Get track length from XTS_Utility close #65

Beckhoff-USA-Community · Dec 11, 2024 · 3cd8e71 · 3cd8e71
1 parent 535306a
commit 3cd8e71
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Showing 14 changed files with 425 additions and 449 deletions.
diff --git a/Base Project/Main/DUTs/TrackCyclicState.TcDUT b/Base Project/Main/DUTs/TrackCyclicState.TcDUT
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.8">
   <DUT Name="TrackCyclicState" Id="{a3d439c8-3e7b-0821-0269-26f007c6033b}">
     <Declaration><![CDATA[{attribute 'qualified_only'}
 {attribute 'strict'}
@@ -9,6 +9,7 @@ TYPE TrackCyclicState :
 	CHECK_ZERO_CASE 		:= 10,
 	CHECK_TRACK_COUNT		:= 20,
 	GET_OTCID				:= 30,
+	GET_LENGTH				:= 40,
 	SET_INITIALIZED			:= 100 
 );
 END_TYPE

diff --git a/Base Project/Main/GVLs/GVL.TcGVL b/Base Project/Main/GVLs/GVL.TcGVL
@@ -1,11 +1,9 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.8">
   <GVL Name="GVL" Id="{73e6a867-4426-4dae-a583-2a717b275c1c}">
     <Declaration><![CDATA[{attribute 'qualified_only'}
 VAR_GLOBAL CONSTANT
 
-	TRACK_LENGTH 			: LREAL := 4000; // This should be set to the exact length [mm] of the track system
-		
 	NUM_MOVERS   			: USINT := 6;   // This should be set to the exact number of movers on the system
 	
 	// The following should be set to a value **equal to or greater than** the number of objectives needed
@@ -25,6 +23,7 @@ VAR_GLOBAL CONSTANT
 END_VAR
 VAR_GLOBAL
 	newCallTime: LREAL;
+	SET_INITIALIZED: INT;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>
diff --git a/Base Project/Main/ITFs/iTrack.TcIO b/Base Project/Main/ITFs/iTrack.TcIO
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.8">
   <Itf Name="iTrack" Id="{41e6f11d-1951-01da-13f4-8ac69ce6b873}">
     <Declaration><![CDATA[INTERFACE iTrack
 ]]></Declaration>
@@ -38,6 +38,12 @@ END_VAR
         <Declaration><![CDATA[]]></Declaration>
       </Get>
     </Property>
+    <Property Name="Length" Id="{b9318c9f-bf2d-07e7-2a22-8d470bdb0399}" FolderPath="Properties\">
+      <Declaration><![CDATA[PROPERTY Length : LREAL]]></Declaration>
+      <Get Name="Get" Id="{e0e836e5-de2f-00fe-0771-f9b8048f52bc}">
+        <Declaration><![CDATA[]]></Declaration>
+      </Get>
+    </Property>
     <Property Name="OTCID" Id="{7742d262-0d22-0599-170c-d4a1b40d3165}" FolderPath="Properties\">
       <Declaration><![CDATA[PROPERTY OTCID : OTCID]]></Declaration>
       <Get Name="Get" Id="{c75f237a-f500-089c-29f9-aa12a02b9221}">

diff --git a/Base Project/Main/POUs/MAIN.TcPOU b/Base Project/Main/POUs/MAIN.TcPOU
@@ -247,11 +247,13 @@ nextStation := 4;]]></ST>
 		// Add all PositionTriggers to the Mediator
 		FOR i := 0 TO GVL.NUM_POSITIONTRIGGERS - 1 DO
 			System.AddPositionTrigger( PositionTrigger[i] );
+			PositionTrigger[i].SetTrack(Track[1]);
 		END_FOR
 		
 		// Add all Stations to the Mediator
 		FOR i := 0 TO GVL.NUM_STATIONS - 1 DO
 			System.AddStation( Station[i] );
+			Station[i].SetTrack(Track[1]);
 		END_FOR
 		
