MBP-247: Position Recovery Improvements by aslanliafichev · Pull Request #17 · EuropeanSpallationSource/tc_generic_structure

aslanliafichev · 2026-03-06T13:24:58Z

Check that position, encoder position bias are saved after a power failure.
Check that we timestamp the power failure and startup of the CPU.
At startup check that axises are calibrated and initliazed correctly.

Incorporate eRestoreWithoutHome in RESTORE_POSITIONS() action.

Check that BUSY bit is false, before the check of the DONE bit is made.

szilard-ess · 2026-03-09T08:32:13Z

solution/tc_project_app/POUs/MAIN.TcPOU

 //0 'DontRestore'
-//1 'RestoreWithoutHome' -restores the position using a set position fb and does not set the home bit in the axis struct.
+//1 'RestoreWithoutHome' - Restores the position using a set position fb and does not set the home bit in the axis struct.
+//2 ''RestoreWithHome' - Restores the position using a set position fb and does set the home bit in the axis struct.


Please remove the extra apostrophe before ''RestoreWithHome'

szilard-ess · 2026-03-09T08:34:53Z

solution/tc_project_app/POUs/MAIN.TcPOU

+                                afbSetPosition[iAxes].Execute := FALSE;
+                                eStartUp := eExecuteRestore;
+                                RETURN;
+                            END_IF


Check the identation after the line 278, as the following 2 IF statements have different identations, but they should use the same one

szilard-ess · 2026-03-09T08:40:52Z

solution/tc_project_app/POUs/MAIN.TcPOU

+      <Implementation>
+        <ST><![CDATA[fbSystemTime(timeLoDW => timeAsFileTime.dwLowDateTime, timeHiDW => timeAsFileTime.dwHighDateTime);
+timeAsDT := FILETIME_TO_DT(timeAsFileTime);
+


fbSystemTime uses the function block GETSYSTEMTIME, probably would be better to use the newer function F_GetSystemTime(), as it is stated on Infosys Beckhoff

This function block is replaced by the newer function F_GetSystemTime(), which only needs one return value, not two.

You also probably dont need the extra variable, and it will be a oneliner so you dont even need the SYSTEM_TIME action either.

Make the timestamping a one-liner, instead of an action.

MC_SetPosition is replaced by MC_Home, thus it sets the home position to actual position and the calibration flag.

Changed solution to loop using the iCurrentAxis index, and incrementing if position restore was properly executed or if axis was not initialized properly or if axis was not homed before power failure.

Changed encoder reference to be constants, for better readability.

Always restore position despite an axis not being initilized or homed during shutdown.

For incremental encoders the moving status of the axis cannot be determined before a power failure, therefore the position of the axis is sampled every 5 seconds with a difference limit of 0.001 mm. These values can be changed.

Cleanup of the execution logic for restore position action.

aslanliafichev · 2026-04-07T07:08:49Z

Please review the latest changes to the position recovery improvements. Overall the following changes have been made:

As discovered the status of the axis before power failure cannot be confirmed (goes to error stop) which is important to confirm if moving or standstill before power failure for incremental encoders. Furthermore whilst moving before a power failure there is always some positional difference between the sampled position before shutdown and the actual one at startup. Therefore the position of the axis is sampled every 5 seconds this can be changed with a positional difference limit of 0.001 can also be changed. This is only important for incremental encoders.
Furthermore status variables has been added to be saved as persistent variables.
Also E_RestorePosition still includes the options to RestoreWithHome, which is relevant for incremental encoders, I still believe that this option should be included, as there are cases where the position of an incremental encoder can be recovered accurately ( for exampled disabled or standstill for more than 5 seconds), eRestorePositionBias has also been included as this is the default value for absolute encoders.

Change to correct naming for TON-timers and time.

MBP-247: Adjust execution logic to match E_RestorePosition changes.

aslanliafichev added 9 commits March 6, 2026 13:37

MBP-247: Change variable of eUpsMode for clarity

9f34f85

MBP-247: Add system time variables in MAIN

37923c1

MBP-247: Add SYSTEM_TIME() in CHECK_UPS()

70f458b

MBP-247: Change description in RESTORE_POSITIONS

e60531c

MBP-247: Timestamp startup and check axis init

917a707

MBP-247: Incorporate eRestoreWithoutHome

15bc983

Incorporate eRestoreWithoutHome in RESTORE_POSITIONS() action.

MBP-247: Add afbSetPosition[iAxes].Busy check

cf46730

Check that BUSY bit is false, before the check of the DONE bit is made.

MBP-247: Store date and time at shutdown

2ee587a

MBP-247: Fix whitespace

3800759

aslanliafichev requested review from federrg, mac-kan and szilard-ess March 6, 2026 13:24

aslanliafichev self-assigned this Mar 6, 2026

szilard-ess requested changes Mar 9, 2026

View reviewed changes

aslanliafichev added 13 commits March 11, 2026 14:25

MBP-247: Remove extra apostrophe RestoreWithHome

9836ed1

MBP-247: Remove action SYSTEM_TIME()

25e09a7

Make the timestamping a one-liner, instead of an action.

MBP-247: Replace MC_SetPosition with MC_Home

943176f

MC_SetPosition is replaced by MC_Home, thus it sets the home position to actual position and the calibration flag.

MBP-247: Add the homing status as persistent

5013e57

MBP-247: Add enum eNextAxis

1e02a82

MBP-247: Change to loop with different index

b75774f

Changed solution to loop using the iCurrentAxis index, and incrementing if position restore was properly executed or if axis was not initialized properly or if axis was not homed before power failure.

MBP-247: Add constants for the encoder reference

1797897

Changed encoder reference to be constants, for better readability.

MBP-247: Remove redundant return statements

c3f8aea

MBP-247: Check whitespace

fe35dd2

MBP-247: Change logic restore position

62fd630

Always restore position despite an axis not being initilized or homed during shutdown.

MBP-247: Sample position at specific time interval

9b0532b

For incremental encoders the moving status of the axis cannot be determined before a power failure, therefore the position of the axis is sampled every 5 seconds with a difference limit of 0.001 mm. These values can be changed.

MBP-247: Execution logic change

7502455

Cleanup of the execution logic for restore position action.

MBP-247: Save axis status variables as persistent

0d4ac65

aslanliafichev added 2 commits April 7, 2026 10:58

MBP-247: Correct naming convention

f5968a5

Change to correct naming for TON-timers and time.

MBP-247: Adjust execution logic

688a56a

MBP-247: Adjust execution logic to match E_RestorePosition changes.

MBP-247: Simplify STORE_PERSISTENT

2661cd4

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MBP-247: Position Recovery Improvements #17

MBP-247: Position Recovery Improvements #17
aslanliafichev wants to merge 25 commits intomasterfrom
aslanl/position-recovery-improvements

aslanliafichev commented Mar 6, 2026

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szilard-ess Mar 9, 2026

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aslanliafichev Mar 11, 2026

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aslanliafichev commented Apr 7, 2026

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aslanliafichev commented Mar 6, 2026

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aslanliafichev commented Apr 7, 2026

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