DUTs
E_HomeState
TYPE E_HomeState :
(
H_READY,
H_INIT,
H_RESET_LL,
H_RESET_HL,
H_ENABLE,
H_MOVING,
H_KEEP_MOVING,
H_CHECK,
H_RESET,
H_SET_POS,
H_ERROR,
H_WRITE_LL,
H_WRITE_HL,
H_DONE
) UDINT;
END_TYPE
- Related:
ENUM_Si_B4C_Coating_States
{attribute 'qualified only'}
TYPE ENUM_Si_B4C_Coating_States :
(
Unknown := 0,
Si := 1,
B4C := 2
);
END_TYPE
GVLs
GVL_COM_Buffers
VAR_GLOBAL
// M1K4
Serial_RXBuffer_M1K4 : ComBuffer;
Serial_TXBuffer_M1K4 : ComBuffer;
END_VAR
GVL_M1K4
{attribute 'qualified_only'}
VAR_GLOBAL
// Pitch Mechanism:
{attribute 'TcLinkTo' := '.diEncCnt:=TIIB[EL5042_M1K4_PitchBender]^FB Inputs Channel 1^Position'}
M1K4_Pitch : HOMS_PitchMechanism := (ReqPosLimHi := 275,
ReqPosLimLo := -25,
diEncPosLimHi := 10149192,
diEncPosLimLo := 10047105);
END_VAR
GVL_M1K4_Constants
{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
// Encoder reference values in counts = nm
nYUP_ENC_REF : ULINT := 15000270;
nYDWN_ENC_REF : ULINT := 15454300;
nXUP_ENC_REF : ULINT := 24000300;
nXDWN_ENC_REF : ULINT := 23999400;
END_VAR
GVL_M2K4_Constants
{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
// Encoder reference values in counts = nm
nM2K4X_ENC_REF : ULINT := 5973570;
nM2K4Y_ENC_REF : ULINT := 6099450;
nM2K4rY_ENC_REF : ULINT := 39050722;
END_VAR
GVL_M2K4_RTD
{attribute 'qualified_only'}
VAR_GLOBAL
// M2K4 BENDER RTDs
// M2K4 US RTDs
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 1^Value'}
nM2K4US_RTD_1 AT %I* : INT;
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4US3_M2K4DS1]^RTD Inputs Channel 1^Value'}
nM2K4US_RTD_3 AT %I* : INT;
// M2K4 DS RTDs
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4US3_M2K4DS1]^RTD Inputs Channel 2^Value'}
nM2K4DS_RTD_1 AT %I* : INT;
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 2^Value'}
nM2K4DS_RTD_3 AT %I* : INT;
END_VAR
GVL_M3K4_Constants
{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
// Encoder reference values in counts = nm
nM3K4X_ENC_REF : ULINT := 6404509;
nM3K4Y_ENC_REF : ULINT := 6047240;
nM3K4rX_ENC_REF : ULINT := 48388188;
END_VAR
GVL_M3K4_RTD
{attribute 'qualified_only'}
VAR_GLOBAL
// M3K4 BENDER RTDs
// M3K4 US RTDs
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 1^Value'}
nM3K4US_RTD_1 AT %I* : INT;
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4US3_M3K4DS1]^RTD Inputs Channel 1^Value'}
nM3K4US_RTD_3 AT %I* : INT;
// M2K4 DS RTDs
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4US3_M3K4DS1]^RTD Inputs Channel 2^Value'}
nM3K4DS_RTD_1 AT %I* : INT;
{attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 2^Value'}
nM3K4DS_RTD_3 AT %I* : INT;
END_VAR
GVL_M4K4_RTD
{attribute 'qualified_only'}
VAR_GLOBAL
// M4K4 RTDs
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3204_M4K4]^RTD Inputs Channel 1^Value;
.bUnderrange := TIIB[EL3204_M4K4]^RTD Inputs Channel 1^Status^Underrange;
.bOverrange := TIIB[EL3204_M4K4]^RTD Inputs Channel 1^Status^Overrange;
.bError := TIIB[EL3204_M4K4]^RTD Inputs Channel 1^Status^Error'}
{attribute 'pytmc' := '
pv: MR4K4:KBO:RTD:CHIN:L
field: EGU C
io: i
'}
nM4K4_Chin_Left_RTD : FB_TempSensor;
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3204_M4K4]^RTD Inputs Channel 2^Value;
.bUnderrange := TIIB[EL3204_M4K4]^RTD Inputs Channel 2^Status^Underrange;
.bOverrange := TIIB[EL3204_M4K4]^RTD Inputs Channel 2^Status^Overrange;
.bError := TIIB[EL3204_M4K4]^RTD Inputs Channel 2^Status^Error'}
{attribute 'pytmc' := '
pv: MR4K4:KBO:RTD:CHIN:R
field: EGU C
io: i
'}
nM4K4_Chin_Right_RTD : FB_TempSensor;
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3204_M4K4]^RTD Inputs Channel 3^Value;
.bUnderrange := TIIB[EL3204_M4K4]^RTD Inputs Channel 3^Status^Underrange;
.bOverrange := TIIB[EL3204_M4K4]^RTD Inputs Channel 3^Status^Overrange;
.bError := TIIB[EL3204_M4K4]^RTD Inputs Channel 3^Status^Error'}
{attribute 'pytmc' := '
pv: MR4K4:KBO:RTD:TAIL
field: EGU C
io: i
'}
nM4K4_Chin_Tail_RTD : FB_TempSensor;
END_VAR
GVL_M5K4_RTD
{attribute 'qualified_only'}
VAR_GLOBAL
// M5K4 RTDs
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3204_M5K4]^RTD Inputs Channel 1^Value;
.bUnderrange := TIIB[EL3204_M5K4]^RTD Inputs Channel 1^Status^Underrange;
.bOverrange := TIIB[EL3204_M5K4]^RTD Inputs Channel 1^Status^Overrange;
.bError := TIIB[EL3204_M5K4]^RTD Inputs Channel 1^Status^Error'}
{attribute 'pytmc' := '
pv: MR5K4:KBO:RTD:CHIN:L
field: EGU C
io: i
'}
nM5K4_Chin_Left_RTD : FB_TempSensor;
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3204_M5K4]^RTD Inputs Channel 2^Value;
.bUnderrange := TIIB[EL3204_M5K4]^RTD Inputs Channel 2^Status^Underrange;
.bOverrange := TIIB[EL3204_M5K4]^RTD Inputs Channel 2^Status^Overrange;
.bError := TIIB[EL3204_M5K4]^RTD Inputs Channel 2^Status^Error'}
{attribute 'pytmc' := '
pv: MR5K4:KBO:RTD:CHIN:R
field: EGU C
io: i
'}
nM5K4_Chin_Right_RTD : FB_TempSensor;
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3204_M5K4]^RTD Inputs Channel 3^Value;
.bUnderrange := TIIB[EL3204_M5K4]^RTD Inputs Channel 3^Status^Underrange;
.bOverrange := TIIB[EL3204_M5K4]^RTD Inputs Channel 3^Status^Overrange;
.bError := TIIB[EL3204_M5K4]^RTD Inputs Channel 3^Status^Error'}
{attribute 'pytmc' := '
pv: MR5K4:KBO:RTD:TAIL
field: EGU C
io: i
'}
nM5K4_Chin_Tail_RTD : FB_TempSensor;
END_VAR
GVL_PMPS
{attribute 'qualified_only'}
VAR_GLOBAL
// FFO for devices upstream of ST1K4 (M1K4)
{attribute 'pytmc' := '
pv: PLC:TMO:OPTICS:FFO:01
'}
{attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 1^Output'}
g_FastFaultOutput1 : FB_HardwareFFOutput := (bAutoReset:=TRUE, i_sNetID:='172.21.92.73.1.1');
// FFO for devices downstream of ST1K4 (TMO hutch optics)
{attribute 'pytmc' := '
pv: PLC:TMO:OPTICS:FFO:02
'}
{attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 2^Output'}
g_FastFaultOutput2 : FB_HardwareFFOutput := (bAutoReset:=TRUE, i_sNetID:='172.21.92.73.1.1');
// Arbiter for devices upstream of ST1K4 (M1K4)
{attribute 'pytmc' := '
pv: PLC:TMO:OPTICS:ARB:01
'}
g_fbArbiter1 : FB_Arbiter(1);
// Arbiter for devices downstream of ST1K4 (TMO hutch optics)
{attribute 'pytmc' := '
pv: PLC:TMO:OPTICS:ARB:02
'}
g_fbArbiter2 : FB_Arbiter(2);
END_VAR
GVL_SerialIO
VAR_GLOBAL
//Better have your inputs and outputs!
