserDir="D:\SIM" AllowDowngrade="True" AllowInitialTransfer="False" AllowPartitioning="False" ExecuteInitExitProgram="True" ForceInitialTransfer="False" IdentificationTypeValue="" IgnoreVersion="True" KeepNonVolatileMemory="False" ModuleSystemForPip="" PreserveVariableValues="True" ProjectConsistent="True" RebootDuringTransfer="False" TargetIdentificationType="Always" TryToBootInRunMode="True" UserFilesIgnoreDifference="True" />
|
||||
<Transfer AddToUserPart="True" AdditionalUserDir="D:\SIM" AllowDowngrade="True" AllowInitialTransfer="False" AllowPartitioning="False" ExecuteInitExitProgram="False" ForceInitialTransfer="False" IdentificationTypeValue="" IgnoreVersion="True" KeepNonVolatileMemory="False" ModuleSystemForPip="" PreserveVariableValues="True" ProjectConsistent="True" RebootDuringTransfer="False" TargetIdentificationType="Always" TryToBootInRunMode="True" UserFilesIgnoreDifference="True" />
|
||||
<Vc FirmwareVersion="V4.72.2" />
|
||||
<TechnologyPackages>
|
||||
<SafetyRelease Version="1.10.0" />
|
||||
|
||||
@@ -8,7 +8,6 @@
|
||||
</TaskClass>
|
||||
<TaskClass Name="Cyclic#2" />
|
||||
<TaskClass Name="Cyclic#3">
|
||||
<Task Name="MappAlarmX" Source="Machine.MappAlarmX.prg" Memory="UserROM" Language="IEC" Debugging="true" />
|
||||
<Task Name="machine" Source="Machine.machine.prg" Memory="UserROM" Language="IEC" Debugging="true" />
|
||||
</TaskClass>
|
||||
<TaskClass Name="Cyclic#4">
|
||||
@@ -20,7 +19,9 @@
|
||||
<Task Name="Recipies" Source="MachCtrl.Recipies.prg" Memory="UserROM" Language="IEC" Debugging="true" Disabled="true" />
|
||||
<Task Name="Raytools" Source="Communication.RayTools.Raytools.prg" Memory="UserROM" Language="IEC" Debugging="true" />
|
||||
</TaskClass>
|
||||
<TaskClass Name="Cyclic#5" />
|
||||
<TaskClass Name="Cyclic#5">
|
||||
<Task Name="MappAlarmX" Source="Machine.MappAlarmX.prg" Memory="UserROM" Language="IEC" Debugging="true" />
|
||||
</TaskClass>
|
||||
<TaskClass Name="Cyclic#6">
|
||||
<Task Name="systempara" Source="Machine.systempara.prg" Memory="UserROM" Language="IEC" Debugging="true" />
|
||||
</TaskClass>
|
||||
@@ -95,14 +96,13 @@
|
||||
<BinaryObject Name="vcpfmtcx" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="vcpfapc" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Visu202" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="vcpkat" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Visu201" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Visu203" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="VisuMP02" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="VisuMP03" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="VisuMP01" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="vcpfar00" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="McProfGen" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="CfgWebXS" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Settings" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="ashwd" Source="" Memory="SystemROM" Language="Binary" />
|
||||
<BinaryObject Name="asfw" Source="" Memory="SystemROM" Language="Binary" />
|
||||
@@ -119,7 +119,6 @@
|
||||
<BinaryObject Name="User_KD" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="TC" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="User_1" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="CfgWebXS" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Config" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Config_1" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Config_3" Source="" Memory="UserROM" Language="Binary" />
|
||||
@@ -133,6 +132,8 @@
|
||||
<BinaryObject Name="Config_8" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Config_7" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="PVs" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="vcpkat" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="vcpfar00" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Visu03" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="vcctrend" Source="" Memory="UserROM" Language="Binary" />
|
||||
<BinaryObject Name="Visu02" Source="" Memory="UserROM" Language="Binary" />
|
||||
|
||||
Binary file not shown.
