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Fix formatting and spelling
Aligns the FB_SlitPair with the coding style guide. Removes unused VAR_INPUTRemoves unused VAR_INPUT. Corrects spelling.
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‎POUs/Motion/FB_SlitPair.TcPOU‎

Lines changed: 37 additions & 37 deletions
Original file line numberDiff line numberDiff line change
@@ -8,8 +8,8 @@ VAR_INPUT
88
iGapSize: UINT; //Axis ID for the size of gap between slit blades
99
iGapCentre: UINT; //Axis ID for the centre position of the gap formed by slit blades
1010
fEncoderScaling: LREAL := 10000; //default scaling denominator of 10000
11-
bAutoHome: BOOL := TRUE; // Blades homing is automatically done if they are not homed
12-
bAnticollisionEnable : BOOL := FALSE; // Blades anticolision option, only for when blades are moved independiently
11+
bAutoHome: BOOL := TRUE; //Blades homing is automatically done if they are not homed
12+
bAnticollisionEnable: BOOL := FALSE; //Blades anticollision option, only for when blades are moved independently
1313
1414
END_VAR
1515
VAR_OUTPUT
@@ -25,7 +25,7 @@ VAR
2525
bReset: BOOL; //Reset the slit set
2626
bResetting: BOOL := FALSE; //TRUE if axis going through a reset
2727
bAxesEnabled: BOOL := FALSE; //TRUE if all axes enabled
28-
bSlitsHomed : BOOL := FALSE; //TRUE if all axes Homed after reboot
28+
bSlitsHomed: BOOL := FALSE; //TRUE if all axes Homed after reboot
2929
bBladesHomed: BOOL:= FALSE; //TRUE if blade axes are calibrated
3030
bGapHomed: BOOL:= FALSE; //TRUE if virtual axes are calibrated
3131
bBladesCoupled: BOOL:= FALSE; //TRUE if both blade axes are coupled
@@ -37,7 +37,7 @@ VAR
3737
fGapCentrePosition: LREAL;
3838
iGapCentrePosition AT %Q*: UDINT := 0;
3939
resetCounterTimeout: UINT :=0;
40-
eSoftLimitsUpdate: E_SlitSoftLimits := E_SlitSoftLimits.START; // Sequence steps for update of soft limits
40+
eSoftLimitsUpdate: E_SlitSoftLimits := E_SlitSoftLimits.START; //Sequence steps for update of soft limits
4141
fbNoMovingRising: R_TRIG;
4242
fbInOpRising: R_TRIG;
4343
bUpdateSoftLimits: BOOL := FALSE;
@@ -68,7 +68,7 @@ actGapLimits(); //Set virtual axis limits to TRUE
6868
actVirtualAxisPositions(); //Virtual axis encoder position subroutine
6969
actRunMethods(); //Update statuses
7070
actEnableAxes(); //Enable the axes
71-
checkSlitsHomed(); // Status of the axes homing
71+
checkSlitsHomed(); //Status of the axes homing
7272
IF bAnticollisionEnable THEN //Blades anticollision enabled
7373
actInterlocking();
7474
END_IF
@@ -154,7 +154,7 @@ CASE eSlitPairState OF
154154
eSlitPairState := E_SlitPairStates.GEAROUT_BLADES;
155155
END_IF
156156
IF (GVL.astAxes[iGapSize].stControl.eCommand = E_MotionFunctions.eHome AND GVL.astAxes[iGapSize].stControl.bExecute) OR
157-
(GVL.astAxes[iGapCentre].stControl.eCommand = E_MotionFunctions.eHome AND GVL.astAxes[iGapCentre].stControl.bExecute) THEN
157+
(GVL.astAxes[iGapCentre].stControl.eCommand = E_MotionFunctions.eHome AND GVL.astAxes[iGapCentre].stControl.bExecute) THEN
158158
eSlitPairState := E_SlitPairStates.GEAROUT_BLADES;
159159
bHomingRequested := TRUE;
160160
END_IF
@@ -230,11 +230,10 @@ GVL.astAxes[iBladePositive].stControl.bExecute := TRUE;
230230
</Action>
231231