// M1K4
Serial_stComIn_M1K4 AT %I* : EL6inData22B (*KL6inData22B*);
Serial_stComOut_M1K4 AT %Q* : EL6outData22B (*KL6outData22B*);
END_VAR
POUs
FB_KBO_Coating_States
FUNCTION_BLOCK FB_KBO_Coating_States EXTENDS FB_PositionStateBase_WithPMPS
VAR_INPUT
{attribute 'pytmc' := '
pv: SET
io: io
'}
enumSet : ENUM_Si_B4C_Coating_States;
stCoating1 : DUT_PositionState;
stCoating2 : DUT_PositionState;
bVerticalCoating : BOOL := TRUE;
sCoating1Name : STRING;
sCoating2Name : STRING;
END_VAR
VAR_OUTPUT
{attribute 'pytmc' := '
pv: GET;
io: i;
'}
enumGet : ENUM_Si_B4C_Coating_States;
END_VAR
VAR
fbStateDefaults: FB_PositionState_Defaults;
bCoatingInit : BOOL;
fCoatingAccel : LREAL := fYAccel;
fCoatingDecel : LREAL := fYDecel;
END_VAR
VAR CONSTANT
// These are the default values
// Set values on states prior to passing in for non-default values
// Units in Millimeters
fDelta: LREAL := 0.1;
fVelocity: LREAL := 0.150;
fYAccel: LREAL := 10;
fYDecel: LREAL := 10;
fXAccel: LREAL := 100;
fXDecel: LREAL := 100;
END_VAR
if NOT bCoatingInit THEN
bCoatingInit := TRUE;
if NOT bVerticalCoating THEN
fCoatingAccel := fXAccel;
fCoatingDecel := fXDecel;
END_IF
//Coating 1
stCoating1.sName := sCoating1Name;
stCoating1.bValid := TRUE;
stCoating1.bMoveOk := TRUE;
stCoating1.bUseRawCounts := TRUE;
fbStateDefaults(
stPositionState:=stCoating1,
fVeloDefault:=fVelocity,
fDeltaDefault:=fDelta,
fAccelDefault:=fCoatingAccel,
fDecelDefault:=fCoatingDecel
);
//Coating 2
stCoating2.sName := sCoating2Name;
stCoating2.bValid := TRUE;
stCoating2.bMoveOk := TRUE;
stCoating2.bUseRawCounts := TRUE;
fbStateDefaults(
stPositionState:=stCoating2,
fVeloDefault:=fVelocity,
fDeltaDefault:=fDelta,
fAccelDefault:=fCoatingAccel,
fDecelDefault:=fCoatingDecel
);
arrStates[1] := stCoating1;
arrStates[2] := stCoating2;
END_IF
setState := enumSet;
Exec();
enumGet := getState;
enumSet := setState;
END_FUNCTION_BLOCK
- Related:
FB_Offset_Coating_States
FUNCTION_BLOCK FB_Offset_Coating_States EXTENDS FB_PositionStateBase_WithPMPS
VAR_INPUT
{attribute 'pytmc' := '
pv: SET
io: io
'}
enumSet : ENUM_Si_B4C_Coating_States;
stCoating1 : DUT_PositionState;
stCoating2 : DUT_PositionState;
sCoating1Name : STRING;
sCoating2Name : STRING;
END_VAR
VAR_OUTPUT
{attribute 'pytmc' := '
pv: GET;
io: i;
'}
enumGet : ENUM_Si_B4C_Coating_States;
END_VAR
VAR
fbStateDefaults: FB_PositionState_Defaults;
bCoatingInit : BOOL;
END_VAR
VAR CONSTANT
// These are the default values
// Set values on states prior to passing in for non-default values
// Units in Mircons
fDelta: LREAL := 100;
fVelocity: LREAL := 150;
fAccel: LREAL := 200;
fDecel: LREAL := 200;
END_VAR
if NOT bCoatingInit THEN
bCoatingInit := TRUE;
//Coating 1
stCoating1.sName := sCoating1Name;
stCoating1.bValid := TRUE;
stCoating1.bMoveOk := TRUE;
stCoating1.bUseRawCounts := TRUE;
fbStateDefaults(
stPositionState:=stCoating1,
fVeloDefault:=fVelocity,
fDeltaDefault:=fDelta,
fAccelDefault:=fAccel,
fDecelDefault:=fDecel
);
//Coating 2
stCoating2.sName := sCoating2Name;
stCoating2.bValid := TRUE;
stCoating2.bMoveOk := TRUE;
stCoating2.bUseRawCounts := TRUE;
fbStateDefaults(
stPositionState:=stCoating2,
fVeloDefault:=fVelocity,
fDeltaDefault:=fDelta,
fAccelDefault:=fAccel,
fDecelDefault:=fDecel
);
arrStates[1] := stCoating1;
arrStates[2] := stCoating2;
END_IF
setState := enumSet;
Exec();
enumGet := getState;
enumSet := setState;
END_FUNCTION_BLOCK
- Related:
FB_SLITS
FUNCTION_BLOCK FB_SLITS
VAR_IN_OUT
stTopBlade: ST_MotionStage;
stBottomBlade: ST_MotionStage;
stNorthBlade: ST_MotionStage;
stSouthBlade: ST_MotionStage;
bExecuteMotion:BOOL ;
io_fbFFHWO : FB_HardwareFFOutput;
fbArbiter: FB_Arbiter();
END_VAR
VAR_INPUT
{attribute 'pytmc' := '
pv: PMPS_OK;
io: i;
field: ZNAM False
field: ONAM True
'}
bMoveOk:BOOL := TRUE;
(*Offsets*)
{attribute 'pytmc' := '
pv: Offset_Top;
io: io;
'}
rEncoderOffsetTop: REAL;
{attribute 'pytmc' := '
pv: ZeroOffset_Bottom;
io: io;
'}
rEncoderOffsetBottom: REAL;
{attribute 'pytmc' := '
pv: ZeroOffset_North;
io: io;
'}
rEncoderOffsetNorth: REAL;
{attribute 'pytmc' := '
pv: ZeroOffset_South;
io: io;
'}
rEncoderOffsetSouth: REAL;
i_DevName : STRING; //device name for FFO and PMPS diagnostics
{attribute 'pytmc' := '
pv: Home;
io: i;
field: ZNAM False
field: ONAM True
'}
bHome:BOOL:=FALSE;
END_VAR
VAR
fbTopBlade: FB_MotionStage;
fbBottomBlade: FB_MotionStage;
fbNorthBlade: FB_MotionStage;
fbSouthBlade: FB_MotionStage;
fPosTopBlade: LREAL;
fPosBottomBlade: LREAL;
fPosNorthBlade: LREAL;
fPosSouthBlade: LREAL;
(*Motion Parameters*)
fSmallDelta: LREAL := 0.01;
fBigDelta: LREAL := 10;
fMaxVelocity: LREAL := 0.2;
fHighAccel: LREAL := 0.8;
fLowAccel: LREAL := 0.1;
stTop: DUT_PositionState;
stBOTTOM: DUT_PositionState;
stNorth: DUT_PositionState;
stSouth: DUT_PositionState;
{attribute 'pytmc' := 'pv: TOP'}
fbTop: FB_StatePTPMove;
{attribute 'pytmc' := 'pv: BOTTOM'}
fbBottom: FB_StatePTPMove;
{attribute 'pytmc' := 'pv: NORTH'}
fbNorth: FB_StatePTPMove;
{attribute 'pytmc' := 'pv: SOUTH'}
fbSouth: FB_StatePTPMove;
(*EPICS pvs*)
{attribute 'pytmc' := '
pv: XWID_REQ;
io: io;
'}
rReqApertureSizeX : REAL;
{attribute 'pytmc' := '
pv: YWID_REQ;
io: io;
'}
rReqApertureSizeY : REAL;
{attribute 'pytmc' := '
pv: XCEN_REQ;
io: io;
'}
rReqCenterX: REAL;
{attribute 'pytmc' := '
pv: YCEN_REQ;
io: io;
'}
rReqCenterY: REAL;
{attribute 'pytmc' := '
pv: ACTUAL_XWIDTH;
io: io;
'}
rActApertureSizeX : REAL;
{attribute 'pytmc' := '
pv: ACTUAL_YWIDTH;
io: io;
'}
rActApertureSizeY : REAL;
{attribute 'pytmc' := '
pv: ACTUAL_XCENTER;
io: io;
'}
rActCenterX: REAL;
{attribute 'pytmc' := '
pv: ACTUAL_YCENTER;
io: io;
'}
rActCenterY: REAL;
{attribute 'pytmc' := '
pv: XCEN_SETZERO;
io: io;
'}
rSetCenterX: BOOL;
{attribute 'pytmc' := '
pv: YCEN_SETZERO;
io: io;
'}
rSetCenterY: BOOL;
{attribute 'pytmc' := '
pv: OPEN;
io: io;
field: ZNAM False
field: ONAM True
'}
bOpen: BOOL;
{attribute 'pytmc' := '
pv: CLOSE;
io: io;
field: ZNAM False
field: ONAM True
'}
bClose: BOOL;
{attribute 'pytmc' := '
pv: BLOCK;
io: io;
field: ZNAM False
field: ONAM True
'}
bBlock: BOOL;
{attribute 'pytmc' := '
pv: HOME_READY;
io: i;
field: ZNAM False
field: ONAM True
'}
bHomeReady:BOOL:=FALSE;
//Local variables
bInit: BOOL :=true;
rTrig_Block: R_TRIG;
rTrig_Open: R_TRIG;
rTrig_Close: R_TRIG;
//old values
rOldReqApertureSizeX : REAL;
rOldReqApertureSizeY : REAL;
rOldReqCenterX: REAL;
rOldReqCenterY: REAL;
bExecuteMotionX: BOOL;
bExecuteMotionY: BOOL;
fPosBlock: LREAL;
fPosClose: LREAL;
fPosOpen: LREAL;
stSetPositionOptions:ST_SetPositionOptions;
fbSetPosition_TOP: MC_SetPosition;
fbSetPosition_Bottom: MC_SetPosition;
fbSetPosition_North: MC_SetPosition;
fbSetPosition_South: MC_SetPosition;
// For logging
fbLogger : FB_LogMessage := (eSubsystem:=E_SubSystem.MOTION);
tErrorPresent : R_TRIG;
tAction : R_TRIG;
tOverrideActivated : R_TRIG;
FFO : FB_FastFault :=(
i_DevName := 'Slits',
i_Desc := 'Fault occurs when center is greated than that requested',
i_TypeCode := 16#1010);
bTest: BOOL;
AptArrayStatus AT %Q* : ST_PMPS_Aperture_IO;
AptArrayReq AT %I* : ST_PMPS_Aperture_IO;
rApertureOffsetX : REAL := 5;
rApertureOffsetY : REAL := 5;
rCenterOffsetX : REAL := -1;
rCenterOffsetY : REAL := -1;
END_VAR
ACT_init();
// Instantiate Function block for all the blades
ACT_Motion();
//SET and GET the requested and Actual values
ACT_CalculatePositions();
//ACT_BLOCK();
END_FUNCTION_BLOCK
ACTION ACT_BLOCK:
rTrig_Block (CLK:= bBlock);
rTrig_Open (CLK:= bOpen);
rTrig_Close (CLK:= bClose);
if (rTrig_Block.Q) THEN
//BLOCK
bBlock := false;
END_IF
if (rTrig_Open.Q) THEN
bOpen := false;
END_IF
if (rTrig_Close.Q) THEN
bClose := false;
END_IF
END_ACTION
ACTION ACT_CalculatePositions:
//check if requested center or gap has changed
//check that the requested values are within acceptable motion range
IF (rOldReqApertureSizeX <> rReqApertureSizeX) THEN
rOldReqApertureSizeX := rReqApertureSizeX;
bExecuteMotionX := TRUE;
fbLogger(sMsg:='Requested new X gap.', eSevr:=TcEventSeverity.Verbose);
END_IF
IF (rOldReqCenterX <> rReqCenterX) THEN
rOldReqCenterX := rReqCenterX;
bExecuteMotionX := TRUE;
fbLogger(sMsg:='Requested new X center', eSevr:=TcEventSeverity.Verbose);
// ELSE
// rReqCenterX := rActCenterX;
END_IF
IF (rOldReqApertureSizeY <> rReqApertureSizeY) THEN
rOldReqApertureSizeY := rReqApertureSizeY;
bExecuteMotionY := TRUE;
fbLogger(sMsg:='Requested new Y gap.', eSevr:=TcEventSeverity.Verbose);
END_IF
IF (rOldReqCenterY <> rReqCenterY) THEN
rOldReqCenterY := rReqCenterY;
bExecuteMotionY := TRUE;
fbLogger(sMsg:='Requested new Y center.', eSevr:=TcEventSeverity.Verbose);
// ELSE
// rReqCenterY := rActCenterY;
END_IF
//Calculate requested target positions from requested gap and center
fPosTopBlade := ((rReqApertureSizeY-rApertureOffsetY)/2) + ((rReqCenterY-rCenterOffsetY) + rEncoderOffsetTop) ;
fPosBottomBlade := (-1*(rReqApertureSizeY-rApertureOffsetY)/2) + ((rReqCenterY-rCenterOffsetY)+rEncoderOffsetBottom);
fPosNorthBlade := ((rReqApertureSizeX-rApertureOffsetX)/2) + ((rReqCenterX-rCenterOffsetX) + rEncoderOffsetNorth);
fPosSouthBlade := (-1*(rReqApertureSizeX-rApertureOffsetX)/2) + ((rReqCenterX-rCenterOffsetX) + rEncoderOffsetSouth);
//Calculate actual gap and center from actual stages positions
rActApertureSizeX := rApertureOffsetX + LREAL_TO_REAL((stNorthBlade.stAxisStatus.fActPosition - rEncoderOffsetNorth) - (stSouthBlade.stAxisStatus.fActPosition- rEncoderOffsetSouth));