@@ -5,17 +5,17 @@ HostName=SL12.xy.org
|
||||
Destination=192.168.3.1
|
||||
CommunicationMode=1
|
||||
[GUI]
|
||||
SortOrder=0
|
||||
NameWidth=366
|
||||
SortOrder=0
|
||||
ASVarWidth=334
|
||||
ViewMode=0
|
||||
SADRWidth=100
|
||||
SortColumn=0
|
||||
SADRWidth=100
|
||||
DescriptionWidth=100
|
||||
ChannelWidth=364
|
||||
SplitterPosition=1517
|
||||
SDVarWidth=376
|
||||
StateWidth=100
|
||||
SDVarWidth=376
|
||||
[Manual]
|
||||
Timeout=1000
|
||||
Port=50000
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@@ -36,8 +36,8 @@
|
||||
<Selector ID="ModalDataBehaviour" Value="ResetToDefault" />
|
||||
<Group ID="GeometryPlanning">
|
||||
<Property ID="RoundingMode" Value="Standard" />
|
||||
<Property ID="MaxCornerDeviation" Value="0.05" />
|
||||
<Property ID="MaxTangentialTransitionDeviation" Value="0.01" />
|
||||
<Property ID="MaxCornerDeviation" Value="0.075" />
|
||||
<Property ID="MaxTangentialTransitionDeviation" Value="0.05" />
|
||||
<Property ID="MaxRadiusDeviation" Value="0.001" />
|
||||
<Property ID="WorkingPlane" Value="XY" />
|
||||
</Group>
|
||||
|
||||
@@ -34,10 +34,6 @@
|
||||
<Property ID="Deceleration" Value="5000" />
|
||||
</Selector>
|
||||
<Property ID="JerkIsReadOnly" Value="0" />
|
||||
<Selector ID="Jerk" Value="Basic">
|
||||
<Property ID="JerkMax" Value="3.4E38" />
|
||||
<Property ID="Jerk" Value="10000" />
|
||||
</Selector>
|
||||
<Property ID="TorqueIsReadOnly" Value="0" />
|
||||
</Selector>
|
||||
<Selector ID="Alarms" Value="MpAlarmX" />
|
||||
@@ -105,10 +101,6 @@
|
||||
<Property ID="Deceleration" Value="5000" />
|
||||
</Selector>
|
||||
<Property ID="JerkIsReadOnly" Value="0" />
|
||||
<Selector ID="Jerk" Value="Basic">
|
||||
<Property ID="JerkMax" Value="3.4E38" />
|
||||
<Property ID="Jerk" Value="10000" />
|
||||
</Selector>
|
||||
<Property ID="TorqueIsReadOnly" Value="0" />
|
||||
</Selector>
|
||||
<Selector ID="Alarms" Value="MpAlarmX" />
|
||||
@@ -138,18 +130,14 @@
|
||||
<Property ID="AccelerationIsReadOnly" Value="0" />
|
||||
<Selector ID="Acceleration">
|
||||
<Property ID="AccelerationMax" Value="3.4E38" />
|
||||
<Property ID="Acceleration" Value="5000" />
|
||||
<Property ID="Acceleration" Value="4000" />
|
||||
</Selector>
|
||||
<Property ID="DecelerationIsReadOnly" Value="0" />
|
||||
<Selector ID="Deceleration">
|
||||
<Property ID="DecelerationMax" Value="3.4E38" />
|
||||
<Property ID="Deceleration" Value="5000" />
|
||||
<Property ID="Deceleration" Value="4000" />
|
||||
</Selector>
|
||||
<Property ID="JerkIsReadOnly" Value="0" />
|
||||
<Selector ID="Jerk" Value="Basic">
|
||||
<Property ID="JerkMax" Value="3.4E38" />
|
||||
<Property ID="Jerk" Value="10000" />
|
||||
</Selector>
|
||||
<Property ID="TorqueIsReadOnly" Value="0" />
|
||||
</Selector>
|
||||
<Selector ID="Alarms" Value="MpAlarmX" />
|
||||
@@ -175,7 +163,7 @@
|
||||
<Property ID="VelocityIsReadOnly" Value="0" />
|
||||
<Selector ID="Velocity">
|
||||
<Property ID="VelocityMax" Value="3.4E38" />
|
||||
<Property ID="Velocity" Value="720" />
|
||||
<Property ID="Velocity" Value="850" />
|
||||
</Selector>
|
||||
<Property ID="AccelerationIsReadOnly" Value="0" />
|
||||
<Selector ID="Acceleration">
|
||||
@@ -213,17 +201,17 @@
|
||||
<Property ID="VelocityIsReadOnly" Value="0" />
|
||||
<Selector ID="Velocity">
|
||||
<Property ID="VelocityMax" Value="3.4E38" />
|
||||
<Property ID="Velocity" Value="360" />
|
||||
<Property ID="Velocity" Value="675" />
|
||||
</Selector>
|
||||
<Property ID="AccelerationIsReadOnly" Value="0" />
|
||||
<Selector ID="Acceleration">
|
||||
<Property ID="AccelerationMax" Value="3.4E38" />
|
||||
<Property ID="Acceleration" Value="3600" />
|
||||
<Property ID="Acceleration" Value="4500" />
|
||||
</Selector>
|
||||
<Property ID="DecelerationIsReadOnly" Value="0" />
|
||||
<Selector ID="Deceleration">
|
||||
<Property ID="DecelerationMax" Value="3.4E38" />
|
||||
<Property ID="Deceleration" Value="3600" />
|
||||
<Property ID="Deceleration" Value="4500" />
|
||||
</Selector>
|
||||
