Add .isCollisionAvoidanceActive close Beckhoff-USA-Community#74

netbymatt · Nov 26, 2024 · cb32fc5 · cb32fc5
1 parent 2511d0e
commit cb32fc5
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Showing 7 changed files with 32 additions and 2 deletions.
diff --git a/.vs/Base Project/FileContentIndex/16b8266d-5cc6-4a91-be8a-0e3ee8ae8eda.vsidx b/.vs/Base Project/FileContentIndex/16b8266d-5cc6-4a91-be8a-0e3ee8ae8eda.vsidx
diff --git a/.vs/Base Project/FileContentIndex/e095e5a8-15e5-4ce4-ada3-80919d2dc7d4.vsidx b/.vs/Base Project/FileContentIndex/e095e5a8-15e5-4ce4-ada3-80919d2dc7d4.vsidx
diff --git a/Base Project.~u b/Base Project.~u
@@ -1,4 +1,4 @@
 MattW
 MATTW-NB01
 27840
-638682456411182792
+638682478042357968
diff --git a/Base Project/Main/ITFs/iMover.TcIO b/Base Project/Main/ITFs/iMover.TcIO
@@ -76,6 +76,13 @@ END_VAR
 
 ]]></Declaration>
     </Method>
+    <Property Name="IsCollisionAvoidanceActive" Id="{0751312f-b9a3-06a1-1a1f-fea82cf8f457}" FolderPath="Properties\">
+      <Declaration><![CDATA[{attribute 'monitoring' := 'call'}
+PROPERTY IsCollisionAvoidanceActive : BOOL]]></Declaration>
+      <Get Name="Get" Id="{fb9a85de-7cdc-0fdb-02d9-2039ba013b8c}">
+        <Declaration><![CDATA[]]></Declaration>
+      </Get>
+    </Property>
     <Property Name="IsTrackReady" Id="{a749704e-a727-05fa-1be8-d11fd5732682}" FolderPath="Properties\">
       <Declaration><![CDATA[PROPERTY IsTrackReady : BOOL]]></Declaration>
       <Get Name="Get" Id="{3d58532e-56d6-0a5a-0811-67af41cc16bc}">

diff --git a/Base Project/Main/POUs/XTS/Mover.TcPOU b/Base Project/Main/POUs/XTS/Mover.TcPOU
@@ -873,6 +873,18 @@ Halt	:= THIS^;
 ]]></ST>
       </Implementation>
     </Method>
+    <Property Name="IsCollisionAvoidanceActive" Id="{44271435-f54e-01be-23aa-f70858e56360}" FolderPath="Properties\">
+      <Declaration><![CDATA[{attribute 'monitoring' := 'call'}
+PROPERTY IsCollisionAvoidanceActive : bool]]></Declaration>
+      <Get Name="Get" Id="{44467e48-1af3-057a-2f30-25c270d1fac3}">
+        <Declaration><![CDATA[VAR
+END_VAR
+]]></Declaration>
+        <Implementation>
+          <ST><![CDATA[IsCollisionAvoidanceActive := AxisReference.NcToPlc.StateDword2.Flags.AvoidingCollision;]]></ST>
+        </Implementation>
+      </Get>
+    </Property>
     <Property Name="IsSyncedToAxis" Id="{f2757d0f-8cc6-01d8-3ce1-c233354ecef8}" FolderPath="Properties\">
       <Declaration><![CDATA[{attribute 'monitoring' := 'call'}
 PROPERTY IsSyncedToAxis : BOOL]]></Declaration>

diff --git a/Base Project/_Config/PLC/Main.xti b/Base Project/_Config/PLC/Main.xti
@@ -1305,7 +1305,7 @@ and will return to Group State Standby when the situation permits.
 		</DataType>
 	</DataTypes>
 	<Project GUID="{DD3A0B29-8E7C-4E32-989D-B0222C998777}" Name="Main" PrjFilePath="..\..\Main\Main.plcproj" TmcFilePath="..\..\Main\Main.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
-		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{2A96BDC0-6223-76E2-49F7-97EB64DE5EBB}" TmcPath="Main\Main.tmc">
+		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{5FA81E06-1B93-41AC-342B-71D7362CA514}" TmcPath="Main\Main.tmc">
 			<Name>Main Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Vars VarGrpType="2" AreaNo="1">

diff --git a/Documentation/docs/CodeReference/Objects/Mover.md b/Documentation/docs/CodeReference/Objects/Mover.md
@@ -474,6 +474,17 @@ Use the ^ operator to dereference the pointer and query track properties
 currentTrackId := Mover[1].CurrentTrack^.Id
 ```
 
+### .IsCollisionAvoidanceActive
+
+*BOOL*
+
+> Returns true if collision avoidance is affecting the desired motion profile of this mover
+
+```javascript
+IF Mover[1].IsCollisionAvoidanceActive THEN
+	// additional commands
+END_IF;
+
 ### .IsSyncedToAxis
 
 *BOOL*