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FIX: All Motors fPosition to stAxisStatus.fActPosition
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@ghalym
ghalym committed Oct 18, 2023
1 parent 8148938 commit 343aec7
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Showing 3 changed files with 96 additions and 96 deletions.
100 changes: 50 additions & 50 deletions lcls-plc-rixs-optics/_Config/PLC/rixs_optics.xti
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Original file line number Diff line number Diff line change
Expand Up @@ -58,24 +58,24 @@
</SubItem>
</DataType>
<DataType>
<Name GUID="{DAE06558-BF28-4CCF-B9B3-66AEA51A8DEB}" Namespace="lcls_twincat_motion" AutoDeleteType="true">EL5042_Status</Name>
<Name GUID="{32A476A9-0D93-49B0-AC33-DB53BFDFEBEB}" Namespace="lcls_twincat_motion" AutoDeleteType="true">EL5042_Status</Name>
<BitSize>0</BitSize>
<BaseType GUID="{FFFFFFFF-FFFF-FFFF-FFFF-FFFFFFFFFFFF}"/>
<Hides>
<Hide GUID="{B9C54B21-341C-4BA8-ABA0-BA81C6D823FD}"/>
<Hide GUID="{DAE06558-BF28-4CCF-B9B3-66AEA51A8DEB}"/>
</Hides>
</DataType>
<DataType>
<Name GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion" AutoDeleteType="true">ST_RenishawAbsEnc</Name>
<Name GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion" AutoDeleteType="true">ST_RenishawAbsEnc</Name>
<Comment>
<![CDATA[Renishaw BiSS-C absolute encoder used with an EL5042]]>
<![CDATA[ Renishaw BiSS-C absolute encoder used with an EL5042]]>
</Comment>
<BitSize>128</BitSize>
<SubItem>
<Name>Count</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000B}">ULINT</Type>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
<BitSize>64</BitSize>
<BitOffs>0</BitOffs>
Expand All @@ -88,9 +88,9 @@
</SubItem>
<SubItem>
<Name>Status</Name>
<Type GUID="{DAE06558-BF28-4CCF-B9B3-66AEA51A8DEB}" Namespace="lcls_twincat_motion">EL5042_Status</Type>
<Type GUID="{32A476A9-0D93-49B0-AC33-DB53BFDFEBEB}" Namespace="lcls_twincat_motion">EL5042_Status</Type>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
<BitSize>0</BitSize>
<BitOffs>64</BitOffs>
Expand All @@ -99,13 +99,13 @@
<Name>Ref</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000B}">ULINT</Type>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
<BitSize>64</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<Hides>
<Hide GUID="{7F3F9A5F-5BE5-4CDD-8BF9-E212F3AFAB8C}"/>
<Hide GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}"/>
</Hides>
</DataType>
<DataType>
Expand Down Expand Up @@ -1352,89 +1352,89 @@ External Setpoint Generation:
<Comment>
<![CDATA[ Encoders]]>
</Comment>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_MR1K1_BEND.M1K1.fbRunHOMS.stYdwnEnc</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_MR1K1_BEND.M1K1.fbRunHOMS.stXupEnc</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_MR1K1_BEND.M1K1.fbRunHOMS.stXdwnEnc</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
Expand Down Expand Up @@ -1648,89 +1648,89 @@ Emergency Stop for MR1K1]]>
<Comment>
<![CDATA[ Encoders]]>
</Comment>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_MR1K2_SWITCH.M1K2.fbRunHOMS.stYdwnEnc</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_MR1K2_SWITCH.M1K2.fbRunHOMS.stXupEnc</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_MR1K2_SWITCH.M1K2.fbRunHOMS.stXdwnEnc</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
Expand Down Expand Up @@ -2188,45 +2188,45 @@ External Setpoint Generation:
</Var>
<Var>
<Name>PRG_SP1K1_MONO.mpi_upe</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_SP1K1_MONO.gpi_upe</Name>
<Type GUID="{A1AF2E54-2B60-4775-BA9B-752B7A7C2594}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<Type GUID="{91B6EFD4-A96E-4F39-BC0F-5B1ED0B6691C}" Namespace="lcls_twincat_motion">ST_RenishawAbsEnc</Type>
