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deploy Sp1K4-FZP targets PMPS and with sp1k4-attenuator condition
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@tongju12
tongju12 committed Aug 1, 2023
1 parent 4dc841a commit bfbcbc1
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Showing 6 changed files with 932 additions and 494 deletions.
14 changes: 8 additions & 6 deletions plc-tmo-motion/_Config/NC/Axes/YagTheta.xti
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Original file line number Diff line number Diff line change
Expand Up @@ -1326,6 +1326,7 @@ External Setpoint Generation:
<AxisPara>
<Dynamic Acceleration="2" Deceleration="2"/>
<Velo SlowManual="0.1" FastManual="1" Maximum="1"/>
<TargetPosControl Range="0.001" Time="0.8"/>
<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="0.5" PulseDistanceNeg="0.5"/>
</AxisPara>
<Encoder Name="Enc" EncType="4">
Expand All @@ -1337,7 +1338,7 @@ External Setpoint Generation:
<Var>
<Name>In</Name>
<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
<BitOffs>71040</BitOffs>
<BitOffs>72320</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataIn1</Name>
</SubVar>
Expand Down Expand Up @@ -1375,7 +1376,7 @@ External Setpoint Generation:
<Var>
<Name>Out</Name>
<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
<BitOffs>112000</BitOffs>
<BitOffs>113280</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataOut1</Name>
</SubVar>
Expand Down Expand Up @@ -1407,7 +1408,7 @@ External Setpoint Generation:
<Var>
<Name>In</Name>
<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
<BitOffs>71360</BitOffs>
<BitOffs>72640</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataIn1</Name>
</SubVar>
Expand Down Expand Up @@ -1445,7 +1446,7 @@ Drive Status 4 (manually linked):
<Var>
<Name>Out</Name>
<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
<BitOffs>112320</BitOffs>
<BitOffs>113600</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataOut1</Name>
</SubVar>
Expand Down Expand Up @@ -1490,6 +1491,7 @@ Drive Status 4 (manually linked):
<Controller Name="Ctrl" CtrType="2">
<CtrPara PriorControlFactor="1">
<PosDiffControl Range="1"/>
<PID PosKp="5" DeadBandPosition="0.001"/>
<Observer BandWidth="20"/>
</CtrPara>
</Controller>
Expand All @@ -1498,15 +1500,15 @@ Drive Status 4 (manually linked):
<Var>
<Name>FromPlc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
<BitOffs>70016</BitOffs>
<BitOffs>71296</BitOffs>
</Var>
</Vars>
<Vars VarGrpType="2" InsertType="1">
<Name>Outputs</Name>
<Var>
<Name>ToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<BitOffs>109952</BitOffs>
<BitOffs>111232</BitOffs>
<SubVar>
<Name>AxisState</Name>
<Comment>
Expand Down
241 changes: 192 additions & 49 deletions plc-tmo-motion/_Config/PLC/tmo_motion.xti
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Original file line number Diff line number Diff line change
@@ -1,24 +1,6 @@
<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmItem" TcSmVersion="1.0" TcVersion="3.1.4022.30" ClassName="CNestedPlcProjDef">
<DataTypes>
<DataType>
<Name GUID="{18071995-0000-0000-0000-000000000041}" TcBaseType="true" HideSubItems="true" CName="AmsNetId">AMSNETID</Name>
<BitSize>48</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>6</Elements>
</ArrayInfo>
<Format>
<Printf>%d.%d.%d.%d.%d.%d</Printf>
<Parameter>[0]</Parameter>
<Parameter>[1]</Parameter>
<Parameter>[2]</Parameter>
<Parameter>[3]</Parameter>
<Parameter>[4]</Parameter>
<Parameter>[5]</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_STATE</Name>
<BitSize>32</BitSize>
Expand Down Expand Up @@ -1204,13 +1186,6 @@ External Setpoint Generation:
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="1">
<Name>PlcTask Inputs</Name>
<Var>
<Name>LCLS_General.DefaultGlobals.stSys.I_EcatMaster1</Name>
<Comment>
<![CDATA[ AMS Net ID used for FB_EcatDiag, among others ]]>
</Comment>
<Type GUID="{18071995-0000-0000-0000-000000000041}">AMSNETID</Type>
</Var>
<Var>
<Name>PRG_AL1K4_L2SI.fbAL1K4.fbYStage.fbDriveVirtual.MasterAxis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
Expand Down Expand Up @@ -2309,6 +2284,14 @@ External Setpoint Generation:
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_SP1K4.bHallInput1</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bHallInput2</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SL2K4_SCATTER.fbSL2K4.fbTopBlade.fbDriveVirtual.MasterAxis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
Expand Down Expand Up @@ -2527,22 +2510,6 @@ External Setpoint Generation:
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_SP1K4.bHallInput1</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bHallInput2</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bTL1High</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bTL1Low</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_ST4K4_TMO_TERM.ST4K4.i_xInsertedLS</Name>
<Comment>
Expand All @@ -2555,11 +2522,11 @@ External Setpoint Generation:
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bTL2High</Name>
<Name>PRG_SP1K4.bTL1High</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bTL2Low</Name>
<Name>PRG_SP1K4.bTL1Low</Name>
<Type>BOOL</Type>
</Var>
<Var>
Expand Down Expand Up @@ -2676,6 +2643,14 @@ External Setpoint Generation:
<Name>PRG_TM1K4.fbTM1K4.fbThermoCouple1.iRaw</Name>