rActApertureSizeY := rApertureOffsetY + LREAL_TO_REAL((stTopBlade.stAxisStatus.fActPosition - rEncoderOffsetTop) - (stBottomBlade.stAxisStatus.fActPosition - rEncoderOffsetBottom));
rActCenterX := rCenterOffsetX + LREAL_TO_REAL((((stNorthBlade.stAxisStatus.fActPosition - rEncoderOffsetNorth) + (stSouthBlade.stAxisStatus.fActPosition - rEncoderOffsetSouth ))/2));
rActCenterY := rCenterOffsetY + LREAL_TO_REAL((((stTopBlade.stAxisStatus.fActPosition - rEncoderOffsetTop) + (stBottomBlade.stAxisStatus.fActPosition - rEncoderOffsetBottom))/2));
//Update PMPS Arbiter with the Actual Size and Center of the Aperture
END_ACTION
ACTION ACT_Home:
END_ACTION
ACTION ACT_Init:
// init the motion stages parameters
IF ( bInit) THEN
stTopBlade.bHardwareEnable := TRUE;
stBottomBlade.bHardwareEnable := TRUE;
stNorthBlade.bHardwareEnable := TRUE;
stSouthBlade.bHardwareEnable := TRUE;
stTopBlade.bPowerSelf :=TRUE;
stBottomBlade.bPowerSelf :=TRUE;
stNorthBlade.bPowerSelf :=TRUE;
stSouthBlade.bPowerSelf :=TRUE;
stTopBlade.nBrakeMode := ENUM_StageBrakeMode.NO_BRAKE;
stBottomBlade.nBrakeMode := ENUM_StageBrakeMode.NO_BRAKE;
stNorthBlade.nBrakeMode := ENUM_StageBrakeMode.NO_BRAKE;
stSouthBlade.nBrakeMode := ENUM_StageBrakeMode.NO_BRAKE;
FFO.i_DevName := i_DevName;
END_IF
END_ACTION
ACTION ACT_Motion:
// Instantiate Function block for all the blades
fbTopBlade(stMotionStage:=stTopBlade);
fbBottomBlade(stMotionStage:=stBottomBlade);
fbNorthBlade(stMotionStage:=stNorthBlade);
fbSouthBlade(stMotionStage:=stSouthBlade);
// PTP Motion for each blade
stTop.sName := 'Top';
stTop.fPosition := fPosTopBlade;
stTop.fDelta := fSmallDelta;
stTop.fVelocity := fMaxVelocity;
stTop.fAccel := fHighAccel;
stTop.fDecel := fHighAccel;
stBOTTOM.sName := 'Bottom';
stBOTTOM.fPosition := fPosBottomBlade;
stBOTTOM.fDelta := fSmallDelta;
stBOTTOM.fVelocity := fMaxVelocity;
stBOTTOM.fAccel := fHighAccel;
stBOTTOM.fDecel := fHighAccel;
stNorth.sName := 'North';
stNorth.fPosition := fPosNorthBlade;
stNorth.fDelta := fSmallDelta;
stNorth.fVelocity := fMaxVelocity;
stNorth.fAccel := fHighAccel;
stNorth.fDecel := fHighAccel;
stSouth.sName := 'South';
stSouth.fPosition := fPosSouthBlade;
stSouth.fDelta := fSmallDelta;
stSouth.fVelocity := fMaxVelocity;
stSouth.fAccel := fHighAccel;
stSouth.fDecel := fHighAccel;
IF (bExecuteMotionY) THEN
fbTop.bExecute := fbBottom.bExecute := bExecuteMotionY;
bExecuteMotionY:= FALSE;
END_IF
IF (bExecuteMotionX) THEN
fbNorth.bExecute := fbSouth.bExecute := bExecuteMotionX;
bExecuteMotionX:= FALSE;
END_IF
fbTop(
stPositionState:=stTop,
bMoveOk:=bMoveOk,
stMotionStage:=stTopBlade);
fbBottom(
stPositionState:=stBOTTOM,
bMoveOk:=bMoveOk,
stMotionStage:=stBottomBlade);
fbNorth(
stPositionState:=stNorth,
bMoveOk:=bMoveOk,
stMotionStage:=stNorthBlade);
fbSouth(
stPositionState:=stSouth,
bMoveOk:=bMoveOk,
stMotionStage:=stSouthBlade);
END_ACTION
ACTION ACT_Zero:
//ZERO BIAS
// Set Y center to zero
// Set X center to zero
(*
if (rSetCenterY)THEN
rSetCenterY := false;
// Set Current Position
fbSetPosition_TOP.Position := stTopBlade.stAxisStatus.fActPosition - rActCenterY ;
fbSetPosition_TOP.Execute := TRUE;
fbSetPosition_Bottom.Position := stBottomBlade.stAxisStatus.fActPosition - rActCenterY;
fbSetPosition_Bottom.Execute := TRUE;
END_IF
if (rSetCenterX)THEN
rSetCenterX := false;
// Set Current Position
fbSetPosition_North.Position := stNorthBlade.stAxisStatus.fActPosition - rActCenterX ;
fbSetPosition_North.Execute := TRUE;
fbSetPosition_South.Position := stSouthBlade.stAxisStatus.fActPosition - rActCenterX ; ;
fbSetPosition_South.Execute := TRUE;
END_IF
//Reset
if (fbSetPosition_TOP.Done ) THEN
fbSetPosition_TOP.Execute := FALSE;
END_IF
if (fbSetPosition_Bottom.Done ) THEN
fbSetPosition_Bottom.Execute := FALSE;
END_IF
if (fbSetPosition_North.Done ) THEN
fbSetPosition_North.Execute := FALSE;
END_IF
if (fbSetPosition_South.Done ) THEN
fbSetPosition_South.Execute := FALSE;
END_IF
// Set Encoder Position
//Clear position lag error
stSetPositionOptions.ClearPositionLag := TRUE;
fbSetPosition_TOP(
Axis:= stTopBlade.Axis ,
Execute:= ,
Position:= 0 ,
Mode:= FALSE,
Options:= stSetPositionOptions,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
fbSetPosition_Bottom(
Axis:= stBottomBlade.Axis ,
Execute:= ,
Position:= 0 ,
Mode:= FALSE,
Options:= stSetPositionOptions,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
fbSetPosition_North(
Axis:= stNorthBlade.Axis ,
Execute:= ,
Position:= 0 ,
Mode:= FALSE,
Options:= stSetPositionOptions,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
fbSetPosition_South(
Axis:= stSouthBlade.Axis ,
Execute:= ,
Position:= 0 ,
Mode:= FALSE,
Options:= stSetPositionOptions,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
*)
END_ACTION
METHOD M_CheckPMPS : BOOL
VAR_INPUT
index: int;
END_VAR
(*
IF(rActApertureSizeX < (PMPS_GVL.stCurrentBeamParameters.astApertures[index].Width)+0.001)
OR (rActApertureSizeY < (PMPS_GVL.stCurrentBeamParameters.astApertures[index].Height)+0.001) THEN
FFO.i_xOK := FALSE;
ELSE
FFO.i_xOK := TRUE;
END_IF
(*FAST FAULT*)
FFO(i_xOK := ,
i_xReset := ,
i_xAutoReset :=TRUE,
io_fbFFHWO := this^.io_fbFFHWO);
*)
END_METHOD
METHOD M_HomeBlade : BOOL
VAR_IN_OUT
stBlade: ST_MotionStage;
END_VAR
VAR
fPosBlade: LREAL;
HomeState: E_HomeState;
rHomingDistance: REAL:=0.2;
rHomingVelocity: REAL:=0.1;
Axis: AXIS_REF;
fbSetPosition: MC_SetPosition;
fbWriteParameter: MC_WriteBoolParameter;
END_VAR
CASE HomeState OF
H_READY:
fbWriteParameter.Execute := FALSE;
IF (bHome) THEN
HomeState := H_INIT;
bHomeReady := FALSE;
END_IF
H_INIT:
HomeState:=H_RESET_LL;
H_RESET_LL:
// disable soft limits in order to be able to move the drive
fbWriteParameter.ParameterNumber := MC_AxisParameter.EnableLimitNeg;
fbWriteParameter.Value := FALSE;
fbWriteParameter.Execute := TRUE;
if (fbWriteParameter.Done) THEN
fbWriteParameter.Execute := FALSE;
HomeState:= H_RESET_HL;
END_IF
H_RESET_HL:
// disable soft limits in order to be able to move the drive
fbWriteParameter.ParameterNumber := MC_AxisParameter.EnableLimitPos;
fbWriteParameter.Value := FALSE;
fbWriteParameter.Execute := TRUE;
if (fbWriteParameter.Done) THEN
fbWriteParameter.Execute := FALSE;
HomeState:= H_ENABLE;
END_IF
H_ENABLE:
// Make Sure there are no errors
IF stBlade.bError THEN
HomeState := H_ERROR;
ELSE
stBlade.fPosition := stBlade.fPosition - rHomingDistance;
HomeState:= H_MOVING;
END_IF
H_MOVING:
stBlade.bExecute :=TRUE;
IF stBlade.bBusy THEN
(* axis is executing job but is not yet finished *)
stBlade.bExecute:= FALSE;
(* leave this state and buffer a second command *)
HomeState := H_KEEP_MOVING;
ElSIF stBlade.bDone THEN
stBlade.bExecute:= FALSE;
stBlade.fPosition := stBlade.fPosition - rHomingDistance;
HomeState := H_KEEP_MOVING;
ELSIF stBlade.bError THEN
stBlade.bExecute:= FALSE;
HomeState := H_CHECK;
END_IF
H_KEEP_MOVING:
IF stBlade.bError THEN
HomeState := H_CHECK;
END_IF
IF stBlade.bDone THEN
HomeState := H_MOVING;
stBlade.fPosition := stBlade.fPosition + rHomingDistance;
stBlade.bExecute := TRUE;
END_IF
H_CHECK:
//Check the mpositive limit switch is reached or erro losing positive limit
IF (stBlade.bError) AND NOT (stBlade.bLimitForwardEnable) THEN
HomeState := H_RESET;
stBlade.bReset := TRUE;
ELSE
HomeState := H_ERROR;
END_IF
H_RESET:
IF NOT(stBlade.bError) THEN
HomeState := H_SET_POS;
END_IF
H_SET_POS:
// Set Current Position
fbSetPosition.Position := 0;
fbSetPosition.Execute := TRUE;
IF ( fbSetPosition.Done ) THEN
fbSetPosition.Execute := FALSE;
HomeState:= H_WRITE_LL;
ELSIF (fbSetPosition.Error) THEN
HomeState := H_ERROR;
END_IF
H_WRITE_LL:
// Re Enable the Soft limits
fbWriteParameter.ParameterNumber := MC_AxisParameter.AxisEnMinSoftPosLimit;//AxisEnMaxSoftPosLimit;// .AxisEnMinSoftPosLimit;
fbWriteParameter.Value := TRUE;
fbWriteParameter.Execute := TRUE;
if (fbWriteParameter.Done) THEN
fbWriteParameter.Execute := FALSE;
HomeState:= H_WRITE_HL;
END_IF
H_WRITE_HL:
// Re Enable the Soft limits
fbWriteParameter.ParameterNumber := MC_AxisParameter.AxisEnMaxSoftPosLimit;
fbWriteParameter.Value := TRUE;
fbWriteParameter.Execute := TRUE;
if (fbWriteParameter.Done) THEN
fbWriteParameter.Execute := FALSE;
HomeState:= H_DONE;
END_IF
H_ERROR:
//What to do? User reset through epics??
IF NOT (stBlade.bError) (*AND (bHome)*) THEN
HomeState := H_INIT;
END_IF
H_DONE:
HomeState := H_INIT;
bHomeReady := TRUE;
END_CASE
// Set Encoder Position
fbSetPosition(
Axis:= stBlade.Axis ,
Execute:= ,
Position:= 0 ,
Mode:= FALSE, //Absolute
Options:= ,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
// Write Parameters
fbWriteParameter(
Axis:= stBlade.Axis ,
Execute:= ,
ParameterNumber:= ,
Value:= ,
Done=> ,
Busy=> ,
Error=> ,
ErrorID=> );
If ( fbWriteParameter.Error) OR (fbSetPosition.Error) THEN
HomeState:= H_ERROR;
END_IF
END_METHOD
METHOD M_UpdatePMPS : BOOL
VAR_INPUT
index: int;
END_VAR
(*
//Keep updating the status of the apertures PMPS
This^.AptArrayStatus.Height := This^.rActApertureSizeY;
This^.AptArrayStatus.Width := This^.rActApertureSizeX;
This^.AptArrayStatus.xOK := NOT (This^.stTopBlade.bError) AND NOT (This^.stBottomBlade.bError)
AND NOT (This^.stNorthBlade.bError) AND NOT (This^.stNorthBlade.bError);
//Evaluate that the current center on the X and the y direction didn't exceed limits
//Fast fault when it does.