<Property ID="JerkIsReadOnly" Value="0" />
|
||||
<Property ID="TorqueIsReadOnly" Value="0" />
|
||||
|
||||
@@ -6,17 +6,17 @@
|
||||
<Property ID="Index" Value="1" />
|
||||
<Property ID="X" Value="1494" />
|
||||
<Property ID="Y" Value="1690.32" />
|
||||
<Property ID="Z" Value="693.93" />
|
||||
<Property ID="Z" Value="785.43" />
|
||||
<Property ID="Angle1" Value="0.0" />
|
||||
<Property ID="Angle2" Value="0.0" />
|
||||
<Property ID="Angle3" Value="0.0" />
|
||||
<Property ID="Description" Value="Shuttle 1 (G54) Z war 785.43" />
|
||||
<Property ID="Description" Value="Shuttle 1 (G54) Z war 785.43 bzw. 693.93" />
|
||||
</Group>
|
||||
<Group ID="Row[2]">
|
||||
<Property ID="Index" Value="2" />
|
||||
<Property ID="X" Value="1494" />
|
||||
<Property ID="Y" Value="1689.96" />
|
||||
<Property ID="Z" Value="758" />
|
||||
<Property ID="Z" Value="758.43" />
|
||||
<Property ID="Angle1" Value="0.0" />
|
||||
<Property ID="Angle2" Value="0.0" />
|
||||
<Property ID="Angle3" Value="0.0" />
|
||||
|
||||
@@ -38,11 +38,11 @@
|
||||
</Selector>
|
||||
<Selector ID="Acceleration" Value="Basic">
|
||||
<Property ID="AccelerationMax" Value="3.4E38" />
|
||||
<Property ID="Acceleration" Value="5500" Description="Max 9000" />
|
||||
<Property ID="Acceleration" Value="7500" Description="Max 9000" />
|
||||
</Selector>
|
||||
<Selector ID="Deceleration" Value="Basic" Description="Max 9000">
|
||||
<Property ID="DecelerationMax" Value="3.4E38" />
|
||||
<Property ID="Deceleration" Value="5500" />
|
||||
<Property ID="Deceleration" Value="7500" />
|
||||
</Selector>
|
||||
<Property ID="JerkIsReadOnly" Value="0" />
|
||||
</Selector>
|
||||
|
||||
@@ -0,0 +1,19 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?AutomationStudio FileVersion="4.9"?>
|
||||
<Configuration>
|
||||
<Element ID="MappMotionConfiguration" Type="mappmotioncfg">
|
||||
<Group ID="Logger">
|
||||
<Selector ID="SelectiveLogging" Value="Used">
|
||||
<Selector ID="AdministrativeCommands" Value="Selective">
|
||||
<Property ID="CallerInstance" Value="Suppressed" />
|
||||
</Selector>
|
||||
<Selector ID="MovementCommands" Value="Selective">
|
||||
<Property ID="CallerInstance" Value="Suppressed" />
|
||||
</Selector>
|
||||
<Selector ID="InformationalCommands" Value="Selective">
|
||||
<Property ID="CallerInstance" Value="Suppressed" />
|
||||
</Selector>
|
||||
</Selector>
|
||||
</Group>
|
||||
</Element>
|
||||
</Configuration>
|
||||
@@ -4,5 +4,6 @@
|
||||
<Objects>
|
||||
<Object Type="Package">5AxesCNCXYZCA</Object>
|
||||
<Object Type="Package">PureVAxis</Object>
|
||||
<Object Type="File">Config_9.mappmotioncfg</Object>
|
||||
</Objects>
|
||||
</Package>
|
||||
@@ -10,7 +10,10 @@
|
||||
<Property ID="Position" Value="0.0" />
|
||||
</Selector>
|
||||
</Group>
|
||||
<Selector ID="JerkFilter" Value="NotUsed" />
|
||||
<Selector ID="JerkFilter" Value="Used">
|
||||
<Property ID="MaxJerkTime" Value="0.25" />
|
||||
<Property ID="JerkTime" Value="0.25" />
|
||||
</Selector>
|
||||
</Group>
|
||||
</Element>
|
||||
</Configuration>
|
||||
@@ -1,4 +0,0 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Configuration>
|
||||
<Element ID="WebXs" Type="mpwebxs" />
|
||||
</Configuration>
|
||||
@@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<?AutomationStudio Version=4.3.6.57 SP?>
|
||||
<Package PackageType="mappServices" xmlns="http://br-automation.co.at/AS/Package">
|
||||
<?AutomationStudio FileVersion="4.9"?>
|
||||
<Package SubType="mappServices" PackageType="mappServices" xmlns="http://br-automation.co.at/AS/Package">
|
||||
<Objects>
|
||||
<Object Type="File" Description="Userverwaltung">CfgUsrX.mpuserx</Object>
|
||||
<Object Type="File" Description="Userlogin">CfgUsrXLog.mpuserxlogin</Object>
|
||||
@@ -8,7 +8,6 @@
|
||||
<Object Type="File" Description="Alarmsystem">CfgAlarmX.mpalarmxcore</Object>
|
||||
<Object Type="File" Description="Alarmhistorie">CfgAlarmXH.mpalarmxhistory</Object>
|
||||
<Object Type="File" Description="Filemanger">CfgFileM.mpfilemanagerui</Object>
|