<Action Name="actEnableAxes" Id="{1879c38a-aecf-0e8c-2a58-959e274ebc63}">
232232
<Implementation>
233-
<ST><![CDATA[
234-
// Enable all axis when one of the virtual axes is enabled
235-
fbEnableRising(CLK := GVL.astAxes[iGapSize].stControl.bEnable OR GVL.astAxes[iGapCentre].stControl.bEnable );
233+
<ST><![CDATA[//Enable all axes when one of the virtual axes is enabled
234+
fbEnableRising(CLK := GVL.astAxes[iGapSize].stControl.bEnable OR GVL.astAxes[iGapCentre].stControl.bEnable);
236235
237-
IF fbEnableRising.Q THEN
236+
IF fbEnableRising.Q THEN
238237
GVL.astAxes[iBladePositive].stControl.bEnable := TRUE;
239238
GVL.astAxes[iBladeNegative].stControl.bEnable := TRUE;
240239
GVL.astAxes[iGapSize].stControl.bEnable := TRUE;
@@ -243,8 +242,8 @@ IF fbEnableRising.Q THEN
243242
END_IF
244243
245244
246-
// Disable blade axes when both the virtuals are disabled
247-
fbDisableRising(CLK := NOT GVL.astAxes[iGapSize].stControl.bEnable OR NOT GVL.astAxes[iGapCentre].stControl.bEnable );
245+
//Disable blade axes when both the virtuals are disabled
246+
fbDisableRising(CLK := NOT GVL.astAxes[iGapSize].stControl.bEnable OR NOT GVL.astAxes[iGapCentre].stControl.bEnable);
248247
249248
IF fbDisableRising.Q THEN
250249
GVL.astAxes[iBladePositive].stControl.bEnable := FALSE;
@@ -253,11 +252,11 @@ IF fbDisableRising.Q THEN
253252
GVL.astAxes[iGapCentre].stControl.bEnable := FALSE;
254253
END_IF
255254
256-
// Set Enable flag when all axes are enabled
255+
//Set Enable flag when all axes are enabled
257256
bEnable := GVL.astAxes[iBladePositive].stStatus.bEnabled AND GVL.astAxes[iBladeNegative].stStatus.bEnabled
258257
AND GVL.astAxes[iGapSize].stStatus.bEnabled AND GVL.astAxes[iGapCentre].stStatus.bEnabled;
259258
260-
// Set flag when all axes are disable
259+
//Set flag when all axes are disable
261260
fbDisabledRising(CLK := NOT GVL.astAxes[iBladePositive].stStatus.bEnabled AND GVL.astAxes[iBladeNegative].stStatus.bEnabled
262261
AND GVL.astAxes[iGapSize].stStatus.bEnabled AND GVL.astAxes[iGapCentre].stStatus.bEnabled);
263262
]]></ST>
@@ -297,21 +296,21 @@ END_IF
297296
</Action>
298297
<Action Name="actGapLimits" Id="{def3d604-4e23-0583-39ed-61c5876cfc85}">
299298
<Implementation>
300-
<ST><![CDATA[//Set Virtual axis inputs to TRUE to enable movement
299+
<ST><![CDATA[//Set Virtual axes inputs to TRUE to enable movement
301300
GVL.astAxes[iGapSize].stInputs.bLimitBwd := GVL.astAxes[iBladeNegative].stInputs.bLimitFwd OR GVL.astAxes[iBladePositive].stInputs.bLimitBwd;
302-
GVL.astAxes[iGapSize].stInputs.bLimitFwd := GVL.astAxes[iBladeNegative].stInputs.bLimitBwd OR GVL.astAxes[iBladePositive].stInputs.bLimitFwd;;
303-
GVL.astAxes[iGapCentre].stInputs.bLimitBwd := GVL.astAxes[iBladeNegative].stInputs.bLimitFwd OR GVL.astAxes[iBladePositive].stInputs.bLimitBwd;;
304-
GVL.astAxes[iGapCentre].stInputs.bLimitFwd :=GVL.astAxes[iBladeNegative].stInputs.bLimitBwd OR GVL.astAxes[iBladePositive].stInputs.bLimitFwd;;
301+
GVL.astAxes[iGapSize].stInputs.bLimitFwd := GVL.astAxes[iBladeNegative].stInputs.bLimitBwd OR GVL.astAxes[iBladePositive].stInputs.bLimitFwd;
302+
GVL.astAxes[iGapCentre].stInputs.bLimitBwd := GVL.astAxes[iBladeNegative].stInputs.bLimitFwd OR GVL.astAxes[iBladePositive].stInputs.bLimitBwd;
303+
