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lcls-twincat-motion/Library/DUTs/ST_AxisParameterSetExposed.TcDUT
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| <?xml version="1.0" encoding="utf-8"?> | ||
| <TcPlcObject Version="1.1.0.1"> | ||
| <DUT Name="ST_AxisParameterSetExposed" Id="{ee296551-543a-4bbb-98b7-123ff2229439}"> | ||
| <Declaration><![CDATA[TYPE ST_AxisParameterSetExposed : | ||
| // Collects the axis parameters that are intentionally exposed to EPICS. | ||
| STRUCT | ||
| // Maximum Dynamics | ||
| {attribute 'pytmc' := ' | ||
| pv: MaxVel | ||
| io: i | ||
| field: DESC Maximum commandable speed of the axis in EU/s. | ||
| '} | ||
| fVeloMaximum : LREAL; // Maximum commandable speed of the axis in EU/s. | ||
| {attribute 'pytmc' := ' | ||
| pv: MaxAccel | ||
| io: i | ||
| field: DESC Maximum rate of increase in speed of the axis in EU/s^2. | ||
| '} | ||
| fAccelerationMax : LREAL; // Maximum rate of increase in speed of the axis in EU/s^2. | ||
| {attribute 'pytmc' := ' | ||
| pv: MaxDecel | ||
| io: i | ||
| field: DESC Maximum rate of decrease in speed of the axis in EU/s^2. | ||
| '} | ||
| fDecelerationMax : LREAL; // Maximum rate of decrease in speed of the axis in EU/s^2. | ||
| // Monitoring | ||
| {attribute 'pytmc' := ' | ||
| pv: PosLagEn | ||
| io: i | ||
| field: DESC TRUE if position lag monitor (also known as stall monitor) is enabled. | ||
| '} | ||
| bCtrlEnablePosDiffControl : WORD; // Enable/Disable state of Position Lag Monitor. | ||
| {attribute 'pytmc' := ' | ||
| pv: PosLagVal | ||
| io: i | ||
| field: DESC Maximum magnitude of position lag in EU. | ||
| '} | ||
| fCtrlPosDiffMax : LREAL; // Maximum magnitude of position lag in EU. | ||
| {attribute 'pytmc' := ' | ||
| pv: PosLagTime | ||
| io: i | ||
| field: DESC Maximum allowable duration outside of maximum position lag value in seconds. | ||
| '} | ||
| fCtrlPosDiffMaxTime : LREAL; // Maximum allowable duration outside of maximum position lag value in seconds. | ||
| // Limit Switches | ||
| {attribute 'pytmc' := ' | ||
| pv: SLimMinEn | ||
| io: i | ||
| field: DESC TRUE if controller static minimum limit is enabled. | ||
| '} | ||
| bEncEnableSoftEndMinControl : WORD; // Enable/Disable state of controller static minimum limit. | ||
| {attribute 'pytmc' := ' | ||
| pv: SLimMaxEn | ||
| io: i | ||
| field: DESC TRUE if controller static maximum limit is enabled. | ||
| '} | ||
| bEncEnableSoftEndMaxControl : WORD; // Enable/Disable state of controller static maximum limit. | ||
| {attribute 'pytmc' := ' | ||
| pv: SLimMin | ||
| io: i | ||
| field: DESC Minimum commandable position of the axis in EU. | ||
| '} | ||
| fEncSoftEndMin : LREAL; // Minimum commandable position of the axis in EU. | ||
| {attribute 'pytmc' := ' | ||
| pv: SLimMax | ||
| io: i | ||
| field: DESC Maximum commandable position of the axis in EU. | ||
| '} | ||
| fEncSoftEndMax : LREAL; // Maximum commandable position of the axis in EU. | ||
| // Encoder Evaluation | ||
| {attribute 'pytmc' := ' | ||
| pv: EncScaling | ||
| io: i | ||
| field: DESC Encoder scaling numerator / denominator in EU/COUNT. | ||
| '} | ||
| fEncScaleFactorInternal : LREAL; // Encoder scaling numerator / denominator in EU/COUNT. | ||
| {attribute 'pytmc' := ' | ||
| pv: EncOffset | ||
| io: i | ||
| field: DESC Encoder offset in EU. | ||
| '} | ||
| fEncOffset : LREAL; // Encoder offset in EU. | ||
| END_STRUCT | ||
| END_TYPE | ||
| ]]></Declaration> | ||
| </DUT> | ||
| </TcPlcObject> |
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140 changes: 140 additions & 0 deletions
140