 		// Add all Tracks to the Mediator
@@ -264,6 +266,7 @@ nextStation := 4;]]></ST>
 		// Add all Zones to the Mediator
 		FOR i := 0 TO GVL.NUM_ZONES - 1 DO
 			System.AddZone( Zone[i] );
+			Zone[i].SetTrack(Track[1]);
 		END_FOR]]></ST>
       </Implementation>
     </Action>

diff --git a/Base Project/Main/POUs/XTS/Mover.TcPOU b/Base Project/Main/POUs/XTS/Mover.TcPOU
@@ -1296,7 +1296,7 @@ FOR i := 1 TO GVL.NUM_MOVERS DO
 						
 		// remain within the same lap
 		IF currentDifference < 0 THEN
-			currentDifference 		:= currentDifference + GVL.TRACK_LENGTH;
+			currentDifference 		:= currentDifference + internalTrack^.Length;
 		END_IF
 	
 		IF currentDifference < minimumDifference THEN
@@ -1352,7 +1352,7 @@ FOR i := 1 TO GVL.NUM_MOVERS DO
 		
 		// remain within the same lap
 		IF currentDifference < 0 THEN
-			currentDifference		:= currentDifference + GVL.TRACK_LENGTH;
+			currentDifference		:= currentDifference + internalTrack^.Length;
 		END_IF
 		
 		IF currentDifference < minimumDifference THEN
@@ -1774,8 +1774,8 @@ ELSE	// let 'er rip
 	
 	
 	syncPos			:= internalMasterMover.AxisReference.NcToPlc.ActPos - internalGap;
-	CWDistToSync	:= MODABS( syncPos - THIS^.AxisReference.NcToPlc.ActPos, GVL.TRACK_LENGTH );
-	CWDistToMaster	:= MODABS( internalMasterMover.AxisReference.NcToPlc.ActPos - THIS^.AxisReference.NcToPlc.ActPos, GVL.TRACK_LENGTH );
+	CWDistToSync	:= MODABS( syncPos - THIS^.AxisReference.NcToPlc.ActPos, internalTrack^.Length );
+	CWDistToMaster	:= MODABS( internalMasterMover.AxisReference.NcToPlc.ActPos - THIS^.AxisReference.NcToPlc.ActPos, internalTrack^.Length );
 		
 	IF fbGearInPosMoverCA[0].Busy = FALSE THEN
 		
@@ -1785,7 +1785,7 @@ ELSE	// let 'er rip
 		fbGearInPosMoverCA[0].RatioDenumerator		:= 1;
 		
 		fbGearInPosMoverCA[0].MasterSyncPosition		:= internalMasterMover.AxisReference.NcToPlc.ActPos;
-		fbGearInPosMoverCA[0].SlaveSyncPosition		:= MODABS( internalMasterMover.AxisReference.NcToPlc.ActPos - internalGap, GVL.TRACK_LENGTH);
+		fbGearInPosMoverCA[0].SlaveSyncPosition		:= MODABS( internalMasterMover.AxisReference.NcToPlc.ActPos - internalGap, internalTrack^.Length);
 		
 		fbGearInPosMoverCA[0].SyncStrategy			:= mcSyncStrategyEarly;		
 		fbGearInPosMoverCA[0].SyncMode				:= SEL( CWDistToSync < CWDistToMaster, mcSyncModeNegative, mcSyncModePositive );
@@ -1814,7 +1814,7 @@ ELSE	// let 'er rip
 		fbGearInPosMoverCA[1].RatioDenumerator		:= 1;
 		
 		fbGearInPosMoverCA[1].MasterSyncPosition		:= internalMasterMover.AxisReference.NcToPlc.ActPos;
-		fbGearInPosMoverCA[1].SlaveSyncPosition		:= MODABS( internalMasterMover.AxisReference.NcToPlc.ActPos - internalGap, GVL.TRACK_LENGTH);
+		fbGearInPosMoverCA[1].SlaveSyncPosition		:= MODABS( internalMasterMover.AxisReference.NcToPlc.ActPos - internalGap, internalTrack^.Length);
 		
