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Merged
TomKovac merged 6 commits into from
May 5, 2026
+37 −35
Merged

festo #1129

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44c57f5
Create draft PR for #1128
TomKovac May 5, 2026
cf352a1
Add MC_PowerCycle variable and implement power cycling logic in MC_Po…
TomKovac May 5, 2026
f4fa337
Comment out SW_Limit assignment in AxoCmmtAs to prevent unintended be…
TomKovac May 5, 2026
5f004d3
Comment out MC_PowerCycle assignments to prevent unintended behavior
TomKovac May 5, 2026
e550937
sync
TomKovac May 5, 2026
6adff99
xxx
TomKovac May 5, 2026
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72 changes: 37 additions & 35 deletions src/components.festo.drives/ctrl/src/AxoCmmtAs/AxoCmmtAs.st
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Original file line number Diff line number Diff line change
Expand Up @@ -1169,6 +1169,7 @@ NAMESPACE AXOpen.Components.Festo.Drives
///</summary>
VAR INTERNAL
MC_PowerEnable_PV : BOOL := FALSE; //Enable - previous value
MC_PowerCycle : ULINT := ULINT#0;
END_VAR
METHOD PUBLIC OVERRIDE MC_Power
VAR_INPUT
Expand All @@ -1195,37 +1196,40 @@ NAMESPACE AXOpen.Components.Festo.Drives
END_IF;

IF Enable THEN
MC_PowerCycle := MC_PowerCycle + ULINT#1;
THIS.UpdateInputs(AxisRef);
IF _blink.Blink(THIS,T#2s,T#500ms) THEN
IF NOT MC_PowerEnable_PV THEN
_AxisReference^.Telegram750_Out.M_LIMIT_POS := 16384;
_AxisReference^.Telegram750_Out.M_LIMIT_NEG := -16384;
_AxisReference^.Telegram111_Out.MDI_ACC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.MDI_DEC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.Override_ := TO_WORD(TO_INT(16384.0 )); // * _AxisReference^.Data.OverrideVelocityFactor));
_AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
END_IF;
_AxisReference^.Telegram111_Out.STW1.on_ := TRUE;
_AxisReference^.Telegram111_Out.STW1.activateTraversing := FALSE;
_AxisReference^.Telegram111_Out.STW1.acknowledgeFault := FALSE;
// _AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
// _AxisReference^.Telegram111_Out.POS_STW2.SW_Limit := TRUE;
_AxisReference^.Telegram111_Out.POS_STW2.HW_Limit := TRUE;
_AxisReference^.Telegram111_Out.STW1.noCoastStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.noQuickStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.enableOperation := TRUE;
_AxisReference^.Telegram111_Out.STW1.cancelTraversing := TRUE;
_AxisReference^.Telegram111_Out.STW1.intermediateStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.controlByPlc := TRUE;
IF _AxisReference^.Telegram111_In.ZSW1.operationEnabled THEN
Status := TRUE; (* Status OK*)
Valid := TRUE;
ELSIF _AxisReference^.Telegram111_In.ZSW1.faultPresent = TRUE THEN
Error := TRUE; (* Set the ERROR-Output *)
Valid := TRUE;
ErrorID := TO_DINT(_AxisReference^.Telegram111_In.Fault_Code);
END_IF;
ELSE

IF NOT MC_PowerEnable_PV THEN
_AxisReference^.Telegram750_Out.M_LIMIT_POS := 16384;
_AxisReference^.Telegram750_Out.M_LIMIT_NEG := -16384;
_AxisReference^.Telegram111_Out.MDI_ACC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.MDI_DEC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.Override_ := TO_WORD(TO_INT(16384.0 )); // * _AxisReference^.Data.OverrideVelocityFactor));
_AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
END_IF;
_AxisReference^.Telegram111_Out.STW1.on_ := TRUE;
_AxisReference^.Telegram111_Out.STW1.activateTraversing := FALSE;
_AxisReference^.Telegram111_Out.STW1.acknowledgeFault := FALSE;
// _AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
// _AxisReference^.Telegram111_Out.POS_STW2.SW_Limit := TRUE;
_AxisReference^.Telegram111_Out.POS_STW2.HW_Limit := TRUE;
_AxisReference^.Telegram111_Out.STW1.noCoastStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.noQuickStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.enableOperation := TRUE;
_AxisReference^.Telegram111_Out.STW1.cancelTraversing := TRUE;
_AxisReference^.Telegram111_Out.STW1.intermediateStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.controlByPlc := TRUE;
IF _AxisReference^.Telegram111_In.ZSW1.operationEnabled THEN
MC_PowerCycle := ULINT#0;
Status := TRUE; (* Status OK*)
Valid := TRUE;
ELSIF _AxisReference^.Telegram111_In.ZSW1.faultPresent = TRUE THEN
Error := TRUE; (* Set the ERROR-Output *)
Valid := TRUE;
ErrorID := TO_DINT(_AxisReference^.Telegram111_In.Fault_Code);
END_IF;
IF MC_PowerCycle >= ULINT#2000 THEN
MC_PowerCycle := ULINT#0;
_AxisReference^.Telegram111_Out.STW1.on_ := FALSE;
_AxisReference^.Telegram111_Out.STW1.StartHoming := FALSE;
_AxisReference^.Telegram111_Out.POS_STW1.MDI_MOD := FALSE;
Expand All @@ -1250,7 +1254,7 @@ NAMESPACE AXOpen.Components.Festo.Drives

IF NOT Enable AND MC_PowerEnable_PV THEN
THIS.UpdateInputs(AxisRef);
_blink.Restore();
MC_PowerCycle := ULINT#0;
_AxisReference^.Telegram111_Out.STW1.on_ := FALSE;
THIS.UpdateOutputs(AxisRef);
END_IF;
Expand Down Expand Up @@ -5556,6 +5560,7 @@ NAMESPACE AXOpen.Components.Festo.Drives
END_METHOD

METHOD PUBLIC OVERRIDE Restore
MC_PowerCycle := ULINT#0;
MC_HomeExecute_PV := FALSE;
MC_HomeErrorID := DINT#0;
MC_HomeCycle := ULINT#0;
Expand Down Expand Up @@ -5678,7 +5683,6 @@ NAMESPACE AXOpen.Components.Festo.Drives
DriveStatus.Error.Id := UINT#0;
Messenger.Restore();
TaskMessenger.Restore();
_blink.Restore();


//AxoPower_Task.Restore();
Expand Down Expand Up @@ -5740,6 +5744,4 @@ NAMESPACE AXOpen.Components.Festo.Drives
RestoreTask.DoneWhen(TRUE);
END_METHOD
END_CLASS
END_NAMESPACE


END_NAMESPACE
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