IF(rActCenterX > (PMPS_GVL.stCurrentBeamParameters.astApertures[index].Width/2))
OR (rActCenterY > (PMPS_GVL.stCurrentBeamParameters.astApertures[index].Height/2)) THEN
FFO.i_xOK := FALSE;
ELSE
FFO.i_xOK := TRUE;
END_IF
//Evaluate that the requested gaps on the X and the y direction is not larger than the current gap
// narrow the gap if the requested is larger
IF(bTest) THEN
IF (This^.rActApertureSizeX > AptArrayReq.Width) THEN
rReqApertureSizeX := AptArrayReq.Width;
END_IF
IF (This^.rActApertureSizeY > AptArrayReq.Height) THEN
rReqApertureSizeY := AptArrayReq.Height;
END_IF
END_IF
(*FAST FAULT*)
FFO(i_xOK := ,
i_xReset := ,
i_xAutoReset :=TRUE,
io_fbFFHWO := io_fbFFHWO);
*)
END_METHOD
- Related:
Main
PROGRAM Main
VAR
// M1K4
// Motors
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Yup]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Yup]^STM Status^Status^Digital input 2'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS:MMS:YUP
'}
//PMPS State Stage; bPowerSelf:=False
M1 : ST_MotionStage := (sName:='MR1K4-Coatings', fVelocity:=200.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=FALSE); // M1K4 Yup
fbMotionStage_m1 : FB_MotionStage;
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Ydwn]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Ydwn]^STM Status^Status^Digital input 2'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS:MMS:YDWN
'}
M2 : ST_MotionStage := (fVelocity:=200.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE); // M1K4 Ydwn
fbMotionStage_m2 : FB_MotionStage;
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Xup]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Xup]^STM Status^Status^Digital input 2'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS:MMS:XUP
'}
M3 : ST_MotionStage := (fVelocity:=1000.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE); // M1K4 Xup
fbMotionStage_m3 : FB_MotionStage;
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Xdwn]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Xdwn]^STM Status^Status^Digital input 2'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS:MMS:XDWN
'}
M4 : ST_MotionStage := (fVelocity:=1000.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE); // M1K4 Xdwn
fbMotionStage_m4 : FB_MotionStage;
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_PitchCoarse]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_PitchCoarse]^STM Status^Status^Digital input 2'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS:MMS:PITCH
'}
M5 : ST_MotionStage := (fVelocity := 150.0, bPowerSelf:=TRUE, nEnableMode:=ENUM_StageEnableMode.ALWAYS); // M1K4 Pitch Stepper
fbMotionStage_m5 : FB_MotionStage;
(* {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Bender]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Bender]^STM Status^Status^Digital input 2'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS:MMS:BENDER
'}
M6 : ST_MotionStage := (fVelocity := 150.0, bPowerSelf:=TRUE); // M1K4 Bender
fbMotionStage_m6 : FB_MotionStage;
*)
{attribute 'TcLinkTo' := '.fbRunHOMS.bSTOEnable1:=TIIB[EL1004_M1K4_STO]^Channel 1^Input;
.fbRunHOMS.bSTOEnable2:=TIIB[EL1004_M1K4_STO]^Channel 2^Input;
.fbRunHOMS.stYupEnc.Count:=TIIB[EL5042_M1K4_Yupdwn]^FB Inputs Channel 1^Position;
.fbRunHOMS.stYdwnEnc.Count:=TIIB[EL5042_M1K4_Yupdwn]^FB Inputs Channel 2^Position;
.fbRunHOMS.stXupEnc.Count:=TIIB[EL5042_M1K4_Xupdwn]^FB Inputs Channel 1^Position;
.fbRunHOMS.stXdwnEnc.Count:=TIIB[EL5042_M1K4_Xupdwn]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS
'}
M1K4 : DUT_HOMS;
// Encoder Arrays/RMS Watch:
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:Y
'}
fbYRMSErrorM1K4 : FB_RMSWatch;
fMaxYRMSErrorM1K4 : LREAL;
fMinYRMSErrorM1K4 : LREAL;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:X
'}
fbXRMSErrorM1K4 : FB_RMSWatch;
fMaxXRMSErrorM1K4 : LREAL;
fMinXRMSErrorM1K4 : LREAL;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:PITCH
'}
fbPitchRMSErrorM1K4 : FB_RMSWatch;
fMaxPitchRMSErrorM1K4 : LREAL;
fMinPitchRMSErrorM1K4 : LREAL;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:BENDER
'}
fbBenderRMSErrorM1K4 : FB_RMSWatch;
fMaxBenderRMSErrorM1K4 : LREAL;
fMinBenderRMSErrorM1K4 : LREAL;
// Piezo Pitch Control
//fbM1K4PitchControl : FB_PitchControl;
//bM1K4PitchDone : BOOL;
//bM1K4PitchBusy : BOOL;
// Bender Control
fbBenderM1K4 : FB_Bender;
// Raw Encoder Counts
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:YUP:CNT
field: EGU cnt
io: i
'}
nEncCntYupM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:YDWN:CNT
field: EGU cnt
io: i
'}
nEncCntYdwnM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:XUP:CNT
field: EGU cnt
io: i
'}
nEncCntXupM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:XDWN:CNT
field: EGU cnt
io: i
'}
nEncCntXdwnM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:PITCH:CNT
field: EGU cnt
io: i
'}
nEncCntPitchM1K4 : UDINT;
// Encoder Reference Values
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:YUP:REF
field: EGU cnt
io: i
'}
nEncRefYupM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:YDWN:REF
field: EGU cnt
io: i
'}
nEncRefYdwnM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:XUP:REF
field: EGU cnt
io: i
'}
nEncRefXupM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:XDWN:REF
field: EGU cnt
io: i
'}
nEncRefXdwnM1K4 : UDINT;
{attribute 'pytmc' := '
pv: MR1K4:SOMS:ENC:PITCH:REF
field: EGU cnt
io: i
'}
nEncRefPitchM1K4 : UDINT;
mcReadParameterPitchM1K4 : MC_ReadParameter;
fEncRefPitchM1K4_urad : LREAL; // Current Pitch encoder offset in urad
// Common
fEncLeverArm_mm : LREAL := 513.0;
// LAMP KB Motors
//MR2K4 X
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M2K4X]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M2K4X]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M2K4X_M2K4Y]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR2K4:KBO:MMS:X
'}
M7 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStage_m7 : FB_MotionStage;
//MR2K4 Y
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M2K4Y]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M2K4Y]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M2K4X_M2K4Y]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR2K4:KBO:MMS:Y
'}
//PMPS State Stage; bPowerSelf:=False
M8 : ST_MotionStage := (sName:='MR2K4-Coatings', nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=FALSE);
fbMotionStage_m8 : FB_MotionStage;
//MR2K4 rY
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M2K4rY]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M2K4rY]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M2K4rY_M3K4X]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR2K4:KBO:MMS:PITCH
'}
M9 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStage_m9 : FB_MotionStage;
//MR2K4 US BEND
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M2K4_BEND_US]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041_M2K4_BEND_US]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M2K4_BEND_USDS]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR2K4:KBO:MMS:BEND:US
'}
M10 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
fbMotionStage_m10 : FB_MotionStage;
//MR2K4 DS BEND
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M2K4_BEND_DS]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041_M2K4_BEND_DS]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M2K4_BEND_USDS]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR2K4:KBO:MMS:BEND:DS
'}
M11 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
fbMotionStage_m11 : FB_MotionStage;
//MR3K4 X
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M3K4X]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M3K4X]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M2K4rY_M3K4X]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR3K4:KBO:MMS:X
'}
//PMPS State Stage; bPowerSelf:=False
M12 : ST_MotionStage := (sName:='MR3K4-Coatings', nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=FALSE);
fbMotionStage_m12 : FB_MotionStage;
//MR3K4 Y
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M3K4Y]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M3K4Y]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M3K4Y_M3K4rX]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR3K4:KBO:MMS:Y
'}
M13 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStage_m13 : FB_MotionStage;
//MR3K4 rX
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M3K4rX]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M3K4rX]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M3K4Y_M3K4rX]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR3K4:KBO:MMS:PITCH
'}
M14 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStage_m14 : FB_MotionStage;
//MR3K4 US BEND
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M3K4_BEND_US]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041_M3K4_BEND_US]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M3K4_BEND_USDS]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR3K4:KBO:MMS:BEND:US
'}
M15 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
fbMotionStage_m15 : FB_MotionStage;
//////////////////////////////////
//MR3K4 DS BEND
{attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M3K4_BEND_DS]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041_M3K4_BEND_DS]^STM Status^Status^Digital input 2;
