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@jyotiphy
jyotiphy committed Oct 9, 2023
1 parent 628e624 commit 2aecaf6
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Showing 24 changed files with 83 additions and 89 deletions.
20 changes: 10 additions & 10 deletions plc-kfe-rix-motion/kfe_rix_motion/GVLs/Main.TcGVL
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Original file line number Diff line number Diff line change
Expand Up @@ -176,21 +176,21 @@ VAR_GLOBAL
.bBrakeRelease := TIIB[IM6K2-EL2004-E3]^Channel 1^Output'}
M24: DUT_MotionStage := (sName := 'IM6K2:PPM:MMS');
//AT1K2: Blade 1
{attribute 'pytmc' := 'pv: AT1K2:L2SI:MMS:01'}
//AT1K2: Blade 1
{attribute 'pytmc' := 'pv: AT1K2:L2SI:MMS:01'}
{attribute 'TcLinkTo' := '
.bLimitForwardEnable := TIIB[AT1K2-EL7047-01]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable := TIIB[AT1K2-EL7047-01]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[AT1K2-EL5042-01]^FB Inputs Channel 1^Position';
;}
M25: DUT_MotionStage := (sName := 'AT1K2:L2SI:MMS:01');
//AT1K2: Blade 2
{attribute 'pytmc' := 'pv: AT1K2:L2SI:MMS:02'}
//AT1K2: Blade 2
{attribute 'pytmc' := 'pv: AT1K2:L2SI:MMS:02'}
{attribute 'TcLinkTo' := '
.bLimitForwardEnable := TIIB[AT1K2-EL7047-02]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable := TIIB[AT1K2-EL7047-02]^STM Status^Status^Digital input 2;
Expand All @@ -199,8 +199,8 @@ VAR_GLOBAL
M26: DUT_MotionStage := (sName := 'AT1K2:L2SI:MMS:02');
//AT1K2: Mirror
{attribute 'pytmc' := 'pv: AT1K2:L2SI:MMS:03'}
{attribute 'pytmc' := 'pv: AT1K2:L2SI:MMS:03'}
{attribute 'TcLinkTo' := '
.nRawEncoderULINT := TIIB[AT1K2-EL5042-02]^FB Inputs Channel 1^Position';
;}
Expand Down
36 changes: 18 additions & 18 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/AT1K2/FB_AT1K2.TcPOU
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Expand Up @@ -3,35 +3,35 @@
<POU Name="FB_AT1K2" Id="{cace7966-0dee-4bbd-98d5-70ac7ceb0c89}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FB_AT1K2
VAR_IN_OUT
fbFFHWO: FB_HardwareFFOutput;
stAxis: DUT_MotionStage;
fbFFHWO: FB_HardwareFFOutput;
stAxis: DUT_MotionStage;
END_VAR
VAR_INPUT
nEnableMode : ENUM_StageEnableMode;
nEnableMode : ENUM_StageEnableMode;
stOut : DUT_PositionState;
stIn : DUT_PositionState;
stIn : DUT_PositionState;
END_VAR
VAR_OUTPUT
fTransmission : LREAL;
bMirrorOut : BOOL;
fTransmission : LREAL;
bMirrorOut : BOOL;
END_VAR
VAR
fbMotion: FB_MotionStage;
{attribute 'pytmc' := '
pv: STATE
'}
fbState: FB_PositionStateInOut;
bInitialized: BOOL := FALSE;
fbFF: FB_FastFault := (i_Desc := 'Device is moving',
i_TypeCode := 16#2100,
i_xAutoReset := TRUE);
bInitialized: BOOL := FALSE;
fbFF: FB_FastFault := (i_Desc := 'Device is moving',
i_TypeCode := 16#2100,
i_xAutoReset := TRUE);
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[
Expand Down Expand Up @@ -60,9 +60,9 @@ fbState(
bMirrorOut := fbState.enumGet = ENUM_EpicsInOut.OUT;
// If Mirror is in, fTransmission of mirror is 0. If out, fTransmission is 1
IF bMirrorOut THEN
fTransmission := 1.0;
ELSE
fTransmission := 0.0;
fTransmission := 1.0;
ELSE
fTransmission := 0.0;
END_IF
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2 changes: 1 addition & 1 deletion plc-kfe-rix-motion/kfe_rix_motion/POUs/AT1K2/FB_AT1K2_PositionState.TcPOU
