Merge pull request #18 from EuropeanSpallationSource/szilardh/slit-multimaster

MBP-369: Slit multimaster

Author: federrg

solution/_Config/PLC/tc_project_app.xti

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CNestedPlcProjDef">
 	<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="..\..\tc_project_app\tc_project_app.plcproj" TmcFilePath="..\..\tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" ClearInvalidPersist="true" SymbolicMapping="true">
-		<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{6CD45C2B-D1C4-BDD8-9BD4-FD476A870DC8}">
+		<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{C38143B7-B57C-03FF-2ED1-1847F1DEC6E1}">
 			<Name>tc_project_app Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Vars VarGrpType="1">

solution/tc_project_app/POUs/Application_Specific/Applications/Slit_Template.TcPOU

@@ -0,0 +1,40 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="Slit_Template" Id="{a65ca917-ba94-010b-1294-a8b8b5e174dd}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM Slit_Template
+VAR
+    fbSlit : FB_SlitPair;
+END_VAR
+VAR CONSTANT
+    //Change AxisIds based on your current setup
+    //AxisIDs of physical axes
+    cBladeNegative : USINT := 1;
+    cBladePositive : USINT := 2;
+    //AxisIDs of virtual axes
+    cGapSize : USINT := 3;
+    cGapCentre : USINT := 4;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[//Slit
+fbSlit(
+    //Required inputs
+    stBladeNegative := GVL.astAxes[cBladeNegative],
+    stBladePositive := GVL.astAxes[cBladePositive],
+    stGapSize := GVL.astAxes[cGapSize],
+    stGapCentre := GVL.astAxes[cGapCentre],
+    iGapSize := cGapSize,
+    iGapCentre := cGapCentre,
+    //Optional inputs
+    fEncoderScaling := ,
+    bAutoHome := ,
+    bAnticollisionEnable := ,
+    fAnticollisionMargin := ,
+    //Outputs
+    bEnabled => ,
+    bError => ,
+    bHoming => );
+]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>

solution/tc_project_app/POUs/MAIN.TcPOU

@@ -136,6 +136,7 @@ Safety_Shutter();
 Cabinet_Monitoring();
 Pneumatic_Box();
 //Shutter_Operator_Panel();
+//Slit_Template();
 //Application_Template();
 ]]></ST>
       </Implementation>

solution/tc_project_app/tc_mca_std_lib

@@ -40,6 +40,9 @@
     <Compile Include="POUs\Application_Specific\Applications\Cabinet_Monitoring.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Application_Specific\Applications\Slit_Template.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Application_Specific\Applications\Pneumatic_Box.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -79,6 +82,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisInputs.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisParamSpec.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\Axis_Structures\ST_AxisPersistent.TcDUT">
       <SubType>Code</SubType>
     </Compile>
@@ -106,6 +112,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\E_AxisEngUnit.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_AxisParamCheckState.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\E_AxisParameters.TcTLEO">
       <SubType>Code</SubType>
     </Compile>
@@ -130,6 +139,9 @@
     <Compile Include="tc_mca_std_lib\DUTs\E_RestorePosition.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\E_SlitSoftLimits.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\I_Axis.TcIO">
       <SubType>Code</SubType>
     </Compile>