.nRawEncoderULINT := TIIB[EL5042_M2K4_BEND_USDS]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR3K4:KBO:MMS:BEND:DS
'}
M16 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
fbMotionStage_m16 : FB_MotionStage;
//M4K4 X
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M4K4X]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M4K4X]^STM Status^Status^Digital input 2;
.nRawEncoderULINT:=TIIB[EL5042_M4K4X_M4K4Y]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR4K4:KBO:MMS:X
'}
M17 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM17 : FB_MotionStage;
//M4K4 Y
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M4K4Y]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M4K4Y]^STM Status^Status^Digital input 2;
.nRawEncoderULINT:=TIIB[EL5042_M4K4X_M4K4Y]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR4K4:KBO:MMS:Y
'}
M18 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM18 : FB_MotionStage;
//M4K4 Z
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M4K4Z]^STM Status^Status^Digital input 2;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M4K4Z]^STM Status^Status^Digital input 1;
.nRawEncoderULINT:=TIIB[EL5042_M4K4Z_M4K4rX]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR4K4:KBO:MMS:Z
'}
M19 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM19 : FB_MotionStage;
//M4K4 rX
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M4K4rX]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M4K4rX]^STM Status^Status^Digital input 2;
.nRawEncoderULINT:=TIIB[EL5042_M4K4Z_M4K4rX]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR4K4:KBO:MMS:PITCH
'}
M20 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM20 : FB_MotionStage;
//M5K4 X
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M5K4X]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M5K4X]^STM Status^Status^Digital input 2;
.nRawEncoderULINT:=TIIB[EL5042_M5K4X_M5K4Y]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR5K4:KBO:MMS:X
'}
M21 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM21 : FB_MotionStage;
//M5K4 Y
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M5K4Y]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M5K4Y]^STM Status^Status^Digital input 2;
.nRawEncoderULINT:=TIIB[EL5042_M5K4X_M5K4Y]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR5K4:KBO:MMS:Y
'}
M22 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM22 : FB_MotionStage;
//M5K4 Z
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M5K4Z]^STM Status^Status^Digital input 2;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M5K4Z]^STM Status^Status^Digital input 1;
.nRawEncoderULINT:=TIIB[EL5042_M5K4Z_M5K4rY]^FB Inputs Channel 1^Position'}
{attribute 'pytmc' := '
pv: MR5K4:KBO:MMS:Z
'}
M23 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM23 : FB_MotionStage;
//M5K4 rY
{attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-0052_M5K4rY]^STM Status^Status^Digital input 1;
.bLimitBackwardEnable:=TIIB[EL7041-0052_M5K4rY]^STM Status^Status^Digital input 2;
.nRawEncoderULINT:=TIIB[EL5042_M5K4Z_M5K4rY]^FB Inputs Channel 2^Position'}
{attribute 'pytmc' := '
pv: MR5K4:KBO:MMS:PITCH
'}
M24 : ST_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
fbMotionStageM24 : FB_MotionStage;
// SL2K4-SCATTER: 4 Axes
// In order to get LVDT linked to NC motion, you have to first link the IO in the NC to the stepper interface, then clear link Axis->Inputs->In->nDataIn1->nDataIn1[0], then rebuild
{attribute 'pytmc' := 'pv: SL2K4:SCATTER:MMS:TOP'}
{attribute 'TcLinkTo' := '.nRawEncoderDINT := TIIB[SL2K4-EL5072-E1]^IND Inputs Channel 1^Position'}
M25: ST_MotionStage := (sName := 'SL2K4:SCATTER:MMS:TOP', nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
{attribute 'pytmc' := 'pv: SL2K4:SCATTER:MMS:BOTTOM'}
{attribute 'TcLinkTo' := '.nRawEncoderDINT := TIIB[SL2K4-EL5072-E1]^IND Inputs Channel 2^Position'}
M26: ST_MotionStage := (sName := 'SL2K4:SCATTER:MMS:BOTTOM', nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
{attribute 'pytmc' := 'pv: SL2K4:SCATTER:MMS:NORTH'}
{attribute 'TcLinkTo' := '.nRawEncoderDINT := TIIB[SL2K4-EL5072-E2]^IND Inputs Channel 1^Position'}
M27: ST_MotionStage := (sName := 'SL2K4:SCATTER:MMS:NORTH', nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
{attribute 'pytmc' := 'pv: SL2K4:SCATTER:MMS:SOUTH'}
{attribute 'TcLinkTo' := '.nRawEncoderDINT := TIIB[SL2K4-EL5072-E2]^IND Inputs Channel 2^Position'}
M28: ST_MotionStage := (sName := 'SL2K4:SCATTER:MMS:SOUTH', nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
fbMotionStage_m25: FB_MotionStage;
fbMotionStage_m26: FB_MotionStage;
fbMotionStage_m27: FB_MotionStage;
fbMotionStage_m28: FB_MotionStage;
{attribute 'TcLinkTo' := 'TINC^NC-Task 1 SAF^Axes^SL2K4_TOP^Enc^Inputs^In^nDataIn1'}
nM25Position AT %Q*: UDINT;
{attribute 'TcLinkTo' := 'TINC^NC-Task 1 SAF^Axes^SL2K4_BOTTOM^Enc^Inputs^In^nDataIn1'}
nM26Position AT %Q*: UDINT;
{attribute 'TcLinkTo' := 'TINC^NC-Task 1 SAF^Axes^SL2K4_NORTH^Enc^Inputs^In^nDataIn1'}
nM27Position AT %Q*: UDINT;
{attribute 'TcLinkTo' := 'TINC^NC-Task 1 SAF^Axes^SL2K4_SOUTH^Enc^Inputs^In^nDataIn1'}
nM28Position AT %Q*: UDINT;
//MR4K4 MR5K4 STO button
{attribute 'TcLinkTo' := 'TIIB[Term 109 (EL1004)]^Channel 1^Input'}
bDreamEnable1 AT %I* : BOOL;
{attribute 'TcLinkTo' := 'TIIB[Term 109 (EL1004)]^Channel 2^Input'}
bDreamEnable2 AT %I* : BOOL;
// Encoder Arrays/RMS Watch:
//MR2K4 X ENC RMS
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:X
'}
fbXRMSErrorM2K4 : FB_RMSWatch;
fMaxXRMSErrorM2K4 : LREAL;
fMinXRMSErrorM2K4 : LREAL;
//MR2K4 Y ENC RMS
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:Y
'}
fbYRMSErrorM2K4 : FB_RMSWatch;
fMaxYRMSErrorM2K4 : LREAL;
fMinYRMSErrorM2K4 : LREAL;
//MR2K4 rY ENC RMS
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:PITCH
'}
fbrYRMSErrorM2K4 : FB_RMSWatch;
fMaxrYRMSErrorM2K4 : LREAL;
fMinrYRMSErrorM2K4 : LREAL;
//MR2K4 US BENDER ENC RMS
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:BEND:US
'}
fbBendUSRMSErrorM2K4 : FB_RMSWatch;
fMaxBendUSRMSErrorM2K4 : LREAL;
fMinBendUSRMSErrorM2K4 : LREAL;
//MR2K4 DS BENDER ENC RMS
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:BEND:DS
'}
fbBendDSRMSErrorM2K4 : FB_RMSWatch;
fMaxBendDSRMSErrorM2K4 : LREAL;
fMinBendDSRMSErrorM2K4 : LREAL;
//MR3K4 X ENC RMS
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:X
'}
fbXRMSErrorM3K4 : FB_RMSWatch;
fMaxXRMSErrorM3K4 : LREAL;
fMinXRMSErrorM3K4 : LREAL;
//MR3K4 Y ENC RMS
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:Y
'}
fbYRMSErrorM3K4 : FB_RMSWatch;
fMaxYRMSErrorM3K4 : LREAL;
fMinYRMSErrorM3K4 : LREAL;
//MR3K4 rX ENC RMS
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:PITCH
'}
fbrXRMSErrorM3K4 : FB_RMSWatch;
fMaxrXRMSErrorM3K4 : LREAL;
fMinrXRMSErrorM3K4 : LREAL;
//MR3K4 US BENDER ENC RMS
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:BEND:US
'}
fbBendUSRMSErrorM3K4 : FB_RMSWatch;
fMaxBendUSRMSErrorM3K4 : LREAL;
fMinBendUSRMSErrorM3K4 : LREAL;
//MR3K4 DS BENDER ENC RMS
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:BEND:DS
'}
fbBendDSRMSErrorM3K4 : FB_RMSWatch;
fMaxBendDSRMSErrorM3K4 : LREAL;
fMinBendDSRMSErrorM3K4 : LREAL;
//MR4K4 X ENC RMS
{attribute 'pytmc' := '
pv: MR4K4:KBO:ENC:X
'}
fbXRMSErrorM4K4 : FB_RMSWatch;
fMaxXRMSErrorM4K4 : LREAL;
fMinXRMSErrorM4K4 : LREAL;
//MR4K4 Y ENC RMS
{attribute 'pytmc' := '
pv: MR4K4:KBO:ENC:Y
'}
fbYRMSErrorM4K4 : FB_RMSWatch;
fMaxYRMSErrorM4K4 : LREAL;
fMinYRMSErrorM4K4 : LREAL;
//MR4K4 Z ENC RMS
{attribute 'pytmc' := '
pv: MR4K4:KBO:ENC:Z
'}
fbZRMSErrorM4K4 : FB_RMSWatch;
fMaxZRMSErrorM4K4 : LREAL;
fMinZRMSErrorM4K4 : LREAL;
//MR4K4 rX ENC RMS
{attribute 'pytmc' := '
pv: MR4K4:KBO:ENC:PITCH
'}
fbPRMSErrorM4K4 : FB_RMSWatch;
fMaxPRMSErrorM4K4 : LREAL;
fMinPRMSErrorM4K4 : LREAL;
//MR5K4 X ENC RMS
{attribute 'pytmc' := '
pv: MR5K4:KBO:ENC:X
'}
fbXRMSErrorM5K4 : FB_RMSWatch;
fMaxXRMSErrorM5K4 : LREAL;
fMinXRMSErrorM5K4 : LREAL;
//MR5K4 Y ENC RMS
{attribute 'pytmc' := '
pv: MR5K4:KBO:ENC:Y
'}
fbYRMSErrorM5K4 : FB_RMSWatch;
fMaxYRMSErrorM5K4 : LREAL;
fMinYRMSErrorM5K4 : LREAL;
//MR5K4 Z ENC RMS
{attribute 'pytmc' := '
pv: MR5K4:KBO:ENC:Z
'}
fbZRMSErrorM5K4 : FB_RMSWatch;
fMaxZRMSErrorM5K4 : LREAL;
fMinZRMSErrorM5K4 : LREAL;
//MR5K4 rX ENC RMS
{attribute 'pytmc' := '
pv: MR5K4:KBO:ENC:PITCH
'}
fbPRMSErrorM5K4 : FB_RMSWatch;
fMaxPRMSErrorM5K4 : LREAL;
fMinPRMSErrorM5K4 : LREAL;
// Encoder Reference Values
//MR2K4 X ENC REF
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:X:REF
field: EGU cnt
io: i
'}
nEncRefXM2K4 : UDINT;
//MR2K4 Y ENC REF
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:Y:REF
field: EGU cnt
io: i
'}
nEncRefYM2K4 : UDINT;
//MR2K4 rY ENC REF
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:PITCH:REF
field: EGU cnt
io: i
'}
nEncRefrYM2K4 : UDINT;
//MR3K4 X ENC REF
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:X:REF
field: EGU cnt
io: i
'}
nEncRefXM3K4 : UDINT;
//MR3K4 Y ENC REF
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:Y:REF
field: EGU cnt
io: i
'}
nEncRefYM3K4 : UDINT;
//MR3K4 rX ENC REF
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:PITCH:REF
field: EGU cnt
io: i
'}
nEncRefrXM3K4 : UDINT;
// Encoder raw counts
//MR2K4 X ENC CNT
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:X:CNT
field: EGU cnt
io: i
'}
nEncCntXM2K4 : UDINT;
//MR2K4 Y ENC CNT
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:Y:CNT
