DUTs

GVLs

Global_Version

{attribute 'TcGenerated'}
{attribute 'no-analysis'}
{attribute 'linkalways'}
// This function has been automatically generated from the project information.
VAR_GLOBAL CONSTANT
    {attribute 'const_non_replaced'}
    stLibVersion_lcls_plc_txi_optics : ST_LibVersion := (iMajor := 0, iMinor := 0, iBuild := 0, iRevision := 0, nFlags := 1, sVersion := '0.0.0');
END_VAR

GVL_COM_Buffers

VAR_GLOBAL
    // M1K3
    Serial_RXBuffer_M1K3 : ComBuffer;
    Serial_TXBuffer_M1K3 : ComBuffer;

    // M2K3
    Serial_RXBuffer_M2K3 : ComBuffer;
    Serial_TXBuffer_M2K3 : ComBuffer;
END_VAR

GVL_M1K3

{attribute 'qualified_only'}
VAR_GLOBAL
    // Pitch Mechanism:
    {attribute 'TcLinkTo' := '.diEncCnt:=TIIB[EL5042_M1K3_Pitch]^FB Inputs Channel 1^Position'}
    M1K3_Pitch : HOMS_PitchMechanism := (ReqPosLimHi := 1,
                                         ReqPosLimLo := -1,
                                         diEncPosLimHi := 1,
                                         diEncPosLimLo := -1);
END_VAR

GVL_M1K3_Constants

{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
    // Encoder reference values in counts = nm
    // Enc Ref Vals from FAT
    nYUP_ENC_REF : ULINT := 108743550;
    nYDWN_ENC_REF : ULINT := 108243370;
    nXUP_ENC_REF : ULINT := 19628100;
    nXDWN_ENC_REF : ULINT := 20865800;
END_VAR

GVL_M2K3

{attribute 'qualified_only'}
VAR_GLOBAL
    // Pitch Mechanism
    {attribute 'TcLinkTo' := '.diEncCnt:=TIIB[EL5042_M2K3_Pitch]^FB Inputs Channel 1^Position'}
    M2K3_Pitch : HOMS_PitchMechanism := (ReqPosLimHi := 58900,
                                         ReqPosLimLo := 57500,
                                         diEncPosLimHi := 10602000,
                                         diEncPosLimLo := 10350000);
END_VAR

GVL_M2K3_Constants

{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
    // Encoder reference values in counts = nm
    // Enc Ref Vals after realignment with metrology
    nYUP_ENC_REF : ULINT := 40653120;
    nYDWN_ENC_REF : ULINT := 43456180;
    nXUP_ENC_REF : ULINT := 23635520;
    nXDWN_ENC_REF : ULINT := 22541650;
END_VAR

GVL_PMPS

{attribute 'qualified_only'}
VAR_GLOBAL
    {attribute 'pytmc' := 'pv: PLC:TXI:KFE:OPTICS:ARB:01'}
    fbArbiter1: FB_Arbiter(1);
    {attribute 'pytmc' := 'pv: PLC:TXI:KFE:OPTICS:ARB:02'}
    fbArbiter2: FB_Arbiter(2);
    {attribute 'pytmc' := 'pv: PLC:TXI:KFE:OPTICS:FFO:01'}
    {attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_PRE]^IO Outputs^FFO'}
    fbFastFaultOutput1: FB_HardwareFFOutput := (bAutoReset := TRUE , i_sNetID:='172.21.42.126.1.1' );
END_VAR

GVL_SerialIO

VAR_GLOBAL
    //Better have your inputs and outputs!
    // M1K3
    Serial_stComIn_M1K3   AT %I*    :       EL6inData22B (*KL6inData22B*);
    Serial_stComOut_M1K3  AT %Q*    :       EL6outData22B (*KL6outData22B*);

    // M2L0
    Serial_stComIn_M2K3   AT %I*    :       EL6inData22B (*KL6inData22B*);
    Serial_stComOut_M2K3  AT %Q*    :       EL6outData22B (*KL6outData22B*);
END_VAR