 		fbGearInPosMoverCA[1].SyncStrategy			:= mcSyncStrategyEarly;
 		fbGearInPosMoverCA[1].SyncMode				:= SEL( CWDistToSync < CWDistToMaster, mcSyncModeNegative, mcSyncModePositive );

diff --git a/Base Project/Main/POUs/XTS/MoverList.TcPOU b/Base Project/Main/POUs/XTS/MoverList.TcPOU
@@ -194,6 +194,8 @@ VAR
 	
 	cycles				: UDINT;
 	
+	trackLength			: LREAL;
+	
 END_VAR
 ]]></Declaration>
       <Implementation>
@@ -258,26 +260,26 @@ WHILE allsorted = FALSE DO
 				IF SortedBuffer[i] <> 0 AND_THEN SortedBuffer[i]^.TrackInfo.TrackPosition <= Position THEN
 					directionalDistance_i		:= Position - SortedBuffer[i]^.TrackInfo.TrackPosition;
 				ELSIF SortedBuffer[i] <> 0 AND_THEN SortedBuffer[i]^.TrackInfo.TrackPosition > Position THEN
-					directionalDistance_i		:= Position + ( GVL.TRACK_LENGTH - SortedBuffer[i]^.TrackInfo.TrackPosition );
+					directionalDistance_i		:= Position + ( SortedBuffer[i]^.CurrentTrack^.Length - SortedBuffer[i]^.TrackInfo.TrackPosition );
 				END_IF;	
 				// Calculate for j
 				IF SortedBuffer[j] <> 0 AND_THEN SortedBuffer[j]^.TrackInfo.TrackPosition <= Position THEN
 					directionalDistance_j		:= Position - SortedBuffer[j]^.TrackInfo.TrackPosition;
 				ELSIF SortedBuffer[j] <> 0 AND_THEN SortedBuffer[j]^.TrackInfo.TrackPosition > Position THEN
-					directionalDistance_j		:= Position + ( GVL.TRACK_LENGTH - SortedBuffer[j]^.TrackInfo.TrackPosition );					 
+					directionalDistance_j		:= Position + ( SortedBuffer[i]^.CurrentTrack^.Length - SortedBuffer[j]^.TrackInfo.TrackPosition );					 
 				END_IF
 				
 			ELSIF Direction = MC_Negative_Direction THEN
 				
 				// Calculate for i
 				IF SortedBuffer[i] <> 0 AND_THEN SortedBuffer[i]^.TrackInfo.TrackPosition <= Position THEN
-					directionalDistance_i		:= SortedBuffer[i]^.TrackInfo.TrackPosition + ( GVL.TRACK_LENGTH - Position );
+					directionalDistance_i		:= SortedBuffer[i]^.TrackInfo.TrackPosition + ( SortedBuffer[i]^.CurrentTrack^.Length - Position );
 				ELSIF SortedBuffer[i] <> 0 AND_THEN SortedBuffer[i]^.TrackInfo.TrackPosition > Position THEN
 					directionalDistance_i		:= SortedBuffer[i]^.TrackInfo.TrackPosition - Position;
 				END_IF
 				// Calculate for j
 				IF SortedBuffer[j] <> 0 AND_THEN SortedBuffer[j]^.TrackInfo.TrackPosition <= Position THEN
-					directionalDistance_j		:= SortedBuffer[j]^.TrackInfo.TrackPosition + ( GVL.TRACK_LENGTH - Position );
+					directionalDistance_j		:= SortedBuffer[j]^.TrackInfo.TrackPosition + ( SortedBuffer[i]^.CurrentTrack^.Length - Position );
 				ELSIF SortedBuffer[j] <> 0 AND_THEN SortedBuffer[j]^.TrackInfo.TrackPosition > Position THEN
 					directionalDistance_j		:= SortedBuffer[j]^.TrackInfo.TrackPosition - Position;
 				END_IF

diff --git a/Base Project/Main/POUs/XTS/PositionTrigger.TcPOU b/Base Project/Main/POUs/XTS/PositionTrigger.TcPOU
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.8">
   <POU Name="PositionTrigger" Id="{e261b23c-fca2-43e5-b385-fb66bc9fcaf5}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK PositionTrigger EXTENDS Objective
 