field: EGU cnt
io: i
'}
nEncCntYM2K4 : UDINT;
//MR2K4 rY ENC CNT
{attribute 'pytmc' := '
pv: MR2K4:KBO:ENC:PITCH:CNT
field: EGU cnt
io: i
'}
nEncCntrYM2K4 : UDINT;
//MR3K4 X ENC CNT
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:X:CNT
field: EGU cnt
io: i
'}
nEncCntXM3K4 : UDINT;
//MR3K4 Y ENC CNT
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:Y:CNT
field: EGU cnt
io: i
'}
nEncCntYM3K4 : UDINT;
//MR3K4 rX ENC CNT
{attribute 'pytmc' := '
pv: MR3K4:KBO:ENC:PITCH:CNT
field: EGU cnt
io: i
'}
nEncCntrXM3K4 : UDINT;
//Emergency Stop for LAMP KBs (M2K4 and M3K4)
LAMPbSTOEnable1 AT %I* : BOOL;
LAMPbSTOEnable2 AT %I* : BOOL;
// LAMP KB BENDER RTDs
// M2K4 US RTDs
{attribute 'pytmc' := '
pv: MR2K4:KBO:RTD:BEND:US:1
field: ASLO 0.1
field: EGU C
io: i
'}
fM2K4US_RTD_1 : REAL;
{attribute 'pytmc' := '
pv: MR2K4:KBO:RTD:BEND:US:3
field: ASLO 0.1
field: EGU C
io: i
'}
fM2K4US_RTD_3 : REAL;
// M2K4 DS RTDs
{attribute 'pytmc' := '
pv: MR2K4:KBO:RTD:BEND:DS:1
field: ASLO 0.1
field: EGU C
io: i
'}
fM2K4DS_RTD_1 : REAL;
{attribute 'pytmc' := '
pv: MR2K4:KBO:RTD:BEND:DS:3
field: ASLO 0.1
field: EGU C
io: i
'}
fM2K4DS_RTD_3 : REAL;
// M3K4 US RTDs
{attribute 'pytmc' := '
pv: MR3K4:KBO:RTD:BEND:US:1
field: ASLO 0.1
field: EGU C
io: i
'}
fM3K4US_RTD_1 : REAL;
{attribute 'pytmc' := '
pv: MR3K4:KBO:RTD:BEND:US:3
field: ASLO 0.1
field: EGU C
io: i
'}
fM3K4US_RTD_3 : REAL;
// M3K4 DS RTDs
{attribute 'pytmc' := '
pv: MR3K4:KBO:RTD:BEND:DS:1
field: ASLO 0.1
field: EGU C
io: i
'}
fM3K4DS_RTD_1 : REAL;
{attribute 'pytmc' := '
pv: MR3K4:KBO:RTD:BEND:DS:3
field: ASLO 0.1
field: EGU cnt
io: i
'}
fM3K4DS_RTD_3 AT %I* : REAL;
// RTD error bit
bM2K4US_RTD_1_Err AT %I*: BOOL;
bM2K4US_RTD_2_Err AT %I*: BOOL;
bM2K4US_RTD_3_Err AT %I*: BOOL;
bM2K4DS_RTD_1_Err AT %I*: BOOL;
bM2K4DS_RTD_2_Err AT %I*: BOOL;
bM2K4DS_RTD_3_Err AT %I*: BOOL;
bM3K4US_RTD_1_Err AT %I*: BOOL;
bM3K4US_RTD_2_Err AT %I*: BOOL;
bM3K4US_RTD_3_Err AT %I*: BOOL;
bM3K4DS_RTD_1_Err AT %I*: BOOL;
bM3K4DS_RTD_2_Err AT %I*: BOOL;
bM3K4DS_RTD_3_Err AT %I*: BOOL;
// Logging
fbLogHandler : FB_LogHandler;
END_VAR
// M1K4
M1K4.fbRunHOMS(stYup:=M1,
stYdwn:=M2,
stXup:=M3,
stXdwn:=M4,
stPitch:=M5,
nYupEncRef:=GVL_M1K4_Constants.nYUP_ENC_REF,
nYdwnEncRef:=GVL_M1K4_Constants.nYDWN_ENC_REF,
nXupEncRef:=GVL_M1K4_Constants.nXUP_ENC_REF,
nXdwnEncRef:=GVL_M1K4_Constants.nXDWN_ENC_REF,
bExecuteCoupleY:=M1K4.bExecuteCoupleY,
bExecuteCoupleX:=M1K4.bExecuteCoupleX,
bExecuteDecoupleY:=M1K4.bExecuteDecoupleY,
bExecuteDecoupleX:=M1K4.bExecuteDecoupleX,
bGantryAlreadyCoupledY=>M1K4.bGantryAlreadyCoupledY,
bGantryAlreadyCoupledX=>M1K4.bGantryAlreadyCoupledX,
nCurrGantryY=>M1K4.nCurrGantryY,
nCurrGantryX=>M1K4.nCurrGantryX);
(* fbBenderM1K4(stBender:=M6,
bSTOEnable1:=M1K4.fbRunHOMS.bSTOEnable1,
bSTOEnable2:=M1K4.fbRunHOMS.bSTOEnable2);
*)
// No slave motion through Epics
M2.bExecute := FALSE; // M1K4-Ydwn
M4.bExecute := FALSE; // M1K4-Xdwn
// Convert nCurrGantry to um (smaller number) to read out in epics
M1K4.fCurrGantryY_um := LINT_TO_REAL(M1K4.nCurrGantryY) / 1000.0;
M1K4.fCurrGantryX_um := LINT_TO_REAL(M1K4.nCurrGantryX) / 1000.0;
// FB_MotionStage's for non-piezo axes
fbMotionStage_m1(stMotionStage:=M1);
fbMotionStage_m2(stMotionStage:=M2);
fbMotionStage_m3(stMotionStage:=M3);
fbMotionStage_m4(stMotionStage:=M4);
fbMotionStage_m5(stMotionStage:=M5);
// fbMotionStage_m6(stMotionStage:=M6);
// Calculate Pitch RMS Error:
fbYRMSErrorM1K4(stMotionStage:=M1,
fMaxRMSError=>fMaxYRMSErrorM1K4,
fMinRMSError=>fMinYRMSErrorM1K4);
fbXRMSErrorM1K4(stMotionStage:=M3,
fMaxRMSError=>fMaxXRMSErrorM1K4,
fMinRMSError=>fMinXRMSErrorM1K4);
fbPitchRMSErrorM1K4(stMotionStage:=M5,
fMaxRMSError=>fMaxPitchRMSErrorM1K4,
fMinRMSError=>fMinPitchRMSErrorM1K4);
(* fbBenderRMSErrorM1K4(stMotionStage:=M6,
fMaxRMSError=>fMaxBenderRMSErrorM1K4,
fMinRMSError=>fMinBenderRMSErrorM1K4);
*)
// Pitch Control
//fbM1K4PitchControl(Pitch:=GVL_M1K4.M1K4_Pitch,
//Stepper:=M5,
//lrCurrentSetpoint:=M5.fPosition,
//q_bDone=>bM1K4PitchDone,
//q_bBusy=>bM1K4PitchBusy);
// When STO hit, need to reset SP
//IF NOT M5.bHardwareEnable THEN
//M5.fPosition := M5.stAxisStatus.fActPosition;
//END_IF
// Raw Encoder Counts For Epics
nEncCntYupM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stYupEnc.Count);
nEncCntYdwnM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stYdwnEnc.Count);
nEncCntXupM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stXupEnc.Count);
nEncCntXdwnM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stXdwnEnc.Count);
nEncCntPitchM1K4 := LINT_TO_UDINT(GVL_M1K4.M1K4_Pitch.diEncCnt);
// Encoder Reference Values For Epics
nEncRefYupM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nYUP_ENC_REF);
nEncRefYdwnM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nYDWN_ENC_REF);
nEncRefXupM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nXUP_ENC_REF);
nEncRefXdwnM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nXDWN_ENC_REF);
mcReadParameterPitchM1K4(Axis:=M5.Axis,
Enable:=TRUE,
ParameterNumber:=MC_AxisParameter.AxisEncoderOffset,
ReadMode:=READMODE_CYCLIC,
Value=>fEncRefPitchM1K4_urad);
nEncRefPitchM1K4 := LREAL_TO_UDINT(ABS(fEncRefPitchM1K4_urad) * fEncLeverArm_mm);
//////////////////////////////////////////////////////////
//M2K4 and M3K4
//FB_Motion stages for LAMP KBs
//MR2K4
fbMotionStage_m7(stMotionStage:=M7);
fbMotionStage_m8(stMotionStage:=M8);
fbMotionStage_m9(stMotionStage:=M9);
//MR2K4 BEND
fbMotionStage_m10(stMotionStage:=M10);
fbMotionStage_m11(stMotionStage:=M11);
//MR3K4
fbMotionStage_m12(stMotionStage:=M12);
fbMotionStage_m13(stMotionStage:=M13);
fbMotionStage_m14(stMotionStage:=M14);
//MR3K4 BEND
fbMotionStage_m15(stMotionStage:=M15);
fbMotionStage_m16(stMotionStage:=M16);
//MR4K4 and MR5K4
M17.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
M18.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
M19.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
M20.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
M21.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
M22.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
M23.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
M24.bHardwareEnable := bDREAMEnable1 and bDREAMenable2;
//MR4K4
fbMotionStageM17(stMotionStage:=M17);
fbMotionStageM18(stMotionStage:=M18);
fbMotionStageM19(stMotionStage:=M19);
fbMotionStageM20(stMotionStage:=M20);
//MR5K4
fbMotionStageM21(stMotionStage:=M21);
fbMotionStageM22(stMotionStage:=M22);
fbMotionStageM23(stMotionStage:=M23);
fbMotionStageM24(stMotionStage:=M24);
// Calculate Pitch RMS Error for LAMP KBs:
//MR2K4 X ENC RMS
fbXRMSErrorM2K4(stMotionStage:=M7,
fMaxRMSError=>fMaxXRMSErrorM2K4,
fMinRMSError=>fMinXRMSErrorM2K4);
//MR2K4 Y ENC RMS
fbYRMSErrorM2K4(stMotionStage:=M8,
fMaxRMSError=>fMaxYRMSErrorM2K4,
fMinRMSError=>fMinYRMSErrorM2K4);
//MR2K4 rY ENC RMS
fbrYRMSErrorM2K4(stMotionStage:=M9,
fMaxRMSError=>fMaxrYRMSErrorM2K4,
fMinRMSError=>fMinrYRMSErrorM2K4);
//MR2K4 US BENDER ENC RMS
fbBendUSRMSErrorM2K4(stMotionStage:=M10,
fMaxRMSError=>fMaxBendUSRMSErrorM2K4,
fMinRMSError=>fMinBendUSRMSErrorM2K4);
//MR2K4 DS BENDER ENC RMS
fbBendDSRMSErrorM2K4(stMotionStage:=M11,
fMaxRMSError=>fMaxBendDSRMSErrorM2K4,
fMinRMSError=>fMinBendDSRMSErrorM2K4);
//MR3K4 X ENC RMS
fbXRMSErrorM3K4(stMotionStage:=M12,
fMaxRMSError=>fMaxXRMSErrorM3K4,
fMinRMSError=>fMinXRMSErrorM3K4);
//MR3K4 Y ENC RMS
fbYRMSErrorM3K4(stMotionStage:=M13,
fMaxRMSError=>fMaxYRMSErrorM3K4,
fMinRMSError=>fMinYRMSErrorM3K4);
//MR3K4 rX ENC RMS
fbrXRMSErrorM3K4(stMotionStage:=M14,
fMaxRMSError=>fMaxrXRMSErrorM3K4,
fMinRMSError=>fMinrXRMSErrorM3K4);
//MR3K4 US BENDER ENC RMS
fbBendUSRMSErrorM3K4(stMotionStage:=M15,
fMaxRMSError=>fMaxBendUSRMSErrorM3K4,
fMinRMSError=>fMinBendUSRMSErrorM3K4);
//MR3K4 DS BENDER ENC RMS
fbBendDSRMSErrorM3K4(stMotionStage:=M16,
fMaxRMSError=>fMaxBendDSRMSErrorM3K4,
fMinRMSError=>fMinBendDSRMSErrorM3K4);
// Calculate Pitch RMS Error for DREAM KBs:
//MR4K4 X ENC RMS
fbXRMSErrorM4K4(stMotionStage:=M17,
fMaxRMSError=>fMaxXRMSErrorM4K4,
fMinRMSError=>fMinXRMSErrorM4K4);
//MR4K4 Y ENC RMS
fbYRMSErrorM4K4(stMotionStage:=M18,
fMaxRMSError=>fMaxYRMSErrorM4K4,
fMinRMSError=>fMinYRMSErrorM4K4);
//MR4K4 Z ENC RMS
fbZRMSErrorM4K4(stMotionStage:=M19,
fMaxRMSError=>fMaxZRMSErrorM4K4,
fMinRMSError=>fMinZRMSErrorM4K4);
//MR4K4 rX ENC RMS
fbPRMSErrorM4K4(stMotionStage:=M20,
fMaxRMSError=>fMaxPRMSErrorM4K4,
fMinRMSError=>fMinPRMSErrorM4K4);
//MR5K4 X ENC RMS
fbXRMSErrorM5K4(stMotionStage:=M21,
fMaxRMSError=>fMaxXRMSErrorM5K4,
fMinRMSError=>fMinXRMSErrorM5K4);
//MR5K4 Y ENC RMS
fbYRMSErrorM5K4(stMotionStage:=M22,
fMaxRMSError=>fMaxYRMSErrorM5K4,
fMinRMSError=>fMinYRMSErrorM5K4);
//MR5K4 Z ENC RMS
fbZRMSErrorM5K4(stMotionStage:=M23,
fMaxRMSError=>fMaxZRMSErrorM5K4,
fMinRMSError=>fMinZRMSErrorM5K4);
//MR5K4 rY ENC RMS
fbPRMSErrorM5K4(stMotionStage:=M24,
fMaxRMSError=>fMaxPRMSErrorM5K4,
fMinRMSError=>fMinPRMSErrorM5K4);
//STO for LAMP KBs
//MR2K4
M7.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
M8.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
M9.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
//MR2K4 BEND
M10.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
M11.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
//MR3K4
M12.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
M13.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
