modify parameters after swapping the mirror

tongju12 · Aug 29, 2024 · 380d109 · 380d109
1 parent 946b0d2
commit 380d109
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Showing 5 changed files with 52 additions and 63 deletions.
diff --git a/plc-tmo-motion/_Config/PLC/tmo_motion.xti b/plc-tmo-motion/_Config/PLC/tmo_motion.xti
@@ -1260,7 +1260,7 @@ External Setpoint Generation:
 		</DataType>
 	</DataTypes>
 	<Project GUID="{9DD0BA81-4A92-4D5E-8BD9-E101C02702D4}" Name="tmo_motion" PrjFilePath="..\..\tmo_motion\tmo_motion.plcproj" TmcFilePath="..\..\tmo_motion\tmo_motion.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
-		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tmo_motion\tmo_motion.tmc" TmcHash="{5EA336A7-BBC1-CAA7-3118-CDD119B4865E}">
+		<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tmo_motion\tmo_motion.tmc" TmcHash="{2A171A47-435F-81F5-D78A-688DB5203B14}">
 			<Name>tmo_motion Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Vars VarGrpType="1">

diff --git a/plc-tmo-motion/plc-tmo-motion.tsproj b/plc-tmo-motion/plc-tmo-motion.tsproj
@@ -39,12 +39,8 @@
 	</Project>
 	<Mappings>
 		<MappingInfo Identifier="{00000000-2001-0850-0020-500841000403}" Id="#x02030030"/>
-		<MappingInfo Identifier="{00000000-2002-0850-0120-500852000403}" Id="#x02030070"/>
 		<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
 		<MappingInfo Identifier="{08502001-0010-0304-0020-500810000403}" Id="#x02030020" Watchdog="00000000000000000000000000000000"/>
-		<MappingInfo Identifier="{08502002-0010-0304-0020-500810000403}" Id="#x02030050" Watchdog="00000000000000000000000000000000"/>
-		<MappingInfo Identifier="{08502002-0040-0304-0020-500840000403}" Id="#x02030060" Watchdog="04000000040000000400000004000000"/>
 		<MappingInfo Identifier="{05000010-2001-0850-3000-040300205008}" Id="#x02030040" Watchdog="14000000040000000400000004000000"/>
-		<MappingInfo Identifier="{05000010-2002-0850-3000-040301205008}" Id="#x02030080" Watchdog="14000000040000000400000004000000"/>
 	</Mappings>
 </TcSmProject>
diff --git a/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU b/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
@@ -60,11 +60,11 @@ fbMotionLI2K4X(stMotionStage:=Main.M46);
 
 //LI2K4 2DPMPS
 fbStateSetup(stPositionState:=stDefault, bSetDefault:=TRUE);
-fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT], fDelta := 0.5, sName := 'OUT', fPosition:=-0.75);
+fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT], fDelta := 0.1, sName := 'OUT', fPosition:=-0.214);
 
 fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.OUT], fDelta := 0.5,  sName := 'OUT', fPosition:=133.0);
-fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1],fDelta := 5.0, sName := 'MIRROR1', fPosition:=-3.375);
-fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1],fDelta := 5.0, sName := 'MIRROR1', fPosition:=84.5);
+fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1],fDelta := 0.4, sName := 'MIRROR1', fPosition:=-0.795);
+fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1],fDelta := 0.5, sName := 'MIRROR1', fPosition:=80.896);
 
 aLI2K4YStates[ENUM_LaserCoupling_States.OUT].stPMPS.sPmpsState := 'LI2K4:IP1-OUT';
 aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1].stPMPS.sPmpsState := 'LI2K4:IP1-MIRROR1';
@@ -73,18 +73,18 @@ aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1].stPMPS.sPmpsState := 'LI2K4:IP1
 
 //LI2K4 EPS condition: OUT->In move Y then move X + IN->OUT move X thenm move Y
 //Y only can move up and down when X is OUT
-{*
+
 EPS_LI2K4Y_Positive(eps:=Main.M45.stEPSForwardEnable);
-EPS_LI2K4Y_Positive.setBit(nBits := 0, bValue:= Main.M46.stAxisStatus.fActPosition > -0.8 OR Main.M45.stAxisStatus.fActPosition < 85);
+EPS_LI2K4Y_Positive.setBit(nBits := 0, bValue:= Main.M46.stAxisStatus.fActPosition > -0.3 OR Main.M45.stAxisStatus.fActPosition < 82);
 EPS_LI2K4Y_Negative(eps:=Main.M45.stEPSBackwardEnable);
-EPS_LI2K4Y_Negative.setBit(nBits := 0, bValue:= Main.M46.stAxisStatus.fActPosition > -0.8 OR Main.M45.stAxisStatus.fActPosition > 84);
+EPS_LI2K4Y_Negative.setBit(nBits := 0, bValue:= Main.M46.stAxisStatus.fActPosition > -0.3 OR Main.M45.stAxisStatus.fActPosition > 79);
 