||||
<Object Type="File">CfgWebXS.mpwebxs</Object>
|
||||
<Object Type="File">Config.mpcomunit</Object>
|
||||
</Objects>
|
||||
</Package>
|
||||
@@ -100,8 +100,8 @@
|
||||
<Parameter ID="Cyclic1Tolerance" Value="0" />
|
||||
<Parameter ID="Cyclic2Duration" Value="24000" />
|
||||
<Parameter ID="Cyclic2Tolerance" Value="24000" />
|
||||
<Parameter ID="Cyclic3Duration" Value="49200" />
|
||||
<Parameter ID="Cyclic3Tolerance" Value="49200" />
|
||||
<Parameter ID="Cyclic3Duration" Value="50400" />
|
||||
<Parameter ID="Cyclic3Tolerance" Value="50400" />
|
||||
<Parameter ID="Cyclic4Duration" Value="99600" />
|
||||
<Parameter ID="Cyclic4Tolerance" Value="99600" />
|
||||
<Parameter ID="Cyclic5Duration" Value="200400" />
|
||||
@@ -257,7 +257,8 @@
|
||||
<Parameter ID="DriveError" Location="DriveConfiguration/Channel[1]/RealAxis/StopReaction" Value="DecelerationLimit" />
|
||||
<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="NotUsed" />
|
||||
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
|
||||
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.25" />
|
||||
<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" />
|
||||
@@ -297,7 +298,8 @@
|
||||
<Parameter ID="DriveError" Location="DriveConfiguration/Channel[2]/RealAxis/StopReaction" Value="DecelerationLimit" />
|
||||
<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="NotUsed" />
|
||||
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[2]/RealAxis" Value="Used" />
|
||||
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[2]/RealAxis/JerkFilter" Value="0.25" />
|
||||
<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" />
|
||||
@@ -418,17 +420,26 @@
|
||||
<Parameter ID="ReferenceDistanceIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="0" />
|
||||
<Parameter ID="ReferenceDistance" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="259.9982" />
|
||||
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
|
||||
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionController" />
|
||||
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="180" />
|
||||
<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="350" />
|
||||
<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="PredictionTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
|
||||
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
|
||||
<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="105" />
|
||||
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="30" />
|
||||
<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="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="4" />
|
||||
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="4" />
|
||||
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
|
||||
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.035" />
|
||||
<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" />
|
||||
<Parameter ID="LoopFilter3" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
|
||||
@@ -512,17 +523,26 @@
|
||||
<Parameter ID="ReferenceDistanceIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="0" />
|
||||
<Parameter ID="ReferenceDistance" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="259.9982" />
|
||||
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
|
||||
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionController" />
|
||||
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="180" />
|
||||
<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="350" />
|
||||
<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="PredictionTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
|
||||
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
|
||||
<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="105" />
|
||||
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="30" />
|
||||
<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="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="4" />
|
||||
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="4" />
|
||||