M14.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
//MR3K4 BEND
M15.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
M16.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
// LAMP KB Encoder Reference Values For Epics
nEncRefXM2K4 := ULINT_TO_UDINT(GVL_M2K4_Constants.nM2K4X_ENC_REF);
nEncRefYM2K4 := ULINT_TO_UDINT(GVL_M2K4_Constants.nM2K4Y_ENC_REF);
nEncRefrYM2K4 := ULINT_TO_UDINT(GVL_M2K4_Constants.nM2K4rY_ENC_REF);
nEncRefXM3K4 := ULINT_TO_UDINT(GVL_M3K4_Constants.nM3K4X_ENC_REF);
nEncRefYM3K4 := ULINT_TO_UDINT(GVL_M3K4_Constants.nM3K4Y_ENC_REF);
nEncRefrXM3K4 := ULINT_TO_UDINT(GVL_M3K4_Constants.nM3K4rX_ENC_REF);
// LAMP KB Encoder Count Values For Epics
nEncCntXM2K4 := ULINT_TO_UDINT(M7.nRawEncoderULINT);
nEncCntYM2K4 := ULINT_TO_UDINT(M8.nRawEncoderULINT);
nEncCntrYM2K4 := ULINT_TO_UDINT(M9.nRawEncoderULINT);
nEncCntXM3K4 := ULINT_TO_UDINT(M12.nRawEncoderULINT);
nEncCntYM3K4 := ULINT_TO_UDINT(M13.nRawEncoderULINT);
nEncCntrXM3K4 := ULINT_TO_UDINT(M14.nRawEncoderULINT);
;
// LAMP KB Bender RTDs
fM2K4US_RTD_1 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4US_RTD_1);
fM2K4US_RTD_3 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4US_RTD_3);
fM2K4DS_RTD_1 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4DS_RTD_1);
fM2K4DS_RTD_3 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4DS_RTD_3);
fM3K4US_RTD_1 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4US_RTD_1);
fM3K4US_RTD_3 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4US_RTD_3);
fM3K4DS_RTD_1 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4DS_RTD_1);
fM3K4DS_RTD_3 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4DS_RTD_3);
// RTD not connected if T=0
bM2K4US_RTD_1_Err := fM2K4US_RTD_1 = 0;
bM2K4US_RTD_3_Err := fM2K4US_RTD_3 = 0;
bM2K4DS_RTD_1_Err := fM2K4DS_RTD_1 = 0;
bM2K4DS_RTD_3_Err := fM2K4DS_RTD_3 = 0;
bM3K4US_RTD_1_Err := fM3K4US_RTD_1 = 0;
bM3K4US_RTD_3_Err := fM3K4US_RTD_3 = 0;
bM3K4DS_RTD_1_Err := fM3K4DS_RTD_1 = 0;
bM3K4DS_RTD_3_Err := fM3K4DS_RTD_3 = 0;
// LAMP KB Bender RTD interlocks
M10.bHardwareEnable R= fM2K4US_RTD_1 > 1000 OR bM2K4US_RTD_1_Err;
M11.bHardwareEnable R= fM2K4DS_RTD_1 > 1000 OR bM2K4DS_RTD_1_Err;
M15.bHardwareEnable R= fM3K4US_RTD_1 > 1000 OR bM3K4US_RTD_1_Err;
M16.bHardwareEnable R= fM3K4DS_RTD_1 > 1000 OR bM3K4DS_RTD_1_Err;
// SL2K4
nM25Position := DINT_TO_UDINT(Main.M25.nRawEncoderDINT);
Main.M25.bLimitBackwardEnable := TRUE;
Main.M25.bLimitForwardEnable := TRUE;
Main.M25.bHardwareEnable := TRUE;
fbMotionStage_m25(stMotionStage:=Main.M25);
nM26Position := DINT_TO_UDINT(Main.M26.nRawEncoderDINT);
Main.M26.bLimitBackwardEnable := TRUE;
Main.M26.bLimitForwardEnable := TRUE;
Main.M26.bHardwareEnable := TRUE;
fbMotionStage_m26(stMotionStage:=Main.M26);
nM27Position := DINT_TO_UDINT(Main.M27.nRawEncoderDINT);
Main.M27.bLimitBackwardEnable := TRUE;
Main.M27.bLimitForwardEnable := TRUE;
Main.M27.bHardwareEnable := TRUE;
fbMotionStage_m27(stMotionStage:=Main.M27);
nM28Position := DINT_TO_UDINT(Main.M28.nRawEncoderDINT);
Main.M28.bLimitBackwardEnable := TRUE;
Main.M28.bLimitForwardEnable := TRUE;
Main.M28.bHardwareEnable := TRUE;
fbMotionStage_m28(stMotionStage:=Main.M28);
// Environment
PRG_Environment();
// States
PRG_States();
// PMPS
PRG_PMPS();
////////////////////////////////
// Logging
fbLogHandler();
END_PROGRAM
P_Serial_Com
PROGRAM P_Serial_Com
VAR
fbSerialLineControl_EL6001_M1K4: SerialLineControl;
END_VAR
//These are the global IOs...don't forget to copy your data into them
(* EL6001 Serial port 0 com function *)
fbSerialLineControl_EL6001_M1K4(Mode:= SERIALLINEMODE_EL6_22B (*SERIALLINEMODE_KL6_22B_STANDARD*),
pComIn:= ADR(Serial_stComIn_M1K4),
pComOut:=ADR(Serial_stComOut_M1K4),
SizeComIn:= SIZEOF(Serial_stComIn_M1K4),
TxBuffer:= Serial_TXBuffer_M1K4,
RxBuffer:= Serial_RXBuffer_M1K4,
Error=> ,
ErrorID=> );
END_PROGRAM
P_StripeProtections
PROGRAM P_StripeProtections
VAR
(*
MR1K4 (RBV = MR1K4:SOMS:ENC:YUP:CNT_RBV)
B4C coating: RBV <= 15998960: 1111_1111_1111_1000 (allow everything between 350eV and 2.3keV)
Transition: 15998960 < RBV < 19998960: 0000_0000_0000_0000
Silicon surface: RBV >= 19998960: 0000_0000_0001_1110 (allow everything between 250eV and 450eV)
From M. Seaberg
*)
fbStripProtMR1K4 : FB_MirrorTwoCoatingProtection := (
sDevName := 'MR1K4:SOMS',
nUpperCoatingBoundary := 19998960,
sUpperCoatingType := 'SILICON',
nLowerCoatingBoundary := 15998960,
sLowerCoatingType := 'B4C');
(*
MR2K4 (RBV = MR2K4:KBO:ENC:Y:CNT_RBV)
B4C coating: RBV <= 6976835: 1111_1111_1111_1000 (allow everything between 350eV and 2.3keV)
Transition: 6976835 < RBV < 7776781: 0000_0000_0000_0000
Silicon surface: RBV >= 7776781: 0000_0000_0001_1110 (allow everything below 250eV and 450eV)
*)
// MR2K4 Mirror Chin Guard RTDs
{attribute 'TcLinkTo' := '.ffUpperCoatingLTemp.iRaw := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Value;
.ffUpperCoatingLTemp.bUnderrange := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Underrange;
.ffUpperCoatingLTemp.bOverrange := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Overrange;
.ffUpperCoatingLTemp.bError := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Error;
.ffUpperCoatingRTemp.iRaw := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Value;
.ffUpperCoatingRTemp.bUnderrange := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Underrange;
.ffUpperCoatingRTemp.bOverrange := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Overrange;
.ffUpperCoatingRTemp.bError := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Error;
.ffLowerCoatingLTemp.iRaw := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Value;
.ffLowerCoatingLTemp.bUnderrange := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Underrange;
.ffLowerCoatingLTemp.bOverrange := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Overrange;
.ffLowerCoatingLTemp.bError := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Error;
.ffLowerCoatingRTemp.iRaw := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Value;
.ffLowerCoatingRTemp.bUnderrange := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Underrange;
.ffLowerCoatingRTemp.bOverrange := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Overrange;
.ffLowerCoatingRTemp.bError := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Error
'}
{attribute 'pytmc' := '
pv: MR2K4:KBO
'}
fbStripProtMR2K4 : FB_MirrorTwoCoatingProtection := (
sDevName := 'MR2K4:KBO',
nUpperCoatingBoundary := 7776781,
sUpperCoatingType := 'SILICON',
nLowerCoatingBoundary := 6976835,
sLowerCoatingType := 'B4C');
(*
MR3K4 (RBV = MR3K4:KBO:ENC:X:CNT_RBV)
B4C coating: RBV >= 5620000: 1111_1111_1111_1000 (allow everything between 350eV and 2.3keV)
Transition: 4820000 < ENC < 5620000: 0000_0000_0000_0000
Silicon surface: RBV <= 4820000: 0000_0000_0001_1110 (allow everything between 250eV and 450 eV)
*)
// MR3K4 Mirror Chin Guard RTDs
{attribute 'TcLinkTo' := '.ffUpperCoatingLTemp.iRaw := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Value;
.ffUpperCoatingLTemp.bUnderrange := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Underrange;
.ffUpperCoatingLTemp.bOverrange := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Overrange;
.ffUpperCoatingLTemp.bError := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Error;
.ffUpperCoatingRTemp.iRaw := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Value;
.ffUpperCoatingRTemp.bUnderrange := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Underrange;
.ffUpperCoatingRTemp.bOverrange := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Overrange;
.ffUpperCoatingRTemp.bError := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Error;
.ffLowerCoatingLTemp.iRaw := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Value;
.ffLowerCoatingLTemp.bUnderrange := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Underrange;
.ffLowerCoatingLTemp.bOverrange := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Overrange;
.ffLowerCoatingLTemp.bError := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Error;
.ffLowerCoatingRTemp.iRaw := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Value;
.ffLowerCoatingRTemp.bUnderrange := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Underrange;
.ffLowerCoatingRTemp.bOverrange := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Overrange;
.ffLowerCoatingRTemp.bError := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Error
'}
{attribute 'pytmc' := '
pv: MR3K4:KBO
'}
fbStripProtMR3K4 : FB_MirrorTwoCoatingProtection := (
sDevName := 'MR3K4:KBO',
nUpperCoatingBoundary := 5620000,
sUpperCoatingType := 'B4C',
nLowerCoatingBoundary := 4820000,
sLowerCoatingType := 'SILICON');
END_VAR
fbStripProtMR1K4(FFO:=GVL_PMPS.g_FastFaultOutput1,
nCurrentEncoderCount := MAIN.nEncCntYupM1K4,
neVRange:=PMPS_GVL.stCurrentBeamParameters.neVRange,
bReadPmpsDb:= MOTION_GVL.fbStandardPMPSDB.bReadPmpsDb,
bUsePmpsDb := TRUE,
);
fbStripProtMR2K4(FFO:=GVL_PMPS.g_FastFaultOutput2,
nCurrentEncoderCount := MAIN.nEncCntYM2K4,
neVRange:=PMPS_GVL.stCurrentBeamParameters.neVRange,
bReadPmpsDb := MOTION_GVL.fbStandardPMPSDB.bReadPmpsDb,
bUsePmpsDb := TRUE,
bMirrorTempFaults := TRUE,
);
fbStripProtMR3K4(FFO:=GVL_PMPS.g_FastFaultOutput2,
nCurrentEncoderCount := MAIN.nEncCntXM3K4,
neVRange:=PMPS_GVL.stCurrentBeamParameters.neVRange,
