(* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '\/Modbus_stepper\/modbusUtility' *) (* @OBJECTFLAGS := '0, 8' *) (* @SYMFILEFLAGS := '2048' *) FUNCTION_BLOCK MB_paramSetter VAR_INPUT i_register: WORD; i_reset: BOOL; i_ipAddress: STRING; i_dataToWrite: INT; END_VAR VAR_IN_OUT iq_globalTalkToken: BOOL; END_VAR VAR_OUTPUT writeOK: BOOL; error: BOOL; busy: BOOL; END_VAR VAR done: BOOL; MB_writer: MB_write; writingRequired: BOOL; firstWriteOK: BOOL := FALSE; writtenData: INT := 0; personnalToken: BOOL := FALSE; timerMax: TON; maxTime: TIME := T#500MS; END_VAR (* @END_DECLARATION := '0' *) IF (i_reset) THEN iq_globalTalkToken := FALSE; personnalToken := FALSE; firstWriteOK := FALSE; writtenData := 0; END_IF (* Si besoins d'écrire et token de priorité libre, alors prend le token de priorité *) writingRequired := (writtenData <> i_dataToWrite) OR (NOT firstWriteOK); writeOK := NOT writingRequired; IF (iq_globalTalkToken = FALSE AND writingRequired AND NOT i_reset) THEN iq_globalTalkToken := TRUE; personnalToken := TRUE; END_IF (* Si le token de priorité est à nous, on écrit dans le registre Modbus *) MB_writer( enable:= personnalToken, i_ipAddress:= i_ipAddress, i_regAddress:= i_register, i_data:= i_dataToWrite, q_mbDone=> done, q_mbError=> error); (* Si l'opération est trop longue, on le considère comme une erreur *) timerMax(IN:=busy, PT:=maxTime); IF (timerMax.Q) THEN error := TRUE; END_IF (* Quand la transaction modbus est fini, relâche le token (que ça ait marché ou pas) *) IF (personnalToken AND (done OR error)) THEN personnalToken := FALSE; iq_globalTalkToken := FALSE; END_IF; IF (done) THEN firstWriteOK := TRUE; writtenData := i_dataToWrite; END_IF END_FUNCTION_BLOCK (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '\/Modbus_stepper\/modbusUtility' *) (* @OBJECTFLAGS := '0, 8' *) (* @SYMFILEFLAGS := '2048' *) FUNCTION_BLOCK MB_read VAR_INPUT enable: BOOL; i_ipAddress: STRING; i_regAddress: WORD; i_nbWords: WORD; END_VAR VAR_IN_OUT iq_data: INT; END_VAR VAR_OUTPUT q_mbDone: BOOL; q_mbError: BOOL; END_VAR VAR modbusMaster: ETH_MOD_MAST; dwIPAddress: DWORD; END_VAR (* @END_DECLARATION := '0' *) (* command and status are DINT arrays *) dwIPAddress := IP_ADR_STRING_TO_DWORD(IP_ADR:=i_ipAddress); modbusMaster( EN:= enable, DONE=> q_mbDone, ERR=> q_mbError, SLOT := 1, IP_ADR := dwIPAddress, UNIT_ID := 1, FCT := 3, (* Read code *) ADDR:= i_regAddress, NB:= 1, DATA:= ADR(iq_data) ); END_FUNCTION_BLOCK (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '\/Modbus_stepper\/modbusUtility' *) (* @OBJECTFLAGS := '0, 8' *) (* @SYMFILEFLAGS := '2048' *) FUNCTION_BLOCK MB_statusReader VAR_INPUT i_register: WORD; i_length: WORD; i_reset: BOOL; i_ipAddress: STRING; i_readInterval: TIME; END_VAR VAR_IN_OUT iq_globalTalkToken: BOOL; END_VAR VAR_OUTPUT done: BOOL; error: BOOL; busy: BOOL; q_lastReadData: INT := 0; END_VAR VAR MB_reader: MB_read; readTimer: TON; readingRequired: BOOL; personnalToken: BOOL := FALSE; timerMax: TON; maxTime: TIME := T#500MS; END_VAR (* @END_DECLARATION := '0' *) IF (i_reset) THEN iq_globalTalkToken := FALSE; personnalToken := FALSE; END_IF (* Si besoins de lire et token de priorité libre, alors prend le token de priorité *) readTimer(IN := (NOT done AND NOT i_reset), PT := i_readInterval); readingRequired := readTimer.Q; IF (iq_globalTalkToken = FALSE AND readingRequired AND NOT i_reset) THEN iq_globalTalkToken := TRUE; personnalToken := TRUE; END_IF (* Si le token de priorité est à nous, on lit dans le registre Modbus *) MB_reader( enable:= personnalToken, i_ipAddress:= i_ipAddress, i_regAddress:= i_register, i_nbWords:= i_length, iq_data := q_lastReadData, q_mbDone=> done, q_mbError=> error); (* Si l'opération est trop longue, on le considère comme une erreur *) timerMax(IN:=busy, PT:=maxTime); IF (timerMax.Q) THEN error := TRUE; END_IF (* Relache le token quand on a fini une lecture ou si une erreur survient *) IF (personnalToken AND (done OR error)) THEN personnalToken := FALSE; iq_globalTalkToken := FALSE; END_IF END_FUNCTION_BLOCK (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '\/Modbus_stepper\/modbusUtility' *) (* @OBJECTFLAGS := '0, 8' *) (* @SYMFILEFLAGS := '2048' *) FUNCTION_BLOCK MB_write VAR_INPUT enable: BOOL; i_regAddress: WORD; i_ipAddress: STRING; i_data: INT; END_VAR VAR_IN_OUT END_VAR VAR_OUTPUT q_mbDone: BOOL; q_mbError: BOOL; END_VAR VAR