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
|
||||
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.035" />
|
||||
<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" />
|
||||
<Parameter ID="LoopFilter3" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
|
||||
@@ -606,17 +626,26 @@
|
||||
<Parameter ID="ReferenceDistanceIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="0" />
|
||||
<Parameter ID="ReferenceDistance" Location="DriveConfiguration/Channel[1]/RealAxis/MechanicalElements/RotaryToLinearTransformation" Value="259.9982" />
|
||||
<Parameter ID="ModeIsReadOnly" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="0" />
|
||||
<Parameter ID="Mode" Location="DriveConfiguration/Channel[1]/RealAxis/Controller" Value="PositionController" />
|
||||
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="370" />
|
||||
<Parameter ID="IntegrationTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="1.85" />
|
||||
<Parameter ID="PredictionTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
|
||||
<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="400" />
|
||||
<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" />
|
||||
<Parameter ID="TotalDelayTime" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="0.0004" />
|
||||
<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="110" />
|
||||
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Speed" Value="30" />
|
||||
<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="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="4" />
|
||||
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="4" />
|
||||
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
|
||||
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.03" />
|
||||
<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" />
|
||||
<Parameter ID="LoopFilter3" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/LoopFilters" Value="NotUsed" />
|
||||
@@ -626,7 +655,8 @@
|
||||
<Parameter ID="DriveError" Location="DriveConfiguration/Channel[1]/RealAxis/StopReaction" Value="DecelerationLimit" />
|
||||
<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="NotUsed" />
|
||||
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
|
||||
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.25" />
|
||||
<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" />
|
||||
@@ -702,7 +732,7 @@
|
||||
<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="390" />
|
||||
<Parameter ID="ProportionalGain" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/Position" Value="400" Description="Proportional amplification war 390" />
|
||||
<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="0.0004" />
|
||||
@@ -714,11 +744,11 @@
|
||||
<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="7.8" />
|
||||
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
|
||||
<Parameter ID="TorqueLoad" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="9.5" />
|
||||
<Parameter ID="TorquePositive" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="4" />
|
||||
<Parameter ID="TorqueNegative" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
|
||||
<Parameter ID="SpeedTorqueFactor" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
|
||||
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.0" />
|
||||
<Parameter ID="Inertia" Location="DriveConfiguration/Channel[1]/RealAxis/Controller/Mode/FeedForward" Value="0.007" />
|
||||
<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" />
|
||||
@@ -729,7 +759,8 @@
|
||||
<Parameter ID="DriveError" Location="DriveConfiguration/Channel[1]/RealAxis/StopReaction" Value="DecelerationLimit" />
|
||||
<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="NotUsed" />
|
||||
<Parameter ID="JerkFilter" Location="DriveConfiguration/Channel[1]/RealAxis" Value="Used" />
|
||||
<Parameter ID="JerkTime" Location="DriveConfiguration/Channel[1]/RealAxis/JerkFilter" Value="0.25" />
|
||||
<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" />
|
||||
|
||||
Reference in New Issue
Block a user