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Expand Up @@ -13,7 +13,7 @@ END_VAR
arrStates[1] := stOut;
arrStates[2] := stIn;
END_IF
setState := enumSet;
Exec();
Expand Down
6 changes: 0 additions & 6 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_1_PlcTask.TcPOU
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Expand Up @@ -46,11 +46,5 @@ PRG_IM6K2_PPM();
PRG_3_PMPS_POST();
PRG_4_LOG();]]></ST>
</Implementation>
<LineIds Name="PRG_1_PlcTask">
<LineId Id="3" Count="29" />
<LineId Id="43" Count="0" />
<LineId Id="33" Count="5" />
<LineId Id="2" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
10 changes: 5 additions & 5 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_3_PMPS_POST.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -7,8 +7,8 @@ VAR
bMR1K1_Veto: BOOL;
bST1K2_Veto: BOOL;
bST1K2_Veto_Override: BOOL := FALSE;
fb_vetoArbiter: FB_VetoArbiter;
ff2_ff1_link_motion: FB_FastFault := (i_xAutoReset := TRUE, i_DevName := 'FF2 to FF1 Link Motion', i_Desc := 'Please DONT BYPASS ME!! This is virtual FF2 fault, Please check faulting motion devices', i_TypeCode := 16#FFFF);
fb_vetoArbiter: FB_VetoArbiter;
ff2_ff1_link_motion: FB_FastFault := (i_xAutoReset := TRUE, i_DevName := 'FF2 to FF1 Link Motion', i_Desc := 'Please DONT BYPASS ME!! This is virtual FF2 fault, Please check faulting motion devices', i_TypeCode := 16#FFFF);
END_VAR
]]></Declaration>
Expand All @@ -25,13 +25,13 @@ GVL.fbFastFaultOutput1.Execute(i_xVeto:=bMR1K1_Veto);
GVL.fbFastFaultOutput2.Execute(i_xVeto:=bMR1K1_Veto OR bST1K2_Veto);
//create a preemptive request from Arbiter 2 in Arbiter 1
fb_vetoArbiter(bVeto:= bST1K2_Veto,
fb_vetoArbiter(bVeto:= bST1K2_Veto,
HigherAuthority := GVL.fbArbiter1,
LowerAuthority := GVL.fbArbiter2,
LowerAuthority := GVL.fbArbiter2,
FFO := GVL.fbFastFaultOutput2);
ff2_ff1_link_motion(
io_fbFFHWO := GVL.fbFastFaultOutput1,
io_fbFFHWO := GVL.fbFastFaultOutput1,
i_xOK := GVL.fbFastFaultOutput2.q_xFastFaultOut);
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_AL1K2_L2SI.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -27,8 +27,8 @@ fbAL1K2(
stYStage := Main.M5,
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
sPmpsDeviceName := 'AL1K2:L2SI',
sTransitionKey := 'AL1K2:L2SI-TRANSITION',
sPmpsDeviceName := 'AL1K2:L2SI',
sTransitionKey := 'AL1K2:L2SI-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
12 changes: 6 additions & 6 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_AT1K2_SOLID.TcPOU
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Expand Up @@ -35,7 +35,7 @@ VAR
.fbRTD_1.bError := TIIB[AT1K2-EL3202-02]^RTD Inputs Channel 1^Status^Error;
.fbRTD_1.bUnderrange := TIIB[AT1K2-EL3202-02]^RTD Inputs Channel 1^Status^Underrange;
.fbRTD_1.bOverrange := TIIB[AT1K2-EL3202-02]^RTD Inputs Channel 1^Status^Overrange;
.fbRTD_2.iRaw := TIIB[AT1K2-EL3202-02]^RTD Inputs Channel 2^Value;
.fbRTD_2.bError := TIIB[AT1K2-EL3202-02]^RTD Inputs Channel 2^Status^Error;
.fbRTD_2.bUnderrange := TIIB[AT1K2-EL3202-02]^RTD Inputs Channel 2^Status^Underrange;
Expand All @@ -44,7 +44,7 @@ VAR
fbStage2: FB_SXR_SATT_Stage;
{attribute 'pytmc' := 'pv: AT1K2:L2SI:MMS:03'}
fbStage3: FB_AT1K2;
END_VAR