POUs

MAIN

PROGRAM MAIN
VAR
    // M1K3
    // Motors
    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M1K3_Yup]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M1K3_Yup]^STM Status^Status^Digital input 2;
                              .nRawEncoderULINT:=TIIB[EL5042_M1K3_Yupdwn]^FB Inputs Channel 1^Position'}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:MMS:YUP
    '}
    M1 : DUT_MotionStage := (fVelocity:=100.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M1K3 Yup
    fbMotionStage_m1 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M1K3_Ydwn]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M1K3_Ydwn]^STM Status^Status^Digital input 2'}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:MMS:YDWN
    '}
    M2 : DUT_MotionStage := (fVelocity:=100.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M1K3 Ydwn
    fbMotionStage_m2 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M1K3_Xup]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M1K3_Xup]^STM Status^Status^Digital input 2;
                              .nRawEncoderULINT:=TIIB[EL5042_M1K3_Xupdwn]^FB Inputs Channel 1^Position'}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:MMS:XUP
    '}
    M3 : DUT_MotionStage := (fVelocity:=300.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M1K3 Xup
    fbMotionStage_m3 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M1K3_Xdwn]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M1K3_Xdwn]^STM Status^Status^Digital input 2'}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:MMS:XDWN
    '}
    M4 : DUT_MotionStage := (fVelocity:=300.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M1K3 Xdwn
    fbMotionStage_m4 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M1K3_PitchCoarse]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M1K3_PitchCoarse]^STM Status^Status^Digital input 2;
                              .nRawEncoderULINT:=TIIB[EL5042_M1K3_Pitch]^FB Inputs Channel 1^Position'}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:MMS:PITCH
    '}
    M5 : DUT_MotionStage := (fVelocity:=50.0,  bPowerSelf:=True); // M1K3 Pitch Stepper

    {attribute 'TcLinkTo' := '.fbRunHOMS.bSTOEnable1:=TIIB[EL1004_M1K3_STO]^Channel 1^Input;
                              .fbRunHOMS.bSTOEnable2:=TIIB[EL1004_M1K3_STO]^Channel 2^Input;
                              .fbRunHOMS.stYupEnc.Count:=TIIB[EL5042_M1K3_Yupdwn]^FB Inputs Channel 1^Position;
                              .fbRunHOMS.stYdwnEnc.Count:=TIIB[EL5042_M1K3_Yupdwn]^FB Inputs Channel 2^Position;
                              .fbRunHOMS.stXupEnc.Count:=TIIB[EL5042_M1K3_Xupdwn]^FB Inputs Channel 1^Position;
                              .fbRunHOMS.stXdwnEnc.Count:=TIIB[EL5042_M1K3_Xupdwn]^FB Inputs Channel 2^Position'}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS
    '}
    M1K3 : DUT_HOMS;

    // Encoder Arrays/RMS Watch:
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:ENC:Y
    '}
    fbYRMSErrorM1K3 : FB_RMSWatch;
    fMaxYRMSErrorM1K3 : LREAL;
    fMinYRMSErrorM1K3 : LREAL;

    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:ENC:X
    '}
    fbXRMSErrorM1K3 : FB_RMSWatch;
    fMaxXRMSErrorM1K3 : LREAL;
    fMinXRMSErrorM1K3 : LREAL;

    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:ENC:PITCH
    '}
    fbPitchRMSErrorM1K3 : FB_RMSWatch;
    fMaxPitchRMSErrorM1K3 : LREAL;
    fMinPitchRMSErrorM1K3 : LREAL;

    // Pitch Control
    fbM1K3PitchControl : FB_PitchControl;
    bM1K3PitchDone : BOOL;
    bM1K3PitchBusy : BOOL;

    {attribute 'TcLinkTo' := 'TIIB[EL2004_M1K3_VCV]^Channel 1^Output'}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS:VCV
        io: io
        field: ZNAM OFF
        field: ONAM ON
    '}
    bActivateVarCoolMR1K3 AT %Q* : BOOL;


