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pcdshub · Oct 23, 2024 · eff77f5 · eff77f5
1 parent e3b3a45
commit eff77f5
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diff --git a/master/.buildinfo b/master/.buildinfo
diff --git a/master/.nojekyll b/master/.nojekyll
diff --git a/master/_sources/plc-kfe-motion_boxes.rst.txt b/master/_sources/plc-kfe-motion_boxes.rst.txt
@@ -89,7 +89,7 @@ PMPS_PRE
         BootStrapData, 0010140200141402
         SyncMan, 0010000426000100010000008000da050004001026010000
         SyncMan, 0016000422000100020000008000da050004001622010000
-        SyncMan, 001c8c016400010003000000000000000000001c64010000
+        SyncMan, 001c90016400010003000000000000000000001c64010000
         SyncMan, 008e8e012000010004000000000000000200008e20010000
         Fmmu, 0000000000000000001c00020100000001000000000000000000000000000000
         Fmmu, 0000000000000000008e00010100000002000000000000000000000000000000
@@ -179,6 +179,7 @@ PDO IO Outputs (Index #x1608, Flags #x0020, SyncMan 2)
         "AptArrayStatus", "", 240, "#x7000", "ARRAY [1..4] OF ST_PMPS_Aperture_IO"
         "SattArrayStatus", "", 240, "#x7000", "ARRAY [1..16] OF ST_PMPS_Attenuator_IO"
         "RequestedBP", "", 240, "#x7000", "ST_BeamParams_IO"
+        "ST1K4_Y_ENC", "", 32, "#x7000", "UDINT"
 
 
 .. raw:: html

diff --git a/master/_sources/plc-kfe-motion_kfe_motion_source.rst.txt b/master/_sources/plc-kfe-motion_kfe_motion_source.rst.txt
@@ -143,6 +143,9 @@ GVL
         rCurTrans AT %Q*		: ARRAY [1..PMPS_GVL.AUX_ATTENUATORS] OF ST_PMPS_Attenuator_IO;
 
         ePF1K0State: E_WFS_States;
+
+         {attribute 'TcLinkTo' := 'TIIB[PMPS_PRE]^IO Outputs^ST1K4_Y_ENC'}
+        PMPS_ST1K4_Y_ENC AT%Q* : UDINT;
     END_VAR
 
     VAR_GLOBAL CONSTANT
@@ -2331,8 +2334,8 @@ PRG_SL1K0_POWER
 
         (*Offsets*)
         (* Absolute encoder value at the HLS + Absolure eoncoder value at the centered beam *)
-        rEncoderOffsetTop: REAL := -11.2; (* 0+(-15)*)
-        rEncoderOffsetBottom: REAL := -11.9; (* 0+(-15)*)
+        rEncoderOffsetTop: REAL := -11.810; (* 0+(-15)*)
+        rEncoderOffsetBottom: REAL := -12.499; (* 0+(-15)*)
         rEncoderOffsetNorth: REAL := -11.4;//-4.6;(* 0+(-15)*)
         rEncoderOffsetSouth: REAL := -13;(* 0+(-15)*)
     END_VAR
@@ -2526,6 +2529,10 @@ PRG_ST1K4_TEST
         {attribute 'TcLinkTo' := '.bFlowOk := TIIB[ST1K4-EL1004-E5]^Channel 1^Input'}
         fbFlowSwitch: FB_XTES_Flowswitch;
 
+
+        // Raw encoder PMPS VETO
+          {attribute 'TcLinkTo' := 'TIIB[ST1K4-EL5042-E6]^FB Inputs Channel 1^Position'}
+        nRawEncoderULINT AT %I*: ULINT;
     END_VAR
     // M33, Axis 33
     Main.M33.nEnableMode := ENUM_StageEnableMode.DURING_MOTION;
@@ -2538,7 +2545,7 @@ PRG_ST1K4_TEST
     fbStateSetup(stPositionState:=stDefault, bSetDefault:=TRUE);
 
     fbStateSetup(stPositionState:=astPositionState[E_EpicsInOut.IN], sName:='IN', fPosition:=2);
-    fbStateSetup(stPositionState:=astPositionState[E_EpicsInOut.OUT], sName:='OUT', fPosition:=40);
+    fbStateSetup(stPositionState:=astPositionState[E_EpicsInOut.OUT], sName:='OUT', fPosition:=40.9);
 
     fbStates(
         stMotionStage:=Main.M33,
@@ -2550,19 +2557,24 @@ PRG_ST1K4_TEST
 
     bST3K4_in := PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.ST3K4];
 
+
     IF bST3K4_auto THEN
         IF bST3K4_in AND eEnumGet <> E_EpicsInOut.IN THEN
             eEnumSet := ENUM_EpicsInOut.IN;
-        ELSIF NOT bST3K4_in AND eEnumGet <> E_EpicsInOut.OUT THEN
+    {*    ELSIF NOT bST3K4_in AND eEnumGet <> E_EpicsInOut.OUT THEN
             eEnumSet := ENUM_EpicsInOut.OUT;
-        END_IF
+     *}   END_IF
     END_IF
 
     fbFlowSwitch();
 