bReadPmpsDb := MOTION_GVL.fbStandardPMPSDB.bReadPmpsDb,
bUsePmpsDb := TRUE,
bMirrorTempFaults := TRUE,
);
END_PROGRAM
- Related:
PiezoSerial
PROGRAM PiezoSerial
VAR
//PI Serial
fbE621SerialDriver_M1K4 : FB_PI_E621_SerialDriver;
rtInitParams_M1K4 : R_TRIG;
tonTimeoutRst_M1K4 : TON := (PT:=T#2S); //For timeout reset
END_VAR
//Piezo E-621
///////////////////////
fbE621SerialDriver_M1K4.i_xExecute := TRUE;
fbE621SerialDriver_M1K4.i_xExecute R= fbE621SerialDriver_M1K4.q_xDone;
fbE621SerialDriver_M1K4(iq_stPiezoAxis:= GVL_M1K4.M1K4_Pitch.Piezo,
iq_stSerialRXBuffer:= Serial_RXBuffer_M1K4,
iq_stSerialTXBuffer:= Serial_TXBuffer_M1K4);
END_PROGRAM
- Related:
PRG_1_PlcTask
PROGRAM PRG_1_PlcTask
VAR
END_VAR
PRG_MR1K4_SOMS();
PRG_MR2K4_KBO();
PRG_MR3K4_KBO();
PRG_MR4K4_KBO();
PRG_MR5K4_KBO();
PRG_SL2K4_SCATTER();
END_PROGRAM
PRG_Environment
PROGRAM PRG_Environment
VAR
END_VAR
// DREAM KB Internal RTDs
GVL_M4K4_RTD.nM4K4_Chin_Left_RTD();
GVL_M4K4_RTD.nM4K4_Chin_Right_RTD();
GVL_M4K4_RTD.nM4K4_Chin_Tail_RTD();
GVL_M5K4_RTD.nM5K4_Chin_Left_RTD();
GVL_M5K4_RTD.nM5K4_Chin_Right_RTD();
GVL_M5K4_RTD.nM5K4_Chin_Tail_RTD();
END_PROGRAM
- Related:
PRG_MR1K4_SOMS
PROGRAM PRG_MR1K4_SOMS
VAR
// M1K4 Flow Press Sensors
{attribute 'TcLinkTo' := '.fbFlow_1.iRaw := TIIB[EL3054_M1K4_FWM_PRSM]^AI Standard Channel 1^Value;
.fbFlow_2.iRaw := TIIB[EL3054_M1K4_FWM_PRSM]^AI Standard Channel 2^Value;
.fbPress_1.iRaw := TIIB[EL3054_M1K4_FWM_PRSM]^AI Standard Channel 3^Value
'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS
'}
fbCoolingPanel : FB_Axilon_Cooling_2f1p;
{attribute 'TcLinkTo' := 'TIIB[EP2008-0001_M1K4_VCV]^Channel 1^Output'}
{attribute 'pytmc' := '
pv: MR1K4:SOMS:VCV
io: io
field: ZNAM OFF
field: ONAM ON
'}
bActivateVarCool AT %Q* : BOOL;
END_VAR
fbCoolingPanel();
END_PROGRAM
PRG_MR2K4_KBO
PROGRAM PRG_MR2K4_KBO
VAR
// M2K4 Flow Press Sensors
{attribute 'TcLinkTo' := '.fbFlow_1.iRaw := TIIB[EL3054_FWM_PRSM]^AI Standard Channel 1^Value;
.fbPress_1.iRaw := TIIB[EL3054_FWM_PRSM]^AI Standard Channel 3^Value
'}
{attribute 'pytmc' := '
pv: MR2K4:KBO
'}
fbCoolingPanel : FB_Axilon_Cooling_1f1p;
// M2K4 Mirror RTDs
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Value;
.bUnderrange := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Underrange;
.bOverrange := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Overrange;
.bError := TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Status^Error'}
{attribute 'pytmc' := '
pv: MR2K4:KBO:RTD:CHIN:L
field: EGU C
io: i
'}
fbM2K4_Chin_Left_RTD : FB_TempSensor;
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Value;
.bUnderrange := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Underrange;
.bOverrange := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Overrange;
.bError := TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Status^Error'}
{attribute 'pytmc' := '
pv: MR2K4:KBO:RTD:CHIN:R
field: EGU C
io: i
'}
fbM2K4_Chin_Right_RTD : FB_TempSensor;
END_VAR
fbCoolingPanel();
fbM2K4_Chin_Left_RTD();
fbM2K4_Chin_Right_RTD();
END_PROGRAM
PRG_MR3K4_KBO
PROGRAM PRG_MR3K4_KBO
VAR
// M3K4 Flow Press Sensors
{attribute 'TcLinkTo' := '.fbFlow_1.iRaw := TIIB[EL3054_FWM_PRSM]^AI Standard Channel 2^Value;
.fbPress_1.iRaw := TIIB[EL3054_FWM_PRSM]^AI Standard Channel 3^Value
'}
{attribute 'pytmc' := '
pv: MR3K4:KBO
'}
fbCoolingPanel : FB_Axilon_Cooling_1f1p;
// M3K4 Mirror RTDs
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Value;
.bUnderrange := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Underrange;
.bOverrange := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Overrange;
.bError := TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Status^Error'}
{attribute 'pytmc' := '
pv: MR3K4:KBO:RTD:CHIN:L
field: EGU C
io: i
'}
fbM3K4_Chin_Left_RTD : FB_TempSensor;
{attribute 'TcLinkTo' := '.iRaw := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Value;
.bUnderrange := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Underrange;
.bOverrange := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Overrange;
.bError := TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Status^Error'}
{attribute 'pytmc' := '
pv: MR3K4:KBO:RTD:CHIN:R
field: EGU C
io: i
'}
fbM3K4_Chin_Right_RTD : FB_TempSensor;
END_VAR
fbCoolingPanel();
fbM3K4_Chin_Left_RTD();
fbM3K4_Chin_Right_RTD();
END_PROGRAM
PRG_MR4K4_KBO
PROGRAM PRG_MR4K4_KBO
VAR
// MR4K4 Flow Press Sensors
{attribute 'TcLinkTo' := '.fbFlow_1.iRaw := TIIB[EL3054_FWM_PRSM_MR45K4]^AI Standard Channel 1^Value;
.fbPress_1.iRaw := TIIB[EL3054_FWM_PRSM_MR45K4]^AI Standard Channel 2^Value
'}
{attribute 'pytmc' := '
pv: MR4K4:KBO
'}
fbCoolingPanel : FB_Axilon_Cooling_1f1p;
END_VAR
fbCoolingPanel();
END_PROGRAM
PRG_MR5K4_KBO
PROGRAM PRG_MR5K4_KBO
VAR
// MR5K4 Flow Press Sensors
{attribute 'TcLinkTo' := '.fbFlow_1.iRaw := TIIB[EL3054_FWM_PRSM_MR45K4]^AI Standard Channel 3^Value;
.fbPress_1.iRaw := TIIB[EL3054_FWM_PRSM_MR45K4]^AI Standard Channel 2^Value
'}
{attribute 'pytmc' := '
pv: MR5K4:KBO
'}
fbCoolingPanel : FB_Axilon_Cooling_1f1p;
END_VAR
fbCoolingPanel();
END_PROGRAM
PRG_PMPS
PROGRAM PRG_PMPS
VAR
fb_vetoArbiter : FB_VetoArbiter;
fbArbiterIO : FB_SubSysToArbiter_IO;
ffFFO2ToFFO1 : FB_FastFault := (
i_xAutoReset := TRUE,
i_DevName := 'PMPS FFO2',
i_Desc := 'Subordinate fast fault group, will clear on its own otherwise something is misconfigured in the diagnostic',
i_TypeCode := 16#D);
//fbOutputStates : FB_StateParams;
bMR1K1_IN : BOOL;
bST3K4_IN : BOOL;
bMR1K3_IN : BOOL;
bST1K4_IN : BOOL;
END_VAR
MOTION_GVL.fbStandardPMPSDB(
io_fbFFHWO:= GVL_PMPS.g_FastFaultOutput1,
bEnable:=TRUE,
sPLCName:='plc-tmo-optics'
);
P_StripeProtections();
bMR1K1_IN := PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_IN]
AND NOT PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_OUT];
bST3K4_IN := PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.ST3K4];
bST1K4_IN := PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.ST1K4];
bMR1K3_IN := PMPS.PMPS_GVL.stCurrentBeamParameters.aVetodevices[PMPS.K_Stopper.MR1K3_IN]
AND NOT PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K3_OUT];
fbArbiterIO(i_bVeto:= bMR1K1_IN OR bMR1K3_IN, Arbiter := GVL_PMPS.g_fbArbiter1, fbFFHWO := GVL_PMPS.g_FastFaultOutput1);
ffFFO2ToFFO1(i_xOK := GVL_PMPS.g_FastFaultOutput2.q_xFastFaultOut, io_fbFFHWO := GVL_PMPS.g_FastFaultOutput1);
GVL_PMPS.g_FastFaultOutput2.Execute(i_xVeto:= bMR1K1_IN OR bMR1K3_IN OR bST3K4_IN OR bST1K4_IN);
GVL_PMPS.g_FastFaultOutput1.Execute(i_xVeto:= bMR1K1_IN OR bMR1K3_IN);
fb_vetoArbiter(bVeto := GVL_PMPS.g_FastFaultOutput2.i_xVeto, HigherAuthority := GVL_PMPS.g_fbArbiter1, LowerAuthority:= GVL_PMPS.g_fbArbiter2,
FFO:= GVL_PMPS.g_FastFaultOutput1);
END_PROGRAM
- Related:
PRG_SL2K4_SCATTER
PROGRAM PRG_SL2K4_SCATTER
VAR
{attribute 'pytmc' := '
pv: SL2K4:SCATTER
io: io'}
fbSL2K4: FB_SLITS;
{attribute 'pytmc' := '
pv: SL2K4:SCATTER:GO;
io: io;
field: ZNAM False;
field: ONAM True;
'}
bExecuteMotion :BOOL :=TRUE;
END_VAR
fbSL2K4(stTopBlade:= Main.M25,
stBottomBlade:=Main.M26,
stNorthBlade:= Main.M27,
stSouthBlade:= Main.M28,
bExecuteMotion:=bExecuteMotion,
io_fbFFHWO := GVL_PMPS.g_FastFaultOutput2,
fbArbiter := GVL_PMPS.g_fbArbiter2);
END_PROGRAM
PRG_States
PROGRAM PRG_States
VAR
{attribute 'pytmc' := '
pv: MR1K4:SOMS:COATING:STATE;
io: io;
'}
fbMR1K4_Coating_States: FB_Offset_Coating_States := (bBPOkAutoReset:= TRUE);
{attribute 'pytmc' := '
pv: MR2K4:KBO:COATING:STATE;
io: io;
'}
fbMR2K4_Coating_States: FB_KBO_Coating_States := (bBPOkAutoReset:= TRUE);
{attribute 'pytmc' := '
pv: MR3K4:KBO:COATING:STATE;
io: io;
'}
fbMR3K4_Coating_States: FB_KBO_Coating_States := (bBPOkAutoReset:= TRUE);
END_VAR
//MR1K4 Coating States with PMPS
fbMR1K4_Coating_States.stCoating1.stPMPS.sPmpsState := 'MR1K4:SOMS-SILICON';
fbMR1K4_Coating_States.stCoating1.nEncoderCount := 22000532;
fbMR1K4_Coating_States.stCoating2.stPMPS.sPmpsState := 'MR1K4:SOMS-B4C';
fbMR1K4_Coating_States.stCoating2.nEncoderCount := 5000141;
fbMR2K4_Coating_States.stCoating1.stPMPS.sPmpsState := 'MR2K4:KBO-SILICON';
fbMR2K4_Coating_States.stCoating1.nEncoderCount := 8701960;
fbMR2K4_Coating_States.stCoating2.stPMPS.sPmpsState := 'MR2K4:KBO-B4C';
fbMR2K4_Coating_States.stCoating2.nEncoderCount := 6636177;
fbMR3K4_Coating_States.stCoating1.stPMPS.sPmpsState := 'MR3K4:KBO-SILICON';
fbMR3K4_Coating_States.stCoating1.nEncoderCount := 4719890;
fbMR3K4_Coating_States.stCoating2.stPMPS.sPmpsState := 'MR3K4:KBO-B4C';
fbMR3K4_Coating_States.stCoating2.nEncoderCount := 8220029;
fbMR1K4_Coating_States(
bEnable := TRUE,
stMotionStage:=Main.M1,
sCoating1Name:='Si',
sCoating2Name:='B4C',
fbArbiter:=GVL_PMPS.g_fbArbiter1,
fbFFHWO:=GVL_PMPS.g_FastFaultOutput1,
sPmpsDeviceName:='MR1K4:SOMS',
sTransitionKey:= 'MR1K4:SOMS-TRANSITION');
// MR2K4 Coating States with PMPS
fbMR2K4_Coating_States(
bEnable := TRUE,
stMotionStage:=Main.M8,
sCoating1Name:='Si',
sCoating2Name:='B4C',
fbArbiter:=GVL_PMPS.g_fbArbiter2,
fbFFHWO:=GVL_PMPS.g_FastFaultOutput2,
sPmpsDeviceName:='MR2K4:KBO',
sTransitionKey:= 'MR2K4:KBO-TRANSITION'
);
// MR3K4 Coating States with PMPS
fbMR3K4_Coating_States(
bEnable := TRUE,
stMotionStage:=Main.M12,
bVerticalCoating:=FALSE,
sCoating1Name:='Si',
sCoating2Name:='B4C',
fbArbiter:=GVL_PMPS.g_fbArbiter2,
fbFFHWO:=GVL_PMPS.g_FastFaultOutput2,
sPmpsDeviceName:='MR3K4:KBO',
sTransitionKey:= 'MR3K4:KBO-TRANSITION'
);
END_PROGRAM