    // M2K3
    // Motors
    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M2K3_Yup]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M2K3_Yup]^STM Status^Status^Digital input 2;
                              .nRawEncoderULINT:=TIIB[EL5042_M2K3_Yupdwn]^FB Inputs Channel 1^Position'}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:MMS:YUP
    '}
    M6 : DUT_MotionStage := (fVelocity:=100.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M2K3 Yup
    fbMotionStage_m6 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M2K3_Ydwn]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M2K3_Ydwn]^STM Status^Status^Digital input 2'}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:MMS:YDWN
    '}
    M7 : DUT_MotionStage := (fVelocity:=100.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M2K3 Ydwn
    fbMotionStage_m7 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M2K3_Xup]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M2K3_Xup]^STM Status^Status^Digital input 2;
                              .nRawEncoderULINT:=TIIB[EL5042_M2K3_Xupdwn]^FB Inputs Channel 1^Position'}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:MMS:XUP
    '}
    M8 : DUT_MotionStage := (fVelocity:=150.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M2K3 Xup
    fbMotionStage_m8 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M2K3_Xdwn]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M2K3_Xdwn]^STM Status^Status^Digital input 2'}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:MMS:XDWN
    '}
    M9 : DUT_MotionStage := (fVelocity:=150.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M2K3 Xdwn
    fbMotionStage_m9 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7047_M2K3_PitchCoarse]^STM Status^Status^Digital input 1;
                              .bLimitBackwardEnable:=TIIB[EL7047_M2K3_PitchCoarse]^STM Status^Status^Digital input 2;
                              .nRawEncoderULINT:=TIIB[EL5042_M2K3_Pitch]^FB Inputs Channel 1^Position'}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:MMS:PITCH
    '}
    M10 : DUT_MotionStage := (fVelocity:=50.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS,  bPowerSelf:=True); // M2K3 Pitch Stepper

    {attribute 'TcLinkTo' := '.fbRunHOMS.bSTOEnable1:=TIIB[EL1004_M2K3_STO]^Channel 1^Input;
                              .fbRunHOMS.bSTOEnable2:=TIIB[EL1004_M2K3_STO]^Channel 2^Input;
                              .fbRunHOMS.stYupEnc.Count:=TIIB[EL5042_M2K3_Yupdwn]^FB Inputs Channel 1^Position;
                              .fbRunHOMS.stYdwnEnc.Count:=TIIB[EL5042_M2K3_Yupdwn]^FB Inputs Channel 2^Position;
                              .fbRunHOMS.stXupEnc.Count:=TIIB[EL5042_M2K3_Xupdwn]^FB Inputs Channel 1^Position;
                              .fbRunHOMS.stXdwnEnc.Count:=TIIB[EL5042_M2K3_Xupdwn]^FB Inputs Channel 2^Position'}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS
    '}
    M2K3 : DUT_HOMS;

    // Encoder Arrays/RMS Watch:
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:ENC:Y
    '}
    fbYRMSErrorM2K3 : FB_RMSWatch;
    fMaxYRMSErrorM2K3 : LREAL;
    fMinYRMSErrorM2K3 : LREAL;

    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:ENC:X
    '}
    fbXRMSErrorM2K3 : FB_RMSWatch;
    fMaxXRMSErrorM2K3 : LREAL;
    fMinXRMSErrorM2K3 : LREAL;

    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:ENC:PITCH
    '}
    fbPitchRMSErrorM2K3 : FB_RMSWatch;
    fMaxPitchRMSErrorM2K3 : LREAL;
    fMinPitchRMSErrorM2K3 : LREAL;

    // Pitch Control
    fbM2K3PitchControl : FB_PitchControl;
    bM2K3PitchDone : BOOL;
    bM2K3PitchBusy : BOOL;

    // Lost serial comm to E621 controller, unsure why...
    fbMotionStage_m10 : FB_MotionStage;

    {attribute 'TcLinkTo' := 'TIIB[EL2004_M2K3_VCV]^Channel 1^Output'}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS:VCV
        io: io
        field: ZNAM OFF
        field: ONAM ON
    '}
    bActivateVarCoolMR2K3 AT %Q* : BOOL;

     // MR1K3 Flow Press Sensors
    {attribute 'TcLinkTo' := '.fbFlow_1.iRaw := TIIB[EL3054_M1K3_FWM_PRSM]^AI Standard Channel 1^Value;
                                 .fbFlow_2.iRaw := TIIB[EL3054_M1K3_FWM_PRSM]^AI Standard Channel 2^Value;
                              .fbPress_1.iRaw := TIIB[EL3054_M1K3_FWM_PRSM]^AI Standard Channel 3^Value
    '}
    {attribute 'pytmc' := '
        pv: MR1K3:SOMS
    '}
    fbCoolingPanelMR1K3 : FB_Axilon_Cooling_2f1p;