@@ -9,7 +9,7 @@ VAR
     internalMoverPassedPosition : BOOL;
     internalCurrentMover     	 : POINTER TO Mover;
 	internalLastMoverPassedPosition		: BOOL;
-	internalTrackId				: DINT := 1;
+	internalTrack				: REFERENCE TO TRACK;
     moverLastPos              	: ARRAY[1..GVL.NUM_MOVERS] OF LREAL; // Positions of tracked movers from last cycle
 	moverInitialized			: ARRAY [1..GVL.NUM_MOVERS] OF BOOL; // first scan-like flag to prevent erronious triggers on first scan
 	
@@ -74,7 +74,7 @@ END_VAR]]></Declaration>
 FOR i := 1 TO GVL.NUM_MOVERS DO
     IF internalTrackedMovers[i] <> 0 AND_THEN internalTrackedMovers[i]^.IsTrackReady AND internalTrackedMovers[i]^.CurrentTrack <> 0 THEN
 		moverTrackId := internalTrackedMovers[i]^.CurrentTrack^.Id;
-		IF (moverTrackId = internalTrackId) THEN
+		IF (moverTrackId = internalTrack.Id) THEN
 			
 			// last position is invalid on first scan, set it to the current position to avoid a false trigger on the first scan
 			IF NOT moverInitialized[i] THEN
@@ -83,15 +83,15 @@ FOR i := 1 TO GVL.NUM_MOVERS DO
 			END_IF
 		
 			// Determine if a position rollover occured in the last cycle
-			modTrackPosition := MODABS( internalTrackedMovers[i]^.TrackInfo.TrackPosition, GVL.TRACK_LENGTH);
+			modTrackPosition := MODABS( internalTrackedMovers[i]^.TrackInfo.TrackPosition, internalTrackedMovers[i]^.CurrentTrack^.Length);
 			positionDifference := moverLastPos[i] - modTrackPosition;			
-			rolloverOccured := ABS( positionDifference ) > ( GVL.TRACK_LENGTH / 2 );
+			rolloverOccured := ABS( positionDifference ) > ( internalTrackedMovers[i]^.CurrentTrack^.Length / 2 );
 			
 			// and if so, modify the stored last position values to be nonmodulo to compensate
 			IF rolloverOccured AND positionDifference > 0 THEN
-				moverLastPos[i]		:= moverLastPos[i] - GVL.TRACK_LENGTH;
+				moverLastPos[i]		:= moverLastPos[i] - internalTrackedMovers[i]^.CurrentTrack^.Length;
 			ELSIF rolloverOccured AND positionDifference < 0 THEN
-				moverLastPos[i]		:= moverLastPos[i] + GVL.TRACK_LENGTH;
+				moverLastPos[i]		:= moverLastPos[i] + internalTrackedMovers[i]^.CurrentTrack^.Length;
 			END_IF
 		