<SubVar>
<Name>Count</Name>
<Comment>
<![CDATA[Connect to encoder "Position" input]]>
<![CDATA[ Connect to encoder "Position" input]]>
</Comment>
</SubVar>
<SubVar>
<Name>Status</Name>
<Comment>
<![CDATA[Status struct placeholder]]>
<![CDATA[ Status struct placeholder]]>
</Comment>
</SubVar>
<SubVar>
<Name>Ref</Name>
<Comment>
<![CDATA[Encoder zero position (useful for aligned position with gantries)]]>
<![CDATA[ Encoder zero position (useful for aligned position with gantries)]]>
</Comment>
</SubVar>
</Var>
Expand Down Expand Up @@ -8718,8 +8718,8 @@ External Setpoint Generation:
<TaskPouOids>
<TaskPouOid Prio="19" OTCID="#x08502004"/>
<TaskPouOid Prio="1" OTCID="#x08502001"/>
<TaskPouOid Prio="3" OTCID="#x08502002"/>
<TaskPouOid Prio="20" OTCID="#x08502003"/>
<TaskPouOid Prio="3" OTCID="#x08502002"/>
</TaskPouOids>
</Instance>
</Project>
Expand Down
18 changes: 9 additions & 9 deletions lcls-plc-rixs-optics/rixs_optics/POUs/PRG_ZeroOrder_PMPS.TcPOU
View file
Original file line number Diff line number Diff line change
Expand Up @@ -141,19 +141,19 @@ ACT_ExitSlitsGap();]]></ST>
<Implementation>
<ST><![CDATA[///calc
//Hm1 = 1400000+mr1k1 ben Y up
Hm1:= 1400000+M12.fPosition; //um
Hm1:= 1400000+M12.stAxisStatus.fActPosition; //um
//Pm1 = Pm1Offset + mr1k1 bend pitch
Pm1 := Pm1Offset + Main.M16.fPosition; //urad
Pm1 := Pm1Offset + Main.M16.stAxisStatus.fActPosition; //urad
//Hpiv = 1.620305 + 0.001 // m 0.001 is correction from nominal
Hpiv:= (1.620305 + 0.001)*1E6; //um
//Pm2 = mono mirror pitch + Pm2Offset urad
Pm2 := Main.M6.fPosition + Pm2Offset;//urad
Pm2 := Main.M6.stAxisStatus.fActPosition + Pm2Offset;//urad
//Hm3 = Hpiv + 0.006 m
Hm3:= Hpiv + (0.006*1E6); //um
//Pm3 = mono grating pitch + Pm3Offset urad
Pm3 := Main.M7.fPosition + Pm3Offset; //urad
Pm3 := Main.M7.stAxisStatus.fActPosition + Pm3Offset; //urad
//Hzos = 1824.3 + st1k1_zos mm
Hzos:= 1824.3 + M24.fPosition; //mm
Hzos:= 1824.3 + M24.stAxisStatus.fActPosition; //mm
//urad
Expand All @@ -179,7 +179,7 @@ Hb0m3 := TAN(Theta_m3*1E-6)*(Zzos*1E6) + Hbm3 - TAN(Theta_m3*1E-6)*Zbm3;
<Action Name="ACT_ExitSlitsGap" Id="{72615217-f71d-41ee-b0dd-e3c54f411832}">
<Implementation>
<ST><![CDATA[// FAULT condition: Hzos -1.0mm <= Hb0m3) AND sl1k2 gap <= 8.0
ffZeroOrderBeamExitSlits.i_xOK := NOT( (( (Hzos*1E3) - 1) <= Hb0m3) AND ( M22.fPosition <= 8.0));
ffZeroOrderBeamExitSlits.i_xOK := NOT( (( (Hzos*1E3) - 1) <= Hb0m3) AND ( M22.stAxisStatus.fActPosition <= 8.0));
ffZeroOrderBeamExitSlits(io_fbFFHWO := GVL_PMPS.fbFastFaultOutput1);]]></ST>
</Implementation>
</Action>
Expand All @@ -191,9 +191,9 @@ ffZeroOrderBeamExitSlits(io_fbFFHWO := GVL_PMPS.fbFastFaultOutput1);]]></ST>
<Action Name="ACT_ZOS_IN" Id="{ea635b1c-413a-4430-b9a8-7a35a57ab8c1}">
<Implementation>
<ST><![CDATA[IF GVL_PMPS.rPhotonEnergy >1500 THEN bZOS_IN:= FALSE;
ELSIF (GVL_PMPS.rPhotonEnergy >1000 AND M24.fPosition>= 8.5) THEN bZOS_IN:= TRUE;
ELSIF (GVL_PMPS.rPhotonEnergy <=1000 AND GVL_PMPS.rPhotonEnergy >550 AND M24.fPosition>= 7.9) THEN bZOS_IN:= TRUE;
ELSIF (GVL_PMPS.rPhotonEnergy <=550 AND GVL_PMPS.rPhotonEnergy >200 AND M24.fPosition>= 6.9) THEN bZOS_IN:= TRUE;
ELSIF (GVL_PMPS.rPhotonEnergy >1000 AND M24.stAxisStatus.fActPosition>= 8.5) THEN bZOS_IN:= TRUE;
ELSIF (GVL_PMPS.rPhotonEnergy <=1000 AND GVL_PMPS.rPhotonEnergy >550 AND M24.stAxisStatus.fActPosition>= 7.9) THEN bZOS_IN:= TRUE;
ELSIF (GVL_PMPS.rPhotonEnergy <=550 AND GVL_PMPS.rPhotonEnergy >200 AND M24.stAxisStatus.fActPosition>= 6.9) THEN bZOS_IN:= TRUE;
ELSE bZOS_IN:= FALSE;
END_IF
Expand Down
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