    // MR2K3 Flow Press Sensors
    {attribute 'TcLinkTo' := '.fbFlow_1.iRaw := TIIB[EL3054_M2K3_FWM_PRSM]^AI Standard Channel 1^Value;
                                 .fbFlow_2.iRaw := TIIB[EL3054_M2K3_FWM_PRSM]^AI Standard Channel 2^Value;
                              .fbPress_1.iRaw := TIIB[EL3054_M2K3_FWM_PRSM]^AI Standard Channel 3^Value
    '}
    {attribute 'pytmc' := '
        pv: MR2K3:SOMS
    '}
    fbCoolingPanelMR2K3 : FB_Axilon_Cooling_2f1p;
END_VAR
// M1K3
M1K3.fbRunHOMS(stYup:=M1,
               stYdwn:=M2,
               stXup:=M3,
               stXdwn:=M4,
               stPitch:=M5,
               nYupEncRef:=GVL_M1K3_Constants.nYUP_ENC_REF,
               nYdwnEncRef:=GVL_M1K3_Constants.nYDWN_ENC_REF,
               nXupEncRef:=GVL_M1K3_Constants.nXUP_ENC_REF,
               nXdwnEncRef:=GVL_M1K3_Constants.nXDWN_ENC_REF,
               bExecuteCoupleY:=M1K3.bExecuteCoupleY,
               bExecuteCoupleX:=M1K3.bExecuteCoupleX,
               bExecuteDecoupleY:=M1K3.bExecuteDecoupleY,
               bExecuteDecoupleX:=M1K3.bExecuteDecoupleX,
               bGantryAlreadyCoupledY=>M1K3.bGantryAlreadyCoupledY,
               bGantryAlreadyCoupledX=>M1K3.bGantryAlreadyCoupledX,
               nCurrGantryY=>M1K3.nCurrGantryY,
               nCurrGantryX=>M1K3.nCurrGantryX);

// Convert nCurrGantry to um (smaller number) to read out in epics
M1K3.fCurrGantryY_um := LINT_TO_REAL(M1K3.nCurrGantryY) / 1000.0;
M1K3.fCurrGantryX_um := LINT_TO_REAL(M1K3.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);

// Calculate Pitch RMS Error:
fbYRMSErrorM1K3(stMotionStage:=M1,
                fMaxRMSError=>fMaxYRMSErrorM1K3,
                fMinRMSError=>fMinYRMSErrorM1K3);

fbXRMSErrorM1K3(stMotionStage:=M3,
                fMaxRMSError=>fMaxXRMSErrorM1K3,
                fMinRMSError=>fMinXRMSErrorM1K3);

fbPitchRMSErrorM1K3(stMotionStage:=M5,
                    fMaxRMSError=>fMaxPitchRMSErrorM1K3,
                    fMinRMSError=>fMinPitchRMSErrorM1K3);

// Pitch Control
fbM1K3PitchControl(Pitch:=GVL_M1K3.M1K3_Pitch,
                   Stepper:=M5,
                   lrCurrentSetpoint:=M5.fPosition,
                   q_bDone=>bM1K3PitchDone,
                   q_bBusy=>bM1K3PitchBusy);
// When STO hit, need to reset SP
IF NOT M5.bHardwareEnable THEN
    M5.fPosition := M5.stAxisStatus.fActPosition;
END_IF

// M2K3
M2K3.fbRunHOMS(stYup:=M6,
               stYdwn:=M7,
               stXup:=M8,
               stXdwn:=M9,
               stPitch:=M10,
               nYupEncRef:=GVL_M2K3_Constants.nYUP_ENC_REF,
               nYdwnEncRef:=GVL_M2K3_Constants.nYDWN_ENC_REF,
               nXupEncRef:=GVL_M2K3_Constants.nXUP_ENC_REF,
               nXdwnEncRef:=GVL_M2K3_Constants.nXDWN_ENC_REF,
               bExecuteCoupleY:=M2K3.bExecuteCoupleY,
               bExecuteCoupleX:=M2K3.bExecuteCoupleX,
               bExecuteDecoupleY:=M2K3.bExecuteDecoupleY,
               bExecuteDecoupleX:=M2K3.bExecuteDecoupleX,
               bGantryAlreadyCoupledY=>M2K3.bGantryAlreadyCoupledY,
               bGantryAlreadyCoupledX=>M2K3.bGantryAlreadyCoupledX,
               nCurrGantryY=>M2K3.nCurrGantryY,
               nCurrGantryX=>M2K3.nCurrGantryX);

// Convert nCurrGantry to um (smaller number) to read out in epics
M2K3.fCurrGantryY_um := LINT_TO_REAL(M2K3.nCurrGantryY) / 1000;
M2K3.fCurrGantryX_um := LINT_TO_REAL(M2K3.nCurrGantryX) / 1000;