 			// Look for movers passing over the threshold this cycle and assign it to the
@@ -264,24 +264,26 @@ Statistics.ProcessedMoverCount			:= 0;
 internalStatisticsReset					:= TRUE;]]></ST>
       </Implementation>
     </Method>
+    <Method Name="SetTrack" Id="{1692464a-54c2-0d6f-250a-480aa9560f30}" FolderPath="Methods\">
+      <Declaration><![CDATA[METHOD SetTrack : BOOL
+VAR_INPUT
+	Track : REFERENCE TO TRACK;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[internalTrack REF= Track;]]></ST>
+      </Implementation>
+    </Method>
     <Property Name="TrackId" Id="{dbfe845b-02ea-002a-11b5-4efaf37a2e66}" FolderPath="Properties\">
       <Declaration><![CDATA[PROPERTY TrackId : DINT]]></Declaration>
       <Get Name="Get" Id="{36306272-b6fe-0043-1e2d-da060775dff6}">
         <Declaration><![CDATA[VAR
 END_VAR
 ]]></Declaration>
         <Implementation>
-          <ST><![CDATA[TrackId := internalTrackId;]]></ST>
+          <ST><![CDATA[TrackId := internalTrack.Id;]]></ST>
         </Implementation>
       </Get>
-      <Set Name="Set" Id="{43412e6e-388b-0c48-14bf-abf9f8d26c08}">
-        <Declaration><![CDATA[VAR
-END_VAR
-]]></Declaration>
-        <Implementation>
-          <ST><![CDATA[internalTrackId := TrackId;]]></ST>
-        </Implementation>
-      </Set>
     </Property>
     <Property Name="TriggerDirection" Id="{13bb661c-6cea-4df5-a26e-19ba5cdbbe66}" FolderPath="Properties\">
       <Declaration><![CDATA[{attribute 'monitoring' := 'call'}
@@ -301,80 +303,5 @@ END_VAR]]></Declaration>
         </Implementation>
       </Set>
     </Property>
-    <LineIds Name="PositionTrigger">
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.CurrentMover.Get">
-      <LineId Id="3" Count="9" />
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.Cyclic">
-      <LineId Id="86" Count="3" />
-      <LineId Id="160" Count="0" />
-      <LineId Id="90" Count="0" />
-      <LineId Id="197" Count="0" />
-      <LineId Id="199" Count="3" />
-      <LineId Id="198" Count="0" />
-      <LineId Id="92" Count="1" />
-      <LineId Id="185" Count="0" />
-      <LineId Id="172" Count="0" />
-      <LineId Id="170" Count="0" />
-      <LineId Id="94" Count="5" />
-      <LineId Id="104" Count="33" />
-      <LineId Id="139" Count="6" />
-      <LineId Id="242" Count="5" />
-      <LineId Id="241" Count="0" />
-      <LineId Id="146" Count="5" />
-      <LineId Id="2" Count="0" />
-      <LineId Id="250" Count="0" />
-      <LineId Id="249" Count="0" />
-      <LineId Id="248" Count="0" />
-      <LineId Id="74" Count="11" />
-      <LineId Id="203" Count="4" />
-      <LineId Id="91" Count="0" />
-      <LineId Id="208" Count="7" />
-      <LineId Id="100" Count="3" />
-      <LineId Id="216" Count="4" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.MoverPassedPosition.Get">
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.MuteCurrent">
-      <LineId Id="14" Count="6" />
-      <LineId Id="3" Count="2" />
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.Position.Get">
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.Position.Set">
-      <LineId Id="6" Count="0" />
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.ResetStatistics">
-      <LineId Id="6" Count="1" />
-      <LineId Id="5" Count="0" />
-      <LineId Id="8" Count="2" />
-      <LineId Id="12" Count="0" />
-      <LineId Id="11" Count="0" />
-      <LineId Id="13" Count="0" />
-      <LineId Id="15" Count="0" />
-      <LineId Id="14" Count="0" />
-      <LineId Id="16" Count="0" />
-      <LineId Id="21" Count="0" />
-      <LineId Id="20" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.TrackId.Get">
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.TrackId.Set">
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.TriggerDirection.Get">
-      <LineId Id="2" Count="0" />
-    </LineIds>
-    <LineIds Name="PositionTrigger.TriggerDirection.Set">
-      <LineId Id="2" Count="0" />
-    </LineIds>
   </POU>
 </TcPlcObject>