diff --git a/plc-tmo-motion/_Config/PLC/tmo_motion.xti b/plc-tmo-motion/_Config/PLC/tmo_motion.xti
index 5c2c72e..6a7225b 100644
--- 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:
-
+
tmo_motion Instance
{08500001-0000-0000-F000-000000000064}
diff --git a/plc-tmo-motion/plc-tmo-motion.tsproj b/plc-tmo-motion/plc-tmo-motion.tsproj
index 3df9dc5..fa9d653 100644
--- a/plc-tmo-motion/plc-tmo-motion.tsproj
+++ b/plc-tmo-motion/plc-tmo-motion.tsproj
@@ -39,12 +39,8 @@
-
-
-
-
diff --git a/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU b/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
index 9daa3ad..86ba3dd 100644
--- 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
index b3b3173..b0983f2 100644
--- 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
index b5f7ef7..eeaf4af 100644
--- a/plc-tmo-motion/tmo_motion/tmo_motion.tmc
+++ b/plc-tmo-motion/tmo_motion/tmo_motion.tmc
@@ -1,5 +1,5 @@
-
+
ST_System
@@ -19263,21 +19263,6 @@ contributing fast faults, unless the FFO is currently vetoed.
-
- USINT (USINT#1..255)
- 8
- USINT
-
-
- LowerBorder
- 1
-
-
- UpperBorder
- 255
-
-
-
E_IPCDiag_Datatype
parameter datatype 1..15
@@ -20886,7 +20871,7 @@ contributing fast faults, unless the FFO is currently vetoed.
nParameterIdx
- USINT (USINT#1..255)
+ USINT (1..255)
8
@@ -24747,7 +24732,7 @@ contributing fast faults, unless the FFO is currently vetoed.
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
16
UINT
@@ -24761,6 +24746,21 @@ contributing fast faults, unless the FFO is currently vetoed.
+
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ 16
+ UINT
+
+
+ LowerBorder
+ 1
+
+
+ UpperBorder
+ 1000
+
+
+
FB_AdsTestResultLogger
@@ -24778,7 +24778,7 @@ contributing fast faults, unless the FFO is currently vetoed.
PrintingTestSuiteResultNumber
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
16
192
@@ -24816,12 +24816,12 @@ contributing fast faults, unless the FFO is currently vetoed.
TestsInTestSuiteCounter
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
16
MaxNumberOfTestsToPrint
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
16
@@ -25754,7 +25754,7 @@ contributing fast faults, unless the FFO is currently vetoed.
WritingTestSuiteResultNumber
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
16
530752
@@ -26156,21 +26156,6 @@ contributing fast faults, unless the FFO is currently vetoed.
-
- UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
- 16
- UINT
-
-
- LowerBorder
- 1
-
-
- UpperBorder
- 100
-
-
-
U_ExpectedOrActual
4096
@@ -27794,7 +27779,7 @@ contributing fast faults, unless the FFO is currently vetoed.
NumberOfTestsToAnalyse
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
16
@@ -29329,7 +29314,7 @@ contributing fast faults, unless the FFO is currently vetoed.
NumberOfTestsToAnalyse
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
16
@@ -29914,7 +29899,7 @@ contributing fast faults, unless the FFO is currently vetoed.
NumberOfTestsToAnalyse
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
16
@@ -30362,7 +30347,7 @@ contributing fast faults, unless the FFO is currently vetoed.
NumberOfTestsToAnalyse
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
16
@@ -30736,7 +30721,7 @@ contributing fast faults, unless the FFO is currently vetoed.
NumberOfTestsToAnalyse
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)
16
@@ -100443,7 +100428,7 @@ second version of targets paddle 2
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.
16000
- UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
+ UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)
1
1000
@@ -104595,11 +104580,11 @@ second version of targets paddle 2
ChangeDate
- 2024-08-22T11:36:35
+ 2024-08-28T15:32:09
GeneratedCodeSize
- 1282048
+ 1228800
GlobalDataSize