GVL.astAxes[iGapCentre].stInputs.bLimitFwd := GVL.astAxes[iBladeNegative].stInputs.bLimitBwd OR GVL.astAxes[iBladePositive].stInputs.bLimitFwd;
305304
]]></ST>
306305
</Implementation>
307306
</Action>
308307
<Action Name="actInterlocking" Id="{64063538-5b16-04d7-1d46-c493a7cc7a35}">
309308
<Implementation>
310-
<ST><![CDATA[//Blades interlocking for anticollition purposes
309+
<ST><![CDATA[//Blades interlocking for anticollision purposes
311310
GVL.astAxes[iBladeNegative].stControl.bInterlockFwd := GVL.astAxes[iBladeNegative].stStatus.fActPosition >= GVL.astAxes[iBladePositive].stStatus.fActPosition
312-
OR GVL.astAxes[iBladeNegative].stControl.fPosition >= GVL.astAxes[iBladePositive].stStatus.fActPosition ;
311+
OR GVL.astAxes[iBladeNegative].stControl.fPosition >= GVL.astAxes[iBladePositive].stStatus.fActPosition;
313312
GVL.astAxes[iBladePositive].stControl.bInterlockBwd := GVL.astAxes[iBladePositive].stStatus.fActPosition <= GVL.astAxes[iBladeNegative].stStatus.fActPosition
314-
OR GVL.astAxes[iBladePositive].stControl.fPosition <= GVL.astAxes[iBladeNegative].stStatus.fActPosition ;
313+
OR GVL.astAxes[iBladePositive].stControl.fPosition <= GVL.astAxes[iBladeNegative].stStatus.fActPosition;
315314
]]></ST>
316315
</Implementation>
317316
</Action>
@@ -346,7 +345,7 @@ GVL.astAxes[iBladePositive].stControl.bExecute := TRUE;
346345
</Action>
347346
<Action Name="actStopAxes" Id="{83b4f1fe-f696-016b-03db-3bcff9089f7d}">
348347
<Implementation>
349-
<ST><![CDATA[//Stop all axis when in error (Abort movements)
348+
<ST><![CDATA[//Stop all axes when in error (Abort movements)
350349
GVL.astAxes[iBladePositive].stControl.bStop := TRUE;
351350
GVL.astAxes[iBladeNegative].stControl.bStop := TRUE;
352351
GVL.astAxes[iGapSize].stControl.bStop := TRUE;
@@ -356,13 +355,13 @@ GVL.astAxes[iGapCentre].stControl.bStop := TRUE;
356355
</Action>
357356
<Action Name="actUpdateSoftLimits" Id="{35e948c5-fa3a-0897-288a-c8995c0599d0}">
358357
<Implementation>
359-
<ST><![CDATA[//The soft limits of the virtual axes are updated everytime a movement has been accomplised.
360-
//This is to avoid undesired errors if the user sets a targe position which is not allowed
358+
<ST><![CDATA[//The soft limits of the virtual axes are updated everytime a movement has been accomplished.
359+
//This is to avoid undesired errors if the user sets a target position which is not allowed
361360
362361
CASE eSoftLimitsUpdate OF
363362
364363
E_SlitSoftLimits.START: //START SEQ
365-
eSoftLimitsUpdate := E_SlitSoftLimits.WRITE_GAP_CENTRE_FWD;
364+
eSoftLimitsUpdate := E_SlitSoftLimits.WRITE_GAP_CENTRE_FWD;
366365
367366
E_SlitSoftLimits.WRITE_GAP_CENTRE_FWD: //WRITE GAP CENTRE FWD SOFT LIMIT
368367
IF NOT GVL.astAxes[iGapCentre].stStatus.bBusy AND NOT GVL.astAxes[iGapSize].stStatus.bBusy THEN
@@ -371,7 +370,7 @@ E_SlitSoftLimits.WRITE_GAP_CENTRE_FWD: //WRITE GAP CENTRE FWD SOFT LIMIT
371370
GVL.astAxes[iGapCentre].stControl.eCommand := E_MotionFunctions.eWriteParameter;
372371
GVL.astAxes[iGapCentre].stConfig.eAxisParameters := E_AxisParameters.SWLimitForward;
373372
GVL.astAxes[iGapCentre].stConfig.fWriteAxisParameter := (GVL.astAxes[iBladePositive].stConfig.fMaxSoftPosLimit
374-
- GVL.astAxes[iGapSize].stStatus.fActPosition/2);
373+
- GVL.astAxes[iGapSize].stStatus.fActPosition/2);
375374
END_IF