Expand Down Expand Up @@ -261,10 +261,10 @@ fbStage3(stAxis:=Main.M27, fbFFHWO:=GVL.fbFastFaultOutput2);
GVL.rCurTrans[PMPS.K_Attenuators.AT1K2].nTran := LREAL_TO_REAL(
fbStage1.fTransmission *
fbStage2.fTransmission *
fbStage3.fTransmission
fbStage1.fTransmission *
fbStage2.fTransmission *
fbStage3.fTransmission
);
]]></ST>
</Implementation>
Expand Down
8 changes: 4 additions & 4 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_AT2K2_SOLID.TcPOU
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Expand Up @@ -439,10 +439,10 @@ fbStage4(stAxis:=Main.M20, nEnableMode:=nEnableMode, fbFFHWO:=GVL.fbFastFaultOut
GVL.rCurTrans[PMPS.K_Attenuators.AT2K2].nTran := LREAL_TO_REAL(
fbStage1.fTransmission *
fbStage2.fTransmission *
fbStage3.fTransmission *
fbStage4.fTransmission
fbStage1.fTransmission *
fbStage2.fTransmission *
fbStage3.fTransmission *
fbStage4.fTransmission
);
]]></ST>
</Implementation>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM1K1_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ fbIM1K1(
fbArbiter := GVL.fbArbiter1,
fbFFHWO := GVL.fbFastFaultOutput1,
stYStage := Main.M1,
sPmpsDeviceName := 'IM1K1:PPM',
sTransitionKey := 'IM1K1:PPM-TRANSITION',
sPmpsDeviceName := 'IM1K1:PPM',
sTransitionKey := 'IM1K1:PPM-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM1K2_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -46,8 +46,8 @@ fbIM1K2(
fbArbiter := GVL.fbArbiter1,
fbFFHWO := GVL.fbFastFaultOutput1,
stYStage := Main.M4,
sPmpsDeviceName := 'IM1K2:PPM',
sTransitionKey := 'IM1K2:PPM-TRANSITION',
sPmpsDeviceName := 'IM1K2:PPM',
sTransitionKey := 'IM1K2:PPM-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM2K1_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbIM2K1(
fbArbiter := GVL.fbArbiter1,
fbFFHWO := GVL.fbFastFaultOutput1,
stYStage := Main.M2,
sPmpsDeviceName := 'IM2K1:PPM',
sTransitionKey := 'IM2K1:PPM-TRANSITION',
sPmpsDeviceName := 'IM2K1:PPM',
sTransitionKey := 'IM2K1:PPM-TRANSITION',
);
]]></ST>
</Implementation>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM2K2_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbIM2K2(
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M6,
sPmpsDeviceName := 'IM2K2:PPM',
sTransitionKey := 'IM2K2:PPM-TRANSITION',
sPmpsDeviceName := 'IM2K2:PPM',
sTransitionKey := 'IM2K2:PPM-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM3K2_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbIM3K2(
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M7,
sPmpsDeviceName := 'IM3K2:PPM',
sTransitionKey := 'IM3K2:PPM-TRANSITION',
sPmpsDeviceName := 'IM3K2:PPM',
sTransitionKey := 'IM3K2:PPM-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM4K2_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbIM4K2(
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M8,
sPmpsDeviceName := 'IM4K2:PPM',
sTransitionKey := 'IM4K2:PPM-TRANSITION',
sPmpsDeviceName := 'IM4K2:PPM',
sTransitionKey := 'IM4K2:PPM-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM5K2_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbIM5K2(
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M14,
sPmpsDeviceName := 'IM5K2:PPM',
sTransitionKey := 'IM5K2:PPM-TRANSITION',
sPmpsDeviceName := 'IM5K2:PPM',
sTransitionKey := 'IM5K2:PPM-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_IM6K2_PPM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbIM6K2(
