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Veto IM1K3 when MR1K3 is OUT #126

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Veto IM1K3 when MR1K3 is OUT #126

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c98f6bd
Using fake arbiter/ffo for IM1K3 when MR1K3 is IN
KaushikMalapati Nov 22, 2024
067c1ba
Adding veto arbiter and virtual ff
KaushikMalapati Nov 23, 2024
91a3b79
Fixing spelling mistake
KaushikMalapati Dec 4, 2024
9367f89
Resolving merge conflict
KaushikMalapati Dec 4, 2024
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32 changes: 16 additions & 16 deletions plc-kfe-motion.sln
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Original file line number Diff line number Diff line change
Expand Up @@ -33,22 +33,22 @@ Global
{63CBF008-0762-41FB-908E-CCE4E38CC038}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{63CBF008-0762-41FB-908E-CCE4E38CC038}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{63CBF008-0762-41FB-908E-CCE4E38CC038}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
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8 changes: 4 additions & 4 deletions plc-kfe-motion/_Config/IO/Device 1 (EtherCAT).xti
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@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmItem" TcSmVersion="1.0" TcVersion="3.1.4022.30" ClassName="CDevEtherCATDef" SubType="111">
<Device Id="1" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="172.21.92.58.2.1" RemoteName="Device 1 (EtherCAT)">
<Name>Device 1 (EtherCAT)</Name>
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.35" ClassName="CDevEtherCATDef" SubType="111">
<Device Id="1" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="172.21.92.58.2.1" RemoteName="Device 1 (EtherCAT)" InfoImageId="2">
<Name>__FILENAME__</Name>
<AddressInfo>
<Ccat>
<Address>-268435456</Address>
Expand Down
4 changes: 4 additions & 0 deletions plc-kfe-motion/_Config/PLC/kfe_motion.xti
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Original file line number Diff line number Diff line change
Expand Up @@ -8431,6 +8431,10 @@ External Setpoint Generation:
<Name>GVL.fbFastFaultOutput2.q_xFastFaultOut</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.fbFastFaultOutput3.q_xFastFaultOut</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL.rCurTrans</Name>
<Type GUID="{6D319B26-4590-2152-3DE7-3BA9B629CA65}">ARRAY [1..16] OF ST_PMPS_Attenuator_IO</Type>
Expand Down
4 changes: 4 additions & 0 deletions plc-kfe-motion/kfe_motion/GVLs/GVL.TcGVL
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Original file line number Diff line number Diff line change
Expand Up @@ -7,12 +7,16 @@ VAR_GLOBAL
fbArbiter: FB_Arbiter(1);
{attribute 'pytmc' := 'pv: PLC:KFE:MOTION:ARB:02'}
fbArbiter2: FB_Arbiter(2);
{attribute 'pytmc' := 'pv: PLC:KFE:MOTION:ARB:03'}
fbArbiter3: FB_Arbiter(3);
{attribute 'pytmc' := 'pv: PLC:KFE:MOTION:FFO:01'}
{attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 1^Output'}
fbFastFaultOutput1: FB_HardwareFFOutput := (bAutoReset := TRUE, i_sNetID:='172.21.92.73.1.1');
{attribute 'pytmc' := 'pv: PLC:KFE:MOTION:FFO:02'}
{attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 2^Output'}
fbFastFaultOutput2: FB_HardwareFFOutput := (bAutoReset := TRUE, i_sNetID:='172.21.92.73.1.1');
{attribute 'pytmc' := 'pv: PLC:KFE:MOTION:FFO:03'}
fbFastFaultOutput3: FB_HardwareFFOutput := (bAutoReset := TRUE, i_sNetID:='172.21.92.73.1.1');

{attribute 'pytmc' := 'pv: PLC:KFE:MOTION:PMPS:ReqTrans'}
rReqTrans AT %I* : ARRAY [1..PMPS_GVL.AUX_ATTENUATORS] OF ST_PMPS_Attenuator_IO;
Expand Down
19 changes: 17 additions & 2 deletions plc-kfe-motion/kfe_motion/POUs/PRG_3_PMPS_POST.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -5,14 +5,19 @@
VAR
fbArbiterIO: FB_SubSysToArbiter_IO;
fb_vetoArbiter: FB_VetoArbiter;
bM1K1_Veto_IN: BOOL;
ff3_ff2_link: FB_FastFault := (i_xAutoReset := TRUE, i_DevName := 'FF3 to FF2 Link', i_Desc := 'This is virtual FF3 fault, Please check the Group 3 faulting device ', i_TypeCode := 16#9999);

bM1K1_Veto_IN: BOOL;
bM1K3_Veto_OUT: BOOL;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[// create MR1K1 as veto for K4 lines
bM1K1_Veto_IN := NOT PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_OUT]
AND PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_IN];
// create MR1K3 as veto for IM1K3
bM1K3_Veto_OUT := NOT PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K3_IN]
AND PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K3_OUT];



Expand All @@ -22,16 +27,26 @@ fb_vetoArbiter(bVeto:=bM1K1_Veto_IN,
HigherAuthority := GVL.fbArbiter,
LowerAuthority := GVL.fbArbiter2,
FFO := GVL.fbFastFaultOutput2);

fb_vetoArbiter(bVeto:=(bM1K1_Veto_IN OR bM1K3_VETO_OUT),
HigherAuthority := GVL.fbArbiter,
LowerAuthority := GVL.fbArbiter3,
FFO := GVL.fbFastFaultOutput2);


GVL.fbFastFaultOutput1.Execute();

GVL.fbFastFaultOutput2.Execute(i_xVeto:=bM1K1_Veto_IN);

GVL.fbFastFaultOutput3.Execute(i_xVeto:=(bM1K1_Veto_IN OR bM1K3_Veto_OUT));

fbArbiterIO(
Arbiter:=GVL.fbArbiter,
fbFFHWO:=GVL.fbFastFaultOutput1);

ff3_ff2_link(
io_fbFFHWO := GVL.fbFastFaultOutput2,
i_xOK := GVL.fbFastFaultOutput3.q_xFastFaultOut);

]]></ST>
</Implementation>
</POU>
Expand Down
5 changes: 3 additions & 2 deletions plc-kfe-motion/kfe_motion/POUs/PRG_IM1K3_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ VAR
bMoveOk := TRUE,
bValid := TRUE
);

END_VAR
]]></Declaration>
<Implementation>
Expand All @@ -35,8 +36,8 @@ fbStateSetup(stPositionState:=fbIM1K3.stYag1, fPosition:=-72.2, sPmpsState:='IM1
fbStateSetup(stPositionState:=fbIM1K3.stYag2, fPosition:=-98.21, sPmpsState:='IM1K3:PPM-YAG2');

fbIM1K3(
fbFFHWO := GVL.fbFastFaultOutput2,
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput3,
fbArbiter := GVL.fbArbiter3,
stYStage := Main.M4,
sDeviceName := 'IM1K3:PPM',
sTransitionKey := 'IM1K3:PPM-TRANSITION',
Expand Down
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