// FB_MotionStage's for non-piezo axes
fbMotionStage_m6(stMotionStage:=M6);
fbMotionStage_m7(stMotionStage:=M7);
fbMotionStage_m8(stMotionStage:=M8);
fbMotionStage_m9(stMotionStage:=M9);

// Calculate RMS Error:
fbYRMSErrorM2K3(stMotionStage:=M6,
                fMaxRMSError=>fMaxYRMSErrorM2K3,
                fMinRMSError=>fMinYRMSErrorM2K3);

fbXRMSErrorM2K3(stMotionStage:=M8,
                fMaxRMSError=>fMaxXRMSErrorM2K3,
                fMinRMSError=>fMinXRMSErrorM2K3);

fbPitchRMSErrorM2K3(stMotionStage:=M10,
                    fMaxRMSError=>fMaxPitchRMSErrorM2K3,
                    fMinRMSError=>fMinPitchRMSErrorM2K3);

(*
3-15-20: Lost serial comm with E621 controller, unsure why....
// Pitch Control
fbM2K3PitchControl(Pitch:=GVL_M2K3.M2K3_Pitch,
                   Stepper:=M10,
                   lrCurrentSetpoint:=M10.fPosition,
                   q_bDone=>bM2K3PitchDone,
                   q_bBusy=>bM2K3PitchBusy);
// When STO hit, need to reset SP
IF NOT M10.bHardwareEnable THEN
    M10.fPosition := M10.stAxisStatus.fActPosition;
END_IF
*)
fbMotionStage_m10(stMotionStage:=M10);

// MR1K3 Flow Pressure Sensors
fbCoolingPanelMR1K3();
fbCoolingPanelMR2K3();
PRG_1_PlcTask();

END_PROGRAM

Related:

• GVL_M1K3

• GVL_M1K3_Constants

• GVL_M2K3

• GVL_M2K3_Constants

• PRG_1_PlcTask

P_Serial_Com

PROGRAM P_Serial_Com
VAR
    fbSerialLineControl_EL6001_M1K3: SerialLineControl;
    fbSerialLineControl_EL6001_M2K3: 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_M1K3(Mode:= SERIALLINEMODE_EL6_22B (*SERIALLINEMODE_KL6_22B_STANDARD*),
                                pComIn:= ADR(Serial_stComIn_M1K3),
                                   pComOut:=ADR(Serial_stComOut_M1K3),
                                SizeComIn:= SIZEOF(Serial_stComIn_M1K3),
                                TxBuffer:= Serial_TXBuffer_M1K3,
                                RxBuffer:= Serial_RXBuffer_M1K3,
                                Error=> ,
                                ErrorID=> );

fbSerialLineControl_EL6001_M2K3(Mode:= SERIALLINEMODE_EL6_22B (*SERIALLINEMODE_KL6_22B_STANDARD*),
                                pComIn:= ADR(Serial_stComIn_M2K3),
                                   pComOut:=ADR(Serial_stComOut_M2K3),
                                SizeComIn:= SIZEOF(Serial_stComIn_M2K3),
                                TxBuffer:= Serial_TXBuffer_M2K3,
                                RxBuffer:= Serial_RXBuffer_M2K3,
                                Error=> ,
                                ErrorID=> );

END_PROGRAM

PiezoSerial

PROGRAM PiezoSerial
VAR
    //PI Serial
    fbE621SerialDriver_M1K3 : FB_PI_E621_SerialDriver;
    rtInitParams_M1K3       :       R_TRIG;
    tonTimeoutRst_M1K3      : TON := (PT:=T#2S); //For timeout reset

    fbE621SerialDriver_M2K3 : FB_PI_E621_SerialDriver;
    rtInitParams_M2K3       :       R_TRIG;
    tonTimeoutRst_M2K3      : TON := (PT:=T#2S); //For timeout reset
END_VAR
//Piezo E-621
///////////////////////
fbE621SerialDriver_M1K3.i_xExecute := TRUE;
fbE621SerialDriver_M1K3.i_xExecute R= fbE621SerialDriver_M1K3.q_xDone;
fbE621SerialDriver_M1K3(iq_stPiezoAxis:= GVL_M1K3.M1K3_Pitch.Piezo,
                        iq_stSerialRXBuffer:= Serial_RXBuffer_M1K3,
                        iq_stSerialTXBuffer:= Serial_TXBuffer_M1K3);

fbE621SerialDriver_M2K3.i_xExecute := TRUE;
fbE621SerialDriver_M2K3.i_xExecute R= fbE621SerialDriver_M2K3.q_xDone;
fbE621SerialDriver_M2K3(iq_stPiezoAxis:= GVL_M2K3.M2K3_Pitch.Piezo,
                        iq_stSerialRXBuffer:= Serial_RXBuffer_M2K3,
                        iq_stSerialTXBuffer:= Serial_TXBuffer_M2K3);