 EPS_LI2K4X_Positive(eps:=Main.M46.stEPSForwardEnable);
-EPS_LI2K4X_Positive.setBit(nBits := 0, bValue:= Main.M45.stAxisStatus.fActPosition < 85 OR Main.M46.stAxisStatus.fActPosition < -0.65);
+EPS_LI2K4X_Positive.setBit(nBits := 0, bValue:= Main.M45.stAxisStatus.fActPosition < 82 OR Main.M46.stAxisStatus.fActPosition < -0.114);
 EPS_LI2K4X_Negative(eps:=Main.M46.stEPSBackwardEnable);
-EPS_LI2K4X_Negative.setBit(nBits := 0, bValue:= Main.M45.stAxisStatus.fActPosition < 85 OR Main.M46.stAxisStatus.fActPosition > -0.85);
+EPS_LI2K4X_Negative.setBit(nBits := 0, bValue:= Main.M45.stAxisStatus.fActPosition < 82 OR Main.M46.stAxisStatus.fActPosition > -0.314);
+
 
-*}
 
 //LI2K4 sequenct move : OUT->IN Y move first and then X moves IN->OUT X moves first then Y
 

diff --git a/plc-tmo-motion/tmo_motion/POUs/Sequence_Mover/FB_SequenceMover2D.TcPOU b/plc-tmo-motion/tmo_motion/POUs/Sequence_Mover/FB_SequenceMover2D.TcPOU
@@ -155,7 +155,9 @@ CASE nState OF
                 stPMPSPlcToEpics=>stPMPSPlcToEpics,
             );
             tonStateSequenceTimeout(IN:=NOT stMotionStage1.bBusy,PT:=tStateSequenceTimeoutTime);
-            IF eEnumGet1 = nGoal THEN
+            IF stMotionStage1.Axis.NcToPlc.ActPos >= astPositionState1[nGoal].fPosition - astPositionState1[nGoal].fDelta AND
+                stMotionStage1.Axis.NcToPlc.ActPos <= astPositionState1[nGoal].fPosition + astPositionState1[nGoal].fDelta THEN
+                eEnumGet1 := nGoal;
                 eEnumSet := nGoal;
                 tonStateSequenceTimeout(IN:=FALSE);
                 nState := 10;
@@ -183,7 +185,9 @@ CASE nState OF
                 stPMPSPlcToEpics=>stPMPSPlcToEpics,
             );
             tonStateSequenceTimeout(IN:=NOT stMotionStage2.bBusy,PT:=tStateSequenceTimeoutTime);
-            IF eEnumGet2 = nGoal THEN
+            IF stMotionStage2.Axis.NcToPlc.ActPos >= astPositionState2[nGoal].fPosition - astPositionState2[nGoal].fDelta AND
+                stMotionStage2.Axis.NcToPlc.ActPos <= astPositionState2[nGoal].fPosition + astPositionState2[nGoal].fDelta THEN
+                eEnumGet2 := nGoal;
                 eEnumSet := nGoal;
                 tonStateSequenceTimeout(IN:=FALSE);
                 nState := 20;
@@ -211,7 +215,9 @@ CASE nState OF
             stPMPSPlcToEpics=>stPMPSPlcToEpics,
         );
         tonStateSequenceTimeout(IN:=NOT stMotionStage2.bBusy,PT:=tStateSequenceTimeoutTime);
-        IF eEnumGet2 = nGoal THEN
+        IF stMotionStage2.Axis.NcToPlc.ActPos >= astPositionState2[nGoal].fPosition - astPositionState2[nGoal].fDelta AND
+            stMotionStage2.Axis.NcToPlc.ActPos <= astPositionState2[nGoal].fPosition + astPositionState2[nGoal].fDelta THEN
+            eEnumGet2 := nGoal;
             nState := 0;
             tonStateSequenceTimeout(IN:=FALSE);
         ELSIF tonStateSequenceTimeout.Q THEN
@@ -237,7 +243,9 @@ CASE nState OF
             stPMPSPlcToEpics=>stPMPSPlcToEpics,
         );
         tonStateSequenceTimeout(IN:=NOT stMotionStage1.bBusy,PT:=tStateSequenceTimeoutTime);
-        IF eEnumGet1 = nGoal THEN
+        IF stMotionStage1.Axis.NcToPlc.ActPos >= astPositionState1[nGoal].fPosition - astPositionState1[nGoal].fDelta AND
+            stMotionStage1.Axis.NcToPlc.ActPos <= astPositionState1[nGoal].fPosition + astPositionState1[nGoal].fDelta THEN
+            eEnumGet1 := nGoal;
             nState := 0;
             tonStateSequenceTimeout(IN:=FALSE);
         ELSIF tonStateSequenceTimeout.Q THEN