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M24,
sPmpsDeviceName := 'IM6K2:PPM',
sTransitionKey := 'IM6K2:PPM-TRANSITION',
sPmpsDeviceName := 'IM6K2:PPM',
sTransitionKey := 'IM6K2:PPM-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_LI2K2_K2A.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbLI2K2(
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M11,
sPmpsDeviceName := 'LI2K2:K2A',
sTransitionKey := 'LI2K2:K2A-TRANSITION',
sPmpsDeviceName := 'LI2K2:K2A',
sTransitionKey := 'LI2K2:K2A-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_LI3K2_K2B.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -47,8 +47,8 @@ fbLI3K2(
fbArbiter := GVL.fbArbiter2,
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M21,
sPmpsDeviceName := 'LI3K2:K2B',
sTransitionKey := 'LI3K2:K2B-TRANSITION',
sPmpsDeviceName := 'LI3K2:K2B',
sTransitionKey := 'LI3K2:K2B-TRANSITION',
);]]></ST>
</Implementation>
</POU>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_PF1K2_WFS.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,8 @@ fbPF1K2(
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M12,
stZStage := Main.M13,
sPmpsDeviceName := 'PF1K2:WFS',
sTransitionKey := 'PF1K2:WFS-TRANSITION',
sPmpsDeviceName := 'PF1K2:WFS',
sTransitionKey := 'PF1K2:WFS-TRANSITION',
);
]]></ST>
</Implementation>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_PF2K2_WFS.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -62,8 +62,8 @@ fbPF2K2(
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M22,
stZStage := Main.M23,
sPmpsDeviceName := 'PF2K2:WFS',
sTransitionKey := 'PF2K2:WFS-TRANSITION',
sPmpsDeviceName := 'PF2K2:WFS',
sTransitionKey := 'PF2K2:WFS-TRANSITION',
);
]]></ST>
</Implementation>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_ST3K2_TERM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ VAR
.q_xRetract_DO := TIIB[ST3K2-TERM (EP2338-0001)]^Channel 9^Output
'}
ST3K2: FB_MotionPneumaticActuator;
ibPMPS_OK : BOOL;
ibPMPS_OK : BOOL;
END_VAR
]]></Declaration>
<Implementation>
Expand All @@ -23,7 +23,7 @@ END_VAR
i_xReset:= ,
stPneumaticActuator=> ,
xMPS_OK=> ,
io_fbFFHWO:= GVL.fbFastFaultOutput2 );
io_fbFFHWO:= GVL.fbFastFaultOutput2 );
]]></ST>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_TM1K2_ATM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -51,8 +51,8 @@ fbTM1K2(
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M9,
stXStage := Main.M10,
sPmpsDeviceName := 'TM1K2:ATM',
sTransitionKey := 'TM1K2:ATM-TRANSITION',
sPmpsDeviceName := 'TM1K2:ATM',
sTransitionKey := 'TM1K2:ATM-TRANSITION',
);
]]></ST>
</Implementation>
Expand Down
4 changes: 2 additions & 2 deletions plc-kfe-rix-motion/kfe_rix_motion/POUs/PRG_TM2K2_ATM.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -56,8 +56,8 @@ fbTM2K2(
fbFFHWO := GVL.fbFastFaultOutput2,
stYStage := Main.M15,
stXStage := Main.M16,
sPmpsDeviceName := 'TM2K2:ATM',
sTransitionKey := 'TM2K2:ATM-TRANSITION',
sPmpsDeviceName := 'TM2K2:ATM',
sTransitionKey := 'TM2K2:ATM-TRANSITION',
);
]]></ST>
</Implementation>
Expand Down
14 changes: 7 additions & 7 deletions plc-kfe-rix-motion/kfe_rix_motion/kfe_rix_motion.tmc
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