END_PROGRAM

Related:

• GVL_M1K3

• GVL_M2K3

PRG_1_PlcTask

PROGRAM PRG_1_PlcTask
VAR
END_VAR
PRG_2_PMPS_POST();
PRG_MR1K3_SOMS();
PRG_MR2K3_SOMS();

END_PROGRAM

Related:

• PRG_2_PMPS_POST

• PRG_MR1K3_SOMS

• PRG_MR2K3_SOMS

PRG_2_PMPS_POST

PROGRAM PRG_2_PMPS_POST
VAR
    fbArbiterIO: FB_SubSysToArbiter_IO;
    fb_vetoArbiter: FB_VetoArbiter;
END_VAR
GVL_PMPS.fbFastFaultOutput1.Execute();

fbArbiterIO(
    Arbiter:=GVL_PMPS.fbArbiter1,
    fbFFHWO:=GVL_PMPS.fbFastFaultOutput1);
//Arb2 in hutch
(**fb_vetoArbiter(bVeto:= PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.L_Stopper.ST1L1],
                HigherAuthority := GVL_PMPS.fbArbiter1,
                LowerAuthority := GVL_PMPS.fbArbiter2,
                FFO := GVL_PMPS.fbFastFaultOutput1);
**)
//ff2_ff1_link_optics(
    //io_fbFFHWO := GVL_PMPS.fbFastFaultOutput1,
    //i_xOK :=  GVL_PMPS.fbFastFaultOutput2.q_xFastFaultOut);

//Code for Removing arbitration
GVL_PMPS.fbArbiter1.AddRequest(nReqID := 49, stReqBp := PMPS_GVL.cstFullBeam, sDevName := 'txi-kfe-optics');
GVL_PMPS.fbArbiter2.AddRequest(nReqID := 50, stReqBp := PMPS_GVL.cstFullBeam, sDevName := 'txi-kfe-optics');

//send encoder values for veto

END_PROGRAM

Related:

• GVL_PMPS

PRG_MR1K3_SOMS

PROGRAM PRG_MR1K3_SOMS
VAR
    {attribute 'TcLinkTo' := 'TIIB[PMPS_PRE]^IO Outputs^MR1K3_Y_ENC'}
    nMR1K3_Y_ENC_PMPS AT %Q* : ULINT;
    {attribute 'TcLinkTo' := 'TIIB[EL5042_M1K3_Yupdwn]^FB Inputs Channel 1^Status^Ready'}
    bMR1K3_Y_ENC_Ready AT %I* : BOOL;
    {attribute 'TcLinkTo' := 'TIIB[EL5042_M1K3_Yupdwn]^FB Inputs Channel 1^Status^TxPDO State'}
    bMR1K3_Y_ENC_TxPDO AT %I* : BOOL;
END_VAR
nMR1K3_Y_ENC_PMPS := MAIN.M1.nRawEncoderULINT;

END_PROGRAM

Related:

• MAIN

PRG_MR2K3_SOMS

PROGRAM PRG_MR2K3_SOMS
VAR
    {attribute 'TcLinkTo' := 'TIIB[PMPS_PRE]^IO Outputs^MR2K3_Y_ENC'}
    nMR2K3_Y_ENC_PMPS AT %Q* : ULINT;
    {attribute 'TcLinkTo' := 'TIIB[EL5042_M2K3_Yupdwn]^FB Inputs Channel 1^Status^Ready'}
    bMR2K3_Y_ENC_Ready AT %I* : BOOL;
    {attribute 'TcLinkTo' := 'TIIB[EL5042_M2K3_Yupdwn]^FB Inputs Channel 1^Status^TxPDO State'}
    bMR2K3_Y_ENC_TxPDO AT %I* : BOOL;
END_VAR
nMR2K3_Y_ENC_PMPS := MAIN.M6.nRawEncoderULINT;

END_PROGRAM

Related:

• MAIN