lcls-twincat-motion/Library/Tests/FB_AxisParameterSetExposed_Test.TcPOU
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| <?xml version="1.0" encoding="utf-8"?> | ||
| <TcPlcObject Version="1.1.0.1"> | ||
| <POU Name="FB_AxisParameterSetExposed_Test" Id="{862cf200-7f25-43c6-8605-e66b08e38db7}" SpecialFunc="None"> | ||
| <Declaration><![CDATA[FUNCTION_BLOCK FB_AxisParameterSetExposed_Test EXTENDS FB_MotorTestSuite | ||
| (* | ||
| Quick Check to verify exposed NC parameters are copied properly. | ||
| *) | ||
| VAR | ||
| stMotionStage: ST_MotionStage; | ||
| fbMotionStage: FB_MotionStage; | ||
| nTestCounter: UINT; | ||
| bOneTestDone: BOOL; | ||
| tonTimer: TON; | ||
| END_VAR | ||
| ]]></Declaration> | ||
| <Implementation> | ||
| <ST><![CDATA[IF nTestCounter = 0 THEN | ||
| nTestCounter := 1; | ||
| END_IF | ||
| // Test that parameters are copied to the exposed parameters properly. | ||
| TestParameterCopy(1); | ||
| IF bOneTestDone THEN | ||
| bOneTestDone := FALSE; | ||
| nTestCounter := nTestCounter + 1; | ||
| tonTimer(IN:=FALSE); | ||
| END_IF; | ||
| // Use this timer to time out any tests that stall | ||
| tonTimer( | ||
| IN:=nTestCounter >= 1, | ||
| PT:=T#2s, | ||
| ); | ||
| ]]></ST> | ||
| </Implementation> | ||
| <Method Name="TestParameterCopy" Id="{7caa7a7e-60eb-46a7-b83a-472b67bef094}"> | ||
| <Declaration><![CDATA[METHOD TestParameterCopy | ||
| VAR_INPUT | ||
| nTestIndex: UINT; | ||
| END_VAR | ||
| VAR_INST | ||
| bLocalInit: BOOL := TRUE; | ||
| bAllModified: BOOL; | ||
| bReady: BOOL; | ||
| bDone: BOOL; | ||
| END_VAR | ||
| ]]></Declaration> | ||
| <Implementation> | ||
| <ST><![CDATA[TEST(CONCAT('TestParameterCopy', UINT_TO_STRING(nTestIndex))); | ||
| IF nTestCounter <> nTestIndex OR bOneTestDone THEN | ||
| RETURN; | ||
| END_IF | ||
| fbMotionStage(stMotionStage:=stMotionStage); | ||
| IF bLocalInit THEN | ||
| stMotionStage.stAxisParametersExposed.bCtrlEnablePosDiffControl := 100; | ||
| stMotionStage.stAxisParametersExposed.bEncEnableSoftEndMaxControl := 101; | ||
| stMotionStage.stAxisParametersExposed.bEncEnableSoftEndMinControl := 102; | ||
| stMotionStage.stAxisParametersExposed.fAccelerationMax := 103; | ||
| stMotionStage.stAxisParametersExposed.fCtrlPosDiffMax := 104; | ||
| stMotionStage.stAxisParametersExposed.fCtrlPosDiffMaxTime := 105; | ||
| stMotionStage.stAxisParametersExposed.fDecelerationMax := 106; | ||
| stMotionStage.stAxisParametersExposed.fEncSoftEndMax := 107; | ||
| stMotionStage.stAxisParametersExposed.fEncSoftEndMin := 108; | ||
| stMotionStage.stAxisParametersExposed.fVeloMaximum := 109; | ||
| stMotionStage.stAxisParametersExposed.fEncOffset := 110; | ||
| stMotionStage.stAxisParametersExposed.fEncScaleFactorInternal := 111; | ||
| bLocalInit := FALSE; | ||
| bAllModified := | ||
| stMotionStage.stAxisParametersExposed.bCtrlEnablePosDiffControl <> stMotionStage.stAxisParameters.bCtrlEnablePosDiffControl AND | ||
| stMotionStage.stAxisParametersExposed.bEncEnableSoftEndMaxControl <> stMotionStage.stAxisParameters.bEncEnableSoftEndMaxControl AND | ||
| stMotionStage.stAxisParametersExposed.bEncEnableSoftEndMinControl <> stMotionStage.stAxisParameters.bEncEnableSoftEndMinControl AND | ||
| stMotionStage.stAxisParametersExposed.fAccelerationMax <> stMotionStage.stAxisParameters.fAccelerationMax AND | ||
| stMotionStage.stAxisParametersExposed.fCtrlPosDiffMax <> stMotionStage.stAxisParameters.fCtrlPosDiffMax AND | ||
| stMotionStage.stAxisParametersExposed.fCtrlPosDiffMaxTime <> stMotionStage.stAxisParameters.fCtrlPosDiffMaxTime AND | ||
| stMotionStage.stAxisParametersExposed.fDecelerationMax <> stMotionStage.stAxisParameters.fDecelerationMax AND | ||