+    // For PMPS Veto
+        GVL.PMPS_ST1K4_Y_ENC := TO_UDINT(nRawEncoderULINT);
+
     END_PROGRAM
 
 
 Related:
+    * `GVL`_
     * `Main`_
 
diff --git a/master/_sources/plc-kfe-motion_kfe_motion_summary.rst.txt b/master/_sources/plc-kfe-motion_kfe_motion_summary.rst.txt
diff --git a/master/_sources/plc-kfe-motion_links.rst.txt b/master/_sources/plc-kfe-motion_links.rst.txt
@@ -1262,6 +1262,8 @@ Links
         kfe_motion Instance, PlcTask Inputs^PRG_SL2K0_POWER.fbSL2K0.RTD_TOP_2.iRaw, TIID^Device 1 (EtherCAT)^Power (EK1200)^PLC Junction 2 (EK1122)^X2 SXR EC1 (EK1100)^EC1 E1 (EK1122)^X2 SL2K0-POWER (EK1100)^SL2K0-EL3202-E9, RTD Inputs Channel 2^Value
         kfe_motion Instance, PlcTask Inputs^PRG_SL2K0_POWER.fbSL2K0.fbFlowSwitch.bFlowOk, TIID^Device 1 (EtherCAT)^Power (EK1200)^PLC Junction 2 (EK1122)^X2 SXR EC1 (EK1100)^EC1 E1 (EK1122)^X2 SL2K0-POWER (EK1100)^SL2K0-EL1004-E12, Channel 1^Input
         kfe_motion Instance, PlcTask Inputs^PRG_ST1K4_TEST.fbFlowSwitch.bFlowOk, TIID^Device 1 (EtherCAT)^Power (EK1200)^PLC Junction 3 (EK1122)^X1 TMO FEE EC1 (EK1100)^TMO FEE EC1 E1 (EK1122)^X2-ST1K4-TEST (EK1100)^ST1K4-EL1004-E5, Channel 1^Input
+        kfe_motion Instance, PlcTask Inputs^PRG_ST1K4_TEST.nRawEncoderULINT, TIID^Device 1 (EtherCAT)^Power (EK1200)^PLC Junction 3 (EK1122)^X1 TMO FEE EC1 (EK1100)^TMO FEE EC1 E1 (EK1122)^X2-ST1K4-TEST (EK1100)^ST1K4-EL5042-E6, FB Inputs Channel 1^Position
+        kfe_motion Instance, PlcTask Outputs^GVL.PMPS_ST1K4_Y_ENC, TIID^Device 1 (EtherCAT)^Power (EK1200)^PMPS_PRE, IO Outputs^ST1K4_Y_ENC
         kfe_motion Instance, PlcTask Outputs^GVL.fbFastFaultOutput1.q_xFastFaultOut, TIID^Device 1 (EtherCAT)^Power (EK1200)^PMPS_FFO, Channel 1^Output
         kfe_motion Instance, PlcTask Outputs^GVL.fbFastFaultOutput2.q_xFastFaultOut, TIID^Device 1 (EtherCAT)^Power (EK1200)^PMPS_FFO, Channel 2^Output
         kfe_motion Instance, PlcTask Outputs^Main.M1.Axis.PlcToNc, TINC^NC-Task 1 SAF^Axes^Axis 1 IM1K0-XTES-MMS, Inputs^FromPlc

diff --git a/master/_sources/plc-kfe-motion_pragmas.rst.txt b/master/_sources/plc-kfe-motion_pragmas.rst.txt
@@ -6,7 +6,7 @@ Pragmas
     :header: PLC Name, Total Pragmas, Errors
     :align: center
 
-    :ref:`kfe_motion <kfe_motion_overview_pragmas>`, 171, 0
+    :ref:`kfe_motion <kfe_motion_overview_pragmas>`, 173, 0
 
 
 .. _kfe_motion_overview_pragmas:
@@ -15,7 +15,7 @@ Pragmas
 kfe_motion
 ^^^^^^^^^^
 
-Total pragmas found: 171
+Total pragmas found: 173
 Total linter errors: 0
 
 
diff --git a/master/_static/basic.css b/master/_static/basic.css
@@ -4,7 +4,7 @@
  *
  * Sphinx stylesheet -- basic theme.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */

diff --git a/master/_static/css/badge_only.css b/master/_static/css/badge_only.css
diff --git a/master/_static/css/theme.css b/master/_static/css/theme.css
diff --git a/master/_static/doctools.js b/master/_static/doctools.js
@@ -4,7 +4,7 @@
  *
  * Base JavaScript utilities for all Sphinx HTML documentation.
  *
- * :copyright: Copyright 2007-2023 by the Sphinx team, see AUTHORS.
+ * :copyright: Copyright 2007-2024 by the Sphinx team, see AUTHORS.
  * :license: BSD, see LICENSE for details.
  *
  */

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