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rubenmess wants to merge 8 commits into from
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Rubenm/slits code multimaster #28

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5382f7e
FB_SlitPair updated with improvements (soft limits update, operationa…
rubenmess Sep 12, 2025
86a2c8c
formating fix
rubenmess Sep 12, 2025
130915b
FB_Axis update, take away multiaxes 3 and 4 to avoid issue coupling …
rubenmess Sep 12, 2025
1494817
enable and reset out of the inputs var
rubenmess Sep 19, 2025
6fc92af
error report to virtual axis
rubenmess Sep 29, 2025
103aed9
multimaster index 3&4 not used, gear out if axes disabled
rubenmess Oct 10, 2025
f80d61c
SOFT LIMITS FUNCTION UPDATE
rubenmess Nov 24, 2025
064cdfd
Fix formatting and spelling
mac-kan Dec 12, 2025
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17 changes: 17 additions & 0 deletions DUTs/E_SlitSoftLimits.TcDUT
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Original file line number Diff line number Diff line change
@@ -0,0 +1,17 @@
<?xml version="1.0" encoding="utf-8"?>
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@mac-kan mac-kan Nov 7, 2025

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The E_SlitSoftLimits is not reused, and instead of creating a DUT, it could be declared directly in FB_Axis as:
eSoftLimitsUpdate: (START, WRITE_GAP_CENTRE_FWD, WRITE_GAP_CENTRE_BWD, WRITE_GAP_SIZE_FWD) := START;

@federrg Do we have any defined standard regarding this?

<TcPlcObject Version="1.1.0.1">
<DUT Name="E_SlitSoftLimits" Id="{5a8c53db-c513-01b1-1e81-1ca22261b4f2}">
<Declaration><![CDATA[{attribute 'qualified_only'}
{attribute 'strict'}
TYPE E_SlitSoftLimits :
(
START := 0,
WRITE_GAP_CENTRE_FWD,
WRITE_GAP_CENTRE_BWD,
WRITE_GAP_SIZE_FWD,
FINISH
);
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>
10 changes: 5 additions & 5 deletions POUs/Motion/FB_Axis.TcPOU
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Expand Up @@ -638,16 +638,16 @@ IF _stAxis.stControl.eCommand = E_MotionFunctions.eGearInMultiMaster AND _stAxis
//Transfer gear ratios to FB
fbGearInMultiMaster.GearRatio1 := _stAxis.stConfig.astMultiMasterAxisLatched[1].fRatio;
fbGearInMultiMaster.GearRatio2 := _stAxis.stConfig.astMultiMasterAxisLatched[2].fRatio;
fbGearInMultiMaster.GearRatio3 := _stAxis.stConfig.astMultiMasterAxisLatched[3].fRatio;
fbGearInMultiMaster.GearRatio4 := _stAxis.stConfig.astMultiMasterAxisLatched[4].fRatio;
// fbGearInMultiMaster.GearRatio3 := _stAxis.stConfig.astMultiMasterAxisLatched[3].fRatio; (Not in use, commented due to slits code)
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@mac-kan mac-kan Nov 5, 2025

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Is there a reason for leaving the code commented instead of removing it?

// fbGearInMultiMaster.GearRatio4 := _stAxis.stConfig.astMultiMasterAxisLatched[4].fRatio; (Not in use, commented due to slits code)
fbGearInMultiMaster.Enable := TRUE;
END_IF

fbGearInMultiMaster(Slave := _stAxis.Axis,
Master1 := GVL.astAxes[_stAxis.stConfig.astMultiMasterAxisLatched[1].nIndex].Axis,
Master2 := GVL.astAxes[_stAxis.stConfig.astMultiMasterAxisLatched[2].nIndex].Axis,
Master3 := GVL.astAxes[_stAxis.stConfig.astMultiMasterAxisLatched[3].nIndex].Axis,
Master4 := GVL.astAxes[_stAxis.stConfig.astMultiMasterAxisLatched[4].nIndex].Axis);
Master2 := GVL.astAxes[_stAxis.stConfig.astMultiMasterAxisLatched[2].nIndex].Axis);
// Master3 := GVL.astAxes[_stAxis.stConfig.astMultiMasterAxisLatched[3].nIndex].Axis,
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@mac-kan mac-kan Nov 5, 2025

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See comment above.

// Master4 := GVL.astAxes[_stAxis.stConfig.astMultiMasterAxisLatched[4].nIndex].Axis);
fbGearInMultiMaster.Enable:= FALSE;

IF fbGearInMultiMaster.InGear THEN
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