| stMotionStage.stAxisParametersExposed.fEncSoftEndMax <> stMotionStage.stAxisParameters.fEncSoftEndMax AND | ||
| stMotionStage.stAxisParametersExposed.fEncSoftEndMin <> stMotionStage.stAxisParameters.fEncSoftEndMin AND | ||
| stMotionStage.stAxisParametersExposed.fVeloMaximum <> stMotionStage.stAxisParameters.fVeloMaximum AND | ||
| stMotionStage.stAxisParametersExposed.fEncOffset <> stMotionStage.stAxisParameters.fEncOffset AND | ||
| stMotionStage.stAxisParametersExposed.fEncScaleFactorInternal <> stMotionStage.stAxisParameters.fEncScaleFactorInternal; | ||
| AssertTrue( | ||
| Condition:=bAllModified, | ||
| Message:='One or more parameters was not modified initially so the check is invalid.', | ||
| ); | ||
| END_IF | ||
| bReady := | ||
| stMotionStage.stAxisParameters.bCtrlEnablePosDiffControl <> 0 AND | ||
| stMotionStage.stAxisParameters.bEncEnableSoftEndMaxControl <> 0 AND | ||
| stMotionStage.stAxisParameters.bEncEnableSoftEndMinControl <> 0 AND | ||
| stMotionStage.stAxisParameters.fAccelerationMax <> 0 AND | ||
| stMotionStage.stAxisParameters.fCtrlPosDiffMax <> 0 AND | ||
| stMotionStage.stAxisParameters.fCtrlPosDiffMaxTime <> 0 AND | ||
| stMotionStage.stAxisParameters.fDecelerationMax <> 0 AND | ||
| stMotionStage.stAxisParameters.fEncSoftEndMax <> 0 AND | ||
| stMotionStage.stAxisParameters.fEncSoftEndMin <> 0 AND | ||
| stMotionStage.stAxisParameters.fVeloMaximum <> 0 AND | ||
| stMotionStage.stAxisParameters.fEncOffset <> 0 AND | ||
| stMotionStage.stAxisParameters.fEncScaleFactorInternal <> 0; | ||
| IF bReady THEN | ||
| bDone := | ||
| stMotionStage.stAxisParametersExposed.bCtrlEnablePosDiffControl = stMotionStage.stAxisParameters.bCtrlEnablePosDiffControl AND | ||
| stMotionStage.stAxisParametersExposed.bEncEnableSoftEndMaxControl = stMotionStage.stAxisParameters.bEncEnableSoftEndMaxControl AND | ||
| stMotionStage.stAxisParametersExposed.bEncEnableSoftEndMinControl = stMotionStage.stAxisParameters.bEncEnableSoftEndMinControl AND | ||
| stMotionStage.stAxisParametersExposed.fAccelerationMax = stMotionStage.stAxisParameters.fAccelerationMax AND | ||
| stMotionStage.stAxisParametersExposed.fCtrlPosDiffMax = stMotionStage.stAxisParameters.fCtrlPosDiffMax AND | ||
| stMotionStage.stAxisParametersExposed.fCtrlPosDiffMaxTime = stMotionStage.stAxisParameters.fCtrlPosDiffMaxTime AND | ||
| stMotionStage.stAxisParametersExposed.fDecelerationMax = stMotionStage.stAxisParameters.fDecelerationMax AND | ||
| stMotionStage.stAxisParametersExposed.fEncSoftEndMax = stMotionStage.stAxisParameters.fEncSoftEndMax AND | ||
| stMotionStage.stAxisParametersExposed.fEncSoftEndMin = stMotionStage.stAxisParameters.fEncSoftEndMin AND | ||
| stMotionStage.stAxisParametersExposed.fVeloMaximum = stMotionStage.stAxisParameters.fVeloMaximum AND | ||
| stMotionStage.stAxisParametersExposed.fEncOffset = stMotionStage.stAxisParameters.fEncOffset AND | ||
| stMotionStage.stAxisParametersExposed.fEncScaleFactorInternal = stMotionStage.stAxisParameters.fEncScaleFactorInternal; | ||
| END_IF | ||
| IF bDone OR tonTimer.Q THEN | ||
| AssertFalse( | ||
| Condition:=tonTimer.Q, | ||
| Message:=CONCAT(CONCAT('Failed to update the parameters within ', TIME_TO_STRING(tonTimer.PT)),' seconds.'), | ||
| ); | ||
| AssertTrue( | ||
| Condition:=bDone, | ||
| Message:='One or more parameters was not copied properly.', | ||
| ); | ||
| bOneTestDone := TRUE; | ||
| TEST_FINISHED(); | ||
| END_IF | ||
| ]]></ST> | ||
| </Implementation> | ||
| </Method> | ||
| </POU> | ||
| </TcPlcObject> |
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