modbusMaster: ETH_MOD_MAST; dwIPAddress: DWORD; END_VAR (* @END_DECLARATION := '0' *) (* command and status are DINT arrays *) dwIPAddress := IP_ADR_STRING_TO_DWORD(IP_ADR:=i_ipAddress); modbusMaster( EN:= enable, DONE=> q_mbDone, ERR=> q_mbError, SLOT := 1, IP_ADR := dwIPAddress, UNIT_ID := 1, FCT := 6, (* Write code *) ADDR:= i_regAddress, NB:= 1, DATA:= ADR(i_data) ); END_FUNCTION_BLOCK (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '\/Modbus_stepper' *) (* @OBJECTFLAGS := '0, 8' *) (* @SYMFILEFLAGS := '2048' *) FUNCTION_BLOCK MB_stepper VAR_INPUT END_VAR VAR_INPUT PERSISTENT mac: MB_stepper_mac; conf: MB_stepper_conf; END_VAR VAR CONSTANT (* codes des commandes du stepper *) CMD_FL: INT := 102; CMD_SH: INT := 110; CMD_EP: INT := 152; END_VAR VAR sts: MB_stepper_sts; cmd: MB_stepper_cmd; hm: MB_stepper_hm; (* Commandes du mode auto *) Run: BOOL; GoToPos: BOOL; DesiredPos: INT; Reset: BOOL; GoHome: BOOL; END_VAR (* @END_DECLARATION := '0' *) cmdHMI(); setParam(); readStatus(); errorCheck(); paramCheck(); IF(hm.allParamOk AND sts.Ready AND Run) THEN hm.sendCommand := TRUE; ELSE hm.sendCommand := FALSE; END_IF commandHandler(); IF (Reset OR sts.Error) THEN sendStopCommand(); sts.Running := FALSE; ELSE sts.Running := TRUE; END_IF END_FUNCTION_BLOCK ACTION cmdHMI: _LD_BODY _NETWORKS : 5 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT cmd.Reset _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET Reset _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT cmd.GoHome _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 1 _OUTPUT _POSITIV _SET GoHome _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT cmd.GoToPos _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 1 _OUTPUT _POSITIV _SET GoToPos _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT cmd.GoToPos _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV cmd.DesiredPos _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET DesiredPos ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT 'Auto-reset$R$N' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 2 _OUTPUT _NEGATIV _SET cmd.GoHome _OUTPUT _NEGATIV _SET cmd.GoToPos END_ACTION ACTION commandHandler: _LD_BODY _NETWORKS : 10 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_AND _LD_OPERATOR : 3 _LD_CONTACT hm.sendCommand _EXPRESSION _POSITIV _LD_CONTACT hm.posReset _EXPRESSION _NEGATIV _LD_CONTACT GoToPos _EXPRESSION _POSITIV _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV CMD_FL _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.commandCode ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_AND _LD_OPERATOR : 4 _LD_CONTACT hm.sendCommand _EXPRESSION _POSITIV _LD_CONTACT hm.posReset _EXPRESSION _NEGATIV _LD_CONTACT GoHome _EXPRESSION _POSITIV _LD_CONTACT sts.Ready _EXPRESSION _POSITIV _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV CMD_SH _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.commandCode ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_AND _LD_OPERATOR : 3 _LD_CONTACT hm.posReset _EXPRESSION _POSITIV _LD_CONTACT sts.Ready _EXPRESSION _POSITIV _FUNCTIONBLOCK hm.timerPosReset _BOX_EXPR : 2 _EMPTY _OPERAND _EXPRESSION _POSITIV T#1000ms _EXPRESSION _POSITIV TON _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET _EMPTY _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV CMD_EP _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.commandCode ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _FUNCTIONBLOCK hm.setCommand _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 124 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV hm.commandCode _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.commandSent ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.commandSent _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 2 _ENABLED _OPERAND _EXPRESSION _POSITIV hm.commandCode _OPERAND _EXPRESSION _POSITIV CMD_FL _EXPRESSION _POSITIV EQ _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.cmdWasFL ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.commandSent _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 2 _ENABLED _OPERAND _EXPRESSION _POSITIV hm.commandCode _OPERAND _EXPRESSION _POSITIV CMD_EP _EXPRESSION _POSITIV EQ _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.cmdWasEP ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.commandSent _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 2 _ENABLED _OPERAND _EXPRESSION _POSITIV hm.commandCode _OPERAND _EXPRESSION _POSITIV CMD_SH _EXPRESSION _POSITIV EQ _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.cmdWasSH ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.cmdWasFL _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV 0 _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.commandCode ENABLELIST_END _OUTPUTS : 1 _OUTPUT _NEGATIV _SET GoToPos _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.cmdWasEP _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 1 _OUTPUT _NEGATIV _SET hm.posReset _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.cmdWasSH _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 2 _OUTPUT _NEGATIV _SET GoHome _OUTPUT _POSITIV _SET hm.posReset END_ACTION ACTION errorCheck: sts.error := hm.setAcc.error OR hm.setDec.error OR hm.setSpeed.error OR hm.setDistance.error OR hm.setDistNeg.error OR hm.setParam1.error OR hm.setParam2.error; END_ACTION ACTION paramCheck: hm.allParamOK := hm.setAcc.writeOK AND hm.setDec.writeOK AND hm.setSpeed.writeOK AND hm.setDistance.writeOK AND hm.setDistNeg.writeOK AND hm.setParam1.writeOK AND hm.setParam2.writeOK; END_ACTION ACTION readStatus: _LD_BODY _NETWORKS : 5 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.getStatus _BOX_EXPR : 6 _ENABLED _OPERAND _EXPRESSION _POSITIV 1 _OPERAND _EXPRESSION _POSITIV 1 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV conf.ReadInterval _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_statusReader _OUTPUTS : 3 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET sts.statusCode ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.getPos _BOX_EXPR : 6 _ENABLED _OPERAND _EXPRESSION _POSITIV 7 _OPERAND _EXPRESSION _POSITIV 1 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV conf.ReadInterval _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_statusReader _OUTPUTS : 3 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET hm.lastStepPos ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.getPos.done _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 2 _ENABLED _OPERAND _EXPRESSION _POSITIV hm.lastStepPos _OPERAND _EXPRESSION _POSITIV conf.stepsPerMM _EXPRESSION _POSITIV DIV _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET sts.position ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT sts.statusCode.0 _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET sts.Ready _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT sts.statusCode.4 _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 0 ENABLELIST_END _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET sts.Running END_ACTION ACTION sendStopCommand: hm.stopCmdSender( enable := TRUE, i_regAddress:= 124, i_ipAddress:= conf.IP, i_data:= 225, q_mbDone=> , q_mbError=> ); END_ACTION ACTION setParam: _LD_BODY _NETWORKS : 16 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setAcc _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 27 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV mac.Acc _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setDec _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 28 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV mac.Dec _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setSpeed _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 29 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV mac.Speed _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 2 _ENABLED _OPERAND _EXPRESSION _POSITIV cmd.DesiredPos _OPERAND _EXPRESSION _POSITIV sts.position _EXPRESSION _POSITIV SUB _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.dist ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 2 _ENABLED _OPERAND _EXPRESSION _POSITIV hm.dist _OPERAND _EXPRESSION _POSITIV conf.StepsPerMM _EXPRESSION _POSITIV MUL _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.dist ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_AND _LD_OPERATOR : 2 _LD_CONTACT GoHome _EXPRESSION _POSITIV _LD_CONTACT GoToPos _EXPRESSION _NEGATIV _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV conf.HomeDirection _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.dist ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setDistance _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 31 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV hm.dist _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 2 _ENABLED _OPERAND _EXPRESSION _POSITIV hm.dist _OPERAND _EXPRESSION _POSITIV 0 _EXPRESSION _POSITIV LT _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.distNeg ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.distNeg _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV -1 _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.distSign ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.distNeg _EXPRESSION _NEGATIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV 0 _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.distSign ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setDistNeg _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 30 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV hm.distSign _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setDistNeg _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 30 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV hm.distSign _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.posReset _EXPRESSION _POSITIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV 0 _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.param1 ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _LD_CONTACT hm.posReset _EXPRESSION _NEGATIV _EXPRESSION _POSITIV ENABLELIST : 1 _ASSIGN _OPERATOR _BOX_EXPR : 1 _ENABLED _OPERAND _EXPRESSION _POSITIV conf.HomeInputCode _EXPRESSION _POSITIV MOVE _EXPRESSION _POSITIV _OUTPUTS : 1 _OUTPUT _POSITIV _NO_SET hm.param1 ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setParam1 _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 125 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV hm.param1 _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 _NETWORK _COMMENT '' _END_COMMENT _LD_ASSIGN _EMPTY _EXPRESSION _POSITIV ENABLELIST : 1 _FUNCTIONBLOCK hm.setParam2 _BOX_EXPR : 5 _ENABLED _OPERAND _EXPRESSION _POSITIV 125 _OPERAND _EXPRESSION _POSITIV Reset _OPERAND _EXPRESSION _POSITIV conf.IP _OPERAND _EXPRESSION _POSITIV conf.HomeConditionCode _OPERAND _EXPRESSION _POSITIV hm.globalToken _EXPRESSION _POSITIV MB_paramSetter _OUTPUTS : 2 _OUTPUT _POSITIV _NO_SET _EMPTY _OUTPUT _POSITIV _NO_SET _EMPTY ENABLELIST_END _OUTPUTS : 0 END_ACTION (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '' *) (* @OBJECTFLAGS := '0, 8' *) TYPE MB_stepper_cmd: STRUCT GoToPos: BOOL; DesiredPos: INT; Reset: BOOL; GoHome: BOOL; END_STRUCT END_TYPE (* @END_DECLARATION := '0' *) (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '' *) (* @OBJECTFLAGS := '0, 8' *) TYPE MB_stepper_conf : STRUCT IP: STRING := '10.30.89.34'; (* drive IO code: // 0xB1 (decimal: 177) -> input X1 // 0xB2 (decimal: 178) -> input X2 // 0xB3 (decimal: 179) -> input X3 // etc... *) HomeInputCode: INT := 178; (* drive condition code: // 0x4C (decimal: 76) -> closed // 0x48 (decimal: 72) -> open *) HomeConditionCode: INT := 76; (* Direction vers laquelle le homing commence. 1 ou -1 *) HomeDirection: INT := 1; (* Ratio steps de moteur par mm de distance *) StepsPerMM: INT := 1000; ReadInterval: TIME := T#100MS; END_STRUCT END_TYPE (* @END_DECLARATION := '0' *) (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '' *) (* @OBJECTFLAGS := '0, 8' *) TYPE MB_stepper_hm : STRUCT dist: INT := 0; distSign: INT := 0; commandCode: INT; commandSent: BOOL; globalToken: BOOL; getStatus: MB_statusReader; getPos: MB_statusReader; setAcc: MB_paramSetter; setDec: MB_paramSetter; setSpeed: MB_paramSetter; setDistance: MB_paramSetter; setDistNeg: MB_paramSetter; setParam1: MB_paramSetter; setParam2: MB_paramSetter; setCommand: MB_paramSetter; stopCmdSender: MB_write; posReset: BOOL; param1: INT; timerAutoReset: TON; timerFinReset: TON; timerPosReset: TON; sendCommand: BOOL; lastStepPos: INT; cmdWasSH: BOOL; cmdWasEP: BOOL; cmdWasFL: BOOL; allParamOk: BOOL; distNeg: BOOL; END_STRUCT END_TYPE (* @END_DECLARATION := '0' *) (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '' *) (* @OBJECTFLAGS := '0, 8' *) TYPE MB_Stepper_mac : STRUCT Acc: INT := 200; Dec: INT := 200; Speed: INT := 150; END_STRUCT END_TYPE (* @END_DECLARATION := '0' *) (* @NESTEDCOMMENTS := 'Yes' *) (* @PATH := '' *) (* @OBJECTFLAGS := '0, 8' *) TYPE MB_Stepper_sts : STRUCT Ready: BOOL; Running: BOOL; Position: INT; StatusCode: DINT; Error: BOOL; Moving: BOOL; END_STRUCT END_TYPE (* @END_DECLARATION := '0' *)