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MBP-369: Slit multimaster #18

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Merged
federrg merged 5 commits into from
Mar 31, 2026
Merged

MBP-369: Slit multimaster #18

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1643b18
MBP-369: Update tc_mca_std_lib
szilard-ess Mar 25, 2026
40fe36a
MBP-369: Add new DUTs to solution
szilard-ess Mar 25, 2026
0aa233e
MBP-369: Add template file for slits
szilard-ess Mar 25, 2026
731dfdc
MBP-369: Add example call for slit template
szilard-ess Mar 25, 2026
ba33807
MBP-369: Fix whitespaces and square brackets
szilard-ess Mar 25, 2026
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2 changes: 1 addition & 1 deletion solution/_Config/PLC/tc_project_app.xti
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Original file line number Diff line number Diff line change
@@ -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">
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40 changes: 40 additions & 0 deletions solution/tc_project_app/POUs/Application_Specific/Applications/Slit_Template.TcPOU
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Original file line number Diff line number Diff line change
@@ -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>
1 change: 1 addition & 0 deletions solution/tc_project_app/POUs/MAIN.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -136,6 +136,7 @@ Safety_Shutter();
Cabinet_Monitoring();
Pneumatic_Box();
//Shutter_Operator_Panel();
//Slit_Template();
//Application_Template();
]]></ST>
</Implementation>
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2 changes: 1 addition & 1 deletion solution/tc_project_app/tc_mca_std_lib
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Submodule tc_mca_std_lib updated 6 files
+12 −0 DUTs/Axis_Structures/ST_AxisParamSpec.TcDUT
+20 −0 DUTs/E_AxisParamCheckState.TcDUT
+1 −0 DUTs/E_AxisParameters.TcTLEO
+20 −19 DUTs/E_SlitPairStates.TcDUT
+17 −0 DUTs/E_SlitSoftLimits.TcDUT
+593 −239 POUs/Motion/FB_SlitPair.TcPOU
12 changes: 12 additions & 0 deletions solution/tc_project_app/tc_project_app.plcproj
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Original file line number Diff line number Diff line change
Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand Down Expand Up @@ -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>
Expand All @@ -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>
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