decoupling st1k4 from st3k4 when st3k4 is out and tune im2k0 lag para…

…meter
tongju12 · Jun 18, 2024 · ce168b0 · ce168b0
1 parent eb1d955
commit ce168b0
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Showing 5 changed files with 706 additions and 554 deletions.
diff --git a/plc-kfe-motion/_Config/NC/Axes/Axis 5 IM2K0-XTES-MMS.xti b/plc-kfe-motion/_Config/NC/Axes/Axis 5 IM2K0-XTES-MMS.xti
@@ -1464,7 +1464,7 @@ Drive Status 4 (manually linked):
 		</Drive>
 		<Controller Name="Ctrl" CtrType="2">
 			<CtrPara PriorControlFactor="1">
-				<PosDiffControl Range="1"/>
+				<PosDiffControl Range="1" Time="0.1"/>
 				<PID PosKp="20" PosExtKp="20" DeadBandPosition="0.001"/>
 				<Observer BandWidth="20"/>
 			</CtrPara>

diff --git a/plc-kfe-motion/_Config/NC/Axes/ST1K4-TEST.xti b/plc-kfe-motion/_Config/NC/Axes/ST1K4-TEST.xti
@@ -1462,7 +1462,7 @@ Drive Status 4 (manually linked):
 		</Drive>
 		<Controller Name="Ctrl" CtrType="1">
 			<CtrPara PriorControlFactor="1">
-				<PosDiffControl Range="0.1"/>
+				<PosDiffControl Range="0.2"/>
 				<Observer BandWidth="20"/>
 			</CtrPara>
 		</Controller>

diff --git a/plc-kfe-motion/_Config/PLC/kfe_motion.xti b/plc-kfe-motion/_Config/PLC/kfe_motion.xti
@@ -4176,6 +4176,14 @@ External Setpoint Generation:
 					<Name>PRG_ST1K4_TEST.fbFlowSwitch.bFlowOk</Name>
 					<Type>BOOL</Type>
 				</Var>
+				<Var>
+					<Name>PRG_OTHER.fbPC1K0FlowSwitch.bFlowOk</Name>
+					<Type>BOOL</Type>
+				</Var>
+				<Var>
+					<Name>PRG_OTHER.fbPC1K4FlowSwitch.bFlowOk</Name>
+					<Type>BOOL</Type>
+				</Var>
 				<Var>
 					<Name>PRG_3_PMPS_POST.fbArbiterIO.i_stCurrentBP</Name>
 					<Type GUID="{292CD354-C7C0-4A61-AAD0-1C85DD69646B}">ST_BeamParams_IO</Type>
@@ -7552,14 +7560,6 @@ External Setpoint Generation:
 					<Name>GVL.rReqTrans</Name>
 					<Type GUID="{6D319B26-4590-2152-3DE7-3BA9B629CA65}">ARRAY [1..16] OF ST_PMPS_Attenuator_IO</Type>
 				</Var>
-				<Var>
-					<Name>PRG_OTHER.fbPC1K0FlowSwitch.bFlowOk</Name>
-					<Type>BOOL</Type>
-				</Var>
-				<Var>
-					<Name>PRG_OTHER.fbPC1K4FlowSwitch.bFlowOk</Name>
-					<Type>BOOL</Type>
-				</Var>
 			</Vars>
 			<Vars VarGrpType="2">
 				<Name>PlcTask Outputs</Name>

diff --git a/plc-kfe-motion/kfe_motion/POUs/PRG_ST1K4_TEST.TcPOU b/plc-kfe-motion/kfe_motion/POUs/PRG_ST1K4_TEST.TcPOU
@@ -45,6 +45,7 @@ VAR
     {attribute 'TcLinkTo' := '.bFlowOk := TIIB[ST1K4-EL1004-E5]^Channel 1^Input'}
     fbFlowSwitch: FB_XTES_Flowswitch;
 
+
 END_VAR
 
 ]]></Declaration>
@@ -73,12 +74,13 @@ fbStates(
 
 bST3K4_in := PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.ST3K4];
 
+
 IF bST3K4_auto THEN
     IF bST3K4_in AND eEnumGet <> E_EpicsInOut.IN THEN
         eEnumSet := ENUM_EpicsInOut.IN;
-    ELSIF NOT bST3K4_in AND eEnumGet <> E_EpicsInOut.OUT THEN
+{*    ELSIF NOT bST3K4_in AND eEnumGet <> E_EpicsInOut.OUT THEN
         eEnumSet := ENUM_EpicsInOut.OUT;
-    END_IF
+ *}   END_IF
 END_IF
 
 fbFlowSwitch();