Backup Safety and Fixed Rotation

Logical/MachCtrl/MachCtrl/Action.st

@@ -175,6 +175,7 @@ ACTION DoMachToRob:
   lCmdInterface.Robot.ToRobot.bSlayInSprayPos := States.CylinderPos.bSlayFw;
   lCmdInterface.Robot.ToRobot.bInPos0 := States.CylinderPos.bPos0;
   lCmdInterface.Robot.ToRobot.bInPos180 := States.CylinderPos.bPos180;
+  lCmdInterface.Robot.ToRobot.uiRotationPos := LREAL_TO_UINT (MpFUB.AxBasic_X.Position);
 END_ACTION
 
 ACTION DoAlarms:

Logical/MachCtrl/MachCtrl/Cyclic.st

@@ -155,7 +155,7 @@ PROGRAM _CYCLIC
         MpData.AxPar_X.Direction := mpAXIS_DIR_POSITIVE;        
         MpData.AxPar_X.Acceleration := Parameter.rAccellDecell;
         MpData.AxPar_X.Deceleration := Parameter.rAccellDecell;
-        MpData.AxPar_X.Velocity := 10.0 + USINT_TO_REAL (lCmdInterface.Robot.FromRobot.usRotationSpeed) * 2.0; // <EFBFBD>/s
+        MpData.AxPar_X.Velocity := 10.0 + USINT_TO_REAL (lCmdInterface.Robot.FromRobot.usRotationSpeed) * 1.0; // <EFBFBD>/s
         MpData.AxPar_X.Position := UINT_TO_LREAL (lCmdInterface.Robot.FromRobot.uiRotationPos);
         MpFUB.AxBasic_X.MoveAbsolute := TRUE;
         IF MpFUB.AxBasic_X.CommandBusy THEN

Physical/Config1/4PPC70_101G_20B/SafeLOGIC-1/BusNavigator.set

@@ -5,17 +5,17 @@ HostName=SL12.xy.org
 Destination=192.168.3.1
 CommunicationMode=1
 [GUI]
-SortOrder=0
 NameWidth=100
+SortOrder=0
 ASVarWidth=296
 ViewMode=0
-SADRWidth=202
 SortColumn=0
+SADRWidth=202
 DescriptionWidth=562
 ChannelWidth=383
 SplitterPosition=2205
-SDVarWidth=416
 StateWidth=100
+SDVarWidth=416
 [Manual]
 Timeout=1000
 Port=50000