376375
377376
E_SlitSoftLimits.WRITE_GAP_CENTRE_BWD: //WRITE GAP CENTRE BWD SOFT LIMIT
@@ -381,7 +380,7 @@ E_SlitSoftLimits.WRITE_GAP_CENTRE_BWD: //WRITE GAP CENTRE BWD SOFT LIMIT
381380
GVL.astAxes[iGapCentre].stControl.eCommand := E_MotionFunctions.eWriteParameter;
382381
GVL.astAxes[iGapCentre].stConfig.eAxisParameters := E_AxisParameters.SWLimitBackward;
383382
GVL.astAxes[iGapCentre].stConfig.fWriteAxisParameter := (GVL.astAxes[iBladeNegative].stConfig.fMinSoftPosLimit
384-
+ GVL.astAxes[iGapSize].stStatus.fActPosition/2);
383+
+ GVL.astAxes[iGapSize].stStatus.fActPosition/2);
385384
END_IF
386385
387386
E_SlitSoftLimits.WRITE_GAP_SIZE_FWD: //WRITE GAP SIZE FWD SOFT LIMIT
@@ -391,19 +390,18 @@ E_SlitSoftLimits.WRITE_GAP_SIZE_FWD: //WRITE GAP SIZE FWD SOFT LIMIT
391390
GVL.astAxes[iGapSize].stControl.eCommand := E_MotionFunctions.eWriteParameter;
392391
GVL.astAxes[iGapSize].stConfig.eAxisParameters := E_AxisParameters.SWLimitForward;
393392
IF GVL.astAxes[iGapCentre].stStatus.fActPosition >= 0.0 THEN
394-
GVL.astAxes[iGapSize].stConfig.fWriteAxisParameter := 2 * ABS(GVL.astAxes[iBladePositive].stConfig.fMaxSoftPosLimit
395-
- GVL.astAxes[iGapCentre].stStatus.fActPosition);
393+
GVL.astAxes[iGapSize].stConfig.fWriteAxisParameter := 2 * ABS(GVL.astAxes[iBladePositive].stConfig.fMaxSoftPosLimit
394+
- GVL.astAxes[iGapCentre].stStatus.fActPosition);
396395
ELSE
397-
GVL.astAxes[iGapSize].stConfig.fWriteAxisParameter := 2 * ABS(GVL.astAxes[iBladeNegative].stConfig.fMinSoftPosLimit
398-
- GVL.astAxes[iGapCentre].stStatus.fActPosition);
396+
GVL.astAxes[iGapSize].stConfig.fWriteAxisParameter := 2 * ABS(GVL.astAxes[iBladeNegative].stConfig.fMinSoftPosLimit
397+
- GVL.astAxes[iGapCentre].stStatus.fActPosition);
399398
END_IF
400399
END_IF
401400
402401
E_SlitSoftLimits.FINISH: //FINISHED WHEN LAST WRITING OF PARAMETERS IS DONE
403-
404402
IF GVL.astAxes[iGapSize].stStatus.bDone AND NOT GVL.astAxes[iGapSize].stControl.bExecute THEN
405-
eSoftLimitsUpdate := E_SlitSoftLimits.START;
406-
bUpdateSoftLimits := FALSE;
403+
eSoftLimitsUpdate := E_SlitSoftLimits.START;
404+
bUpdateSoftLimits := FALSE;
407405
END_IF
408406
409407
END_CASE
@@ -568,7 +566,11 @@ VAR_OUTPUT
568566
END_VAR
569567
]]></Declaration>
570568
<Implementation>
571-
<ST><![CDATA[fbHomingRising(CLK:= GVL.astAxes[iBladeNegative].stStatus.bHomed AND GVL.astAxes[iBladePositive].stStatus.bHomed AND GVL.astAxes[iGapSize].stStatus.bHomed AND GVL.astAxes[iGapCentre].stStatus.bHomed );
569+
<ST><![CDATA[fbHomingRising(CLK:=
570+
GVL.astAxes[iBladeNegative].stStatus.bHomed
571+
AND GVL.astAxes[iBladePositive].stStatus.bHomed
572+
AND GVL.astAxes[iGapSize].stStatus.bHomed
573+
AND GVL.astAxes[iGapCentre].stStatus.bHomed);
572574
IF fbHomingRising.Q THEN
573575
bOutput := FALSE;
574576
bSlitsHomed := TRUE;
@@ -578,8 +580,6 @@ END_IF
578580
</Method>
579581
<Method Name="checkSoftLimits" Id="{7b17dbf3-e1d6-0a6e-1aa4-6cded47f1f4b}">
580582
<Declaration><![CDATA[METHOD checkSoftLimits : BOOL
581-
VAR_INPUT
582-
END_VAR
583583
]]></Declaration>
584584
<Implementation>
585585
<ST><![CDATA[fbNoMovingRising(CLK := NOT GVL.astAxes[iGapCentre].stStatus.bMoving AND NOT GVL.astAxes[iGapSize].stStatus.bMoving);

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