<Type>INT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bTL2High</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.bTL2Low</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_TM2K4.fbTM2K4.fbYStage.fbDriveVirtual.MasterAxis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
Expand Down Expand Up @@ -3428,7 +3403,7 @@ External Setpoint Generation:
</SubVar>
</Var>
<Var>
<Name>PRG_SP1K4.fb_ZPS.fbXStage.fbDriveVirtual.MasterAxis.NcToPlc</Name>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].Axis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
Expand Down Expand Up @@ -3477,7 +3452,56 @@ External Setpoint Generation:
</SubVar>
</Var>
<Var>
<Name>PRG_SP1K4.fb_ZPS.fbYStage.fbDriveVirtual.MasterAxis.NcToPlc</Name>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].bLimitForwardEnable</Name>
<Comment>
<![CDATA[ NC Forward Limit Switch: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].bLimitBackwardEnable</Name>
<Comment>
<![CDATA[ NC Backward Limit Switch: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].bHome</Name>
<Comment>
<![CDATA[ NO Home Switch: TRUE if at home]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].bHardwareEnable</Name>
<Comment>
<![CDATA[ NC STO Input: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].nRawEncoderULINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for ULINT (Biss-C)]]>
</Comment>
<Type>ULINT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].nRawEncoderUINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for UINT (Relative Encoders)]]>
</Comment>
<Type>UINT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].nRawEncoderINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for INT (LVDT)]]>
</Comment>
<Type>INT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].Axis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
Expand Down Expand Up @@ -3526,7 +3550,56 @@ External Setpoint Generation:
</SubVar>
</Var>
<Var>
<Name>PRG_SP1K4.fb_ZPS.fbZStage.fbDriveVirtual.MasterAxis.NcToPlc</Name>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].bLimitForwardEnable</Name>
<Comment>
<![CDATA[ NC Forward Limit Switch: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].bLimitBackwardEnable</Name>
<Comment>
<![CDATA[ NC Backward Limit Switch: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].bHome</Name>
<Comment>
<![CDATA[ NO Home Switch: TRUE if at home]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].bHardwareEnable</Name>
<Comment>
<![CDATA[ NC STO Input: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].nRawEncoderULINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for ULINT (Biss-C)]]>
</Comment>
<Type>ULINT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].nRawEncoderUINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for UINT (Relative Encoders)]]>
</Comment>
<Type>UINT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].nRawEncoderINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for INT (LVDT)]]>
</Comment>
<Type>INT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].Axis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
Expand Down Expand Up @@ -3574,6 +3647,55 @@ External Setpoint Generation:
</Comment>
</SubVar>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].bLimitForwardEnable</Name>
<Comment>
<![CDATA[ NC Forward Limit Switch: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].bLimitBackwardEnable</Name>
<Comment>
<![CDATA[ NC Backward Limit Switch: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].bHome</Name>
<Comment>
<![CDATA[ NO Home Switch: TRUE if at home]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].bHardwareEnable</Name>
<Comment>
<![CDATA[ NC STO Input: TRUE if ok to move]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].nRawEncoderULINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for ULINT (Biss-C)]]>
</Comment>
<Type>ULINT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].nRawEncoderUINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for UINT (Relative Encoders)]]>
</Comment>
<Type>UINT</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].nRawEncoderINT</Name>
<Comment>
<![CDATA[ Raw encoder IO for INT (LVDT)]]>
</Comment>
<Type>INT</Type>
</Var>
<Var>
<Name>PRG_3_PMPS_POST.fbArbiterIO.i_stCurrentBP</Name>
<Type GUID="{292CD354-C7C0-4A61-AAD0-1C85DD69646B}">ST_BeamParams_IO</Type>
Expand Down Expand Up @@ -8314,17 +8436,38 @@ External Setpoint Generation:
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fb_ZPS.fbXStage.fbDriveVirtual.MasterAxis.PlcToNc</Name>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fb_ZPS.fbYStage.fbDriveVirtual.MasterAxis.PlcToNc</Name>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[1].bBrakeRelease</Name>
<Comment>
<![CDATA[ NC Brake Output: TRUE to release brake]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fb_ZPS.fbZStage.fbDriveVirtual.MasterAxis.PlcToNc</Name>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[2].bBrakeRelease</Name>
<Comment>
<![CDATA[ NC Brake Output: TRUE to release brake]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>PRG_SP1K4.fbZPStates.astMotionStageMax[3].bBrakeRelease</Name>
<Comment>
<![CDATA[ NC Brake Output: TRUE to release brake]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>GVL_PMPS.PMPS_ST4K4_IN</Name>
<Type>BOOL</Type>
Expand Down
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