diff --git a/plc-tmo-motion/tmo_motion/tmo_motion.tmc b/plc-tmo-motion/tmo_motion/tmo_motion.tmc
@@ -1,5 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{5EA336A7-BBC1-CAA7-3118-CDD119B4865E}" GeneratedBy="TwinCAT XAE Plc">
+<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{2A171A47-435F-81F5-D78A-688DB5203B14}" GeneratedBy="TwinCAT XAE Plc">
   <DataTypes>
     <DataType>
       <Name Namespace="LCLS_General">ST_System</Name>
@@ -19263,21 +19263,6 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Property>
       </Properties>
     </DataType>
-    <DataType>
-      <Name>USINT (USINT#1..255)</Name>
-      <BitSize>8</BitSize>
-      <BaseType>USINT</BaseType>
-      <Properties>
-        <Property>
-          <Name>LowerBorder</Name>
-          <Value>1</Value>
-        </Property>
-        <Property>
-          <Name>UpperBorder</Name>
-          <Value>255</Value>
-        </Property>
-      </Properties>
-    </DataType>
     <DataType>
       <Name Namespace="lcls_twincat_common_components.lcls_twincat_motion.Tc3_IPCDiag">E_IPCDiag_Datatype</Name>
       <Comment> parameter datatype 1..15</Comment>
@@ -20886,7 +20871,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Parameter>
         <Local>
           <Name>nParameterIdx</Name>
-          <Type>USINT (USINT#1..255)</Type>
+          <Type>USINT (1..255)</Type>
           <BitSize>8</BitSize>
         </Local>
         <Local>
@@ -24747,7 +24732,7 @@ contributing fast faults, unless the FFO is currently vetoed.
       </Method>
     </DataType>
     <DataType>
-      <Name>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Name>
+      <Name>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Name>
       <BitSize>16</BitSize>
       <BaseType>UINT</BaseType>
       <Properties>
@@ -24761,6 +24746,21 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Property>
       </Properties>
     </DataType>
+    <DataType>
+      <Name>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Name>
+      <BitSize>16</BitSize>
+      <BaseType>UINT</BaseType>
+      <Properties>
+        <Property>
+          <Name>LowerBorder</Name>
+          <Value>1</Value>
+        </Property>
+        <Property>
+          <Name>UpperBorder</Name>
+          <Value>1000</Value>
+        </Property>
+      </Properties>
+    </DataType>
     <DataType>
       <Name Namespace="lcls_twincat_common_components.lcls_twincat_motion.PMPS.TcUnit">FB_AdsTestResultLogger</Name>
       <Comment>
@@ -24778,7 +24778,7 @@ contributing fast faults, unless the FFO is currently vetoed.
       </SubItem>
       <SubItem>
         <Name>PrintingTestSuiteResultNumber</Name>
-        <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+        <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
         <BitSize>16</BitSize>
         <BitOffs>192</BitOffs>
       </SubItem>
@@ -24816,12 +24816,12 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>TestsInTestSuiteCounter</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
           <BitSize>16</BitSize>
         </Local>
         <Local>
           <Name>MaxNumberOfTestsToPrint</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
           <BitSize>16</BitSize>
         </Local>
         <Local>
@@ -25754,7 +25754,7 @@ contributing fast faults, unless the FFO is currently vetoed.
       </SubItem>
       <SubItem>
         <Name>WritingTestSuiteResultNumber</Name>
-        <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+        <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
         <BitSize>16</BitSize>
         <BitOffs>530752</BitOffs>
       </SubItem>
@@ -26156,21 +26156,6 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Property>
       </Properties>
     </DataType>
-    <DataType>
-      <Name>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Name>
-      <BitSize>16</BitSize>
-      <BaseType>UINT</BaseType>
-      <Properties>
-        <Property>
-          <Name>LowerBorder</Name>
-          <Value>1</Value>
-        </Property>
-        <Property>
-          <Name>UpperBorder</Name>
-          <Value>100</Value>
-        </Property>
-      </Properties>
-    </DataType>
     <DataType>
       <Name Namespace="lcls_twincat_common_components.lcls_twincat_motion.PMPS.TcUnit">U_ExpectedOrActual</Name>
       <BitSize>4096</BitSize>
@@ -27794,7 +27779,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
         <Local>
@@ -29329,7 +29314,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -29914,7 +29899,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -30362,7 +30347,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -30736,7 +30721,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -100443,7 +100428,7 @@ second version of targets paddle 2</Comment>
        We do this by defining an array, in where we can see which current TEST_ORDERED() is the one to be handled right now.
        The below array is only used for TEST_ORDERED()-tests.  </Comment>
             <BitSize>16000</BitSize>
-            <BaseType>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</BaseType>
+            <BaseType>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</BaseType>
             <ArrayInfo>
               <LBound>1</LBound>
               <Elements>1000</Elements>
@@ -104595,11 +104580,11 @@ second version of targets paddle 2</Comment>
         </Property>
         <Property>
           <Name>ChangeDate</Name>
-          <Value>2024-08-22T11:36:35</Value>
+          <Value>2024-08-28T15:32:09</Value>
         </Property>
         <Property>
           <Name>GeneratedCodeSize</Name>
-          <Value>1282048</Value>
+          <Value>1228800</Value>
         </Property>
         <Property>
           <Name>GlobalDataSize</Name>