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MBP-330: Brake with diagnostic function #36

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MBP-330: Brake with diagnostic function #36

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3f3fb6e
Add input and status bools for brake diagnostics
mac-kan Oct 30, 2025
177633b
Mask brake terminal diagnostics word
mac-kan Feb 20, 2026
7487456
Use the brake terminal diagnostic input
mac-kan Oct 30, 2025
bd7636f
Update warning note message
mac-kan Feb 20, 2026
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1 change: 1 addition & 0 deletions DUTs/Axis_Structures/ST_AxisInputs.TcDUT
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ STRUCT
bAirpadPressurized AT %I*: BOOL; //Airpad pressurized
bBrakeReleased AT %I*: BOOL; //External brake released
fExternalPos AT %I*: LREAL; //External measurement tool
wBrakeTerminalDiagnositics AT %I*: WORD; //External brake output terminal diagnostics.
END_STRUCT
END_TYPE
]]></Declaration>
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2 changes: 2 additions & 0 deletions DUTs/Axis_Structures/ST_AxisStatus.TcDUT
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Expand Up @@ -49,6 +49,8 @@ STRUCT
bCommandHandlerMovePermit: BOOL; // True if command handler has given permit to move
bCommandHandlerBufferingCommand: BOOL; //True if CommandHandler is waiting on a permit before releasing the command
bCommandHandlerTimeoutError: BOOL; //True if CommandHandler did not receive a permit in time
bBrakeDiagnosticsOk: BOOL; //True if Brake Terminal Diagnostics Ok
bBrakeDiagnosticsOverTemperature: BOOL; //True if Brake Terminal has over termperature
eInternalMotionCommand: E_MotionFunctions;
stSwitchInfo: ST_SwitchInfo; //Trigger/Untrigger positions and values of switches
END_STRUCT
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26 changes: 22 additions & 4 deletions POUs/Motion/FB_Axis.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -532,6 +532,7 @@ CASE eExternalBrake OF
IF TON_DelayBrakeRelease.Q THEN
IF NOT _stAxis.stStatus.bEnabled
OR _stAxis.stStatus.bError
OR NOT _stAxis.stStatus.bBrakeDiagnosticsOk
OR TON_BrakeOpeningTimeoutWhenFeedback.Q THEN
_stAxis.stControl.bEnable := FALSE;
_stAxis.stControl.bReleaseBrake := FALSE;
Expand All @@ -543,6 +544,7 @@ CASE eExternalBrake OF
END_IF

IF _stAxis.stControl.bReleaseBrake
AND _stAxis.stStatus.bBrakeDiagnosticsOk
AND ((_stAxis.stConfig.stAirpadBrake.bExternalBrakeFeedbackConnected
AND _stAxis.stInputs.bBrakeReleased)
OR NOT _stAxis.stConfig.stAirpadBrake.bExternalBrakeFeedbackConnected) THEN
Expand Down Expand Up @@ -576,9 +578,10 @@ CASE eExternalBrake OF
_stAxis.stControl.bEnable := FALSE;
bEnableAmp := FALSE;
eExternalBrake := E_ExternalBrake.eBrakeEngaged;
ELSIF _stAxis.stConfig.stAirpadBrake.bExternalBrakeFeedbackConnected
AND _stAxis.stControl.bReleaseBrake
AND NOT _stAxis.stInputs.bBrakeReleased THEN
ELSIF ((_stAxis.stConfig.stAirpadBrake.bExternalBrakeFeedbackConnected
AND NOT _stAxis.stInputs.bBrakeReleased)
OR NOT _stAxis.stStatus.bBrakeDiagnosticsOk)
AND _stAxis.stControl.bReleaseBrake THEN
_stAxis.stControl.bReleaseBrake := FALSE;
_stAxis.stControl.bEnable := FALSE;
bEnableAmp := FALSE;
Expand Down Expand Up @@ -612,6 +615,7 @@ END_CASE

bReady :=
eExternalBrake = E_ExternalBrake.eBrakeReleased
AND _stAxis.stStatus.bBrakeDiagnosticsOk
AND ((_stAxis.stConfig.stAirpadBrake.bExternalBrakeFeedbackConnected
AND _stAxis.stInputs.bBrakeReleased)
OR NOT _stAxis.stConfig.stAirpadBrake.bExternalBrakeFeedbackConnected);
Expand Down Expand Up @@ -1640,6 +1644,13 @@ VAR_INST
rtrigFwdLimit: R_TRIG;
ftrigFwdLimit: F_TRIG;
END_VAR

VAR CONSTANT
BRAKE_OVER_TEMPERATURE : WORD := 16#0001;
BRAKE_OPEN_LOAD : WORD := 16#0002;
BRAKE_OVER_CURRENT : WORD := 16#0003;
BRAKE_SHORT_CIRCUIT : WORD := 16#0004;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[_stAxis.Axis.ReadStatus();
Expand All @@ -1659,7 +1670,14 @@ _stAxis.stStatus.bInTargetPosition := _stAxis.Axis.Status.InTargetPosition;
_stAxis.stStatus.bSoEDriveDeviceError := _stAxis.Axis.Status.DriveDeviceError;
_stAxis.stStatus.bEnabled := NOT(_stAxis.Axis.Status.Disabled);

{info 'NOTE: The fuses controlling the outputs are currently not monitored, constituting a risk for an airpad/brake without feedback.'}
_stAxis.stStatus.bBrakeDiagnosticsOverTemperature :=
(_stAxis.stInputs.wBrakeTerminalDiagnositics AND BRAKE_OVER_TEMPERATURE) <> 0;
_stAxis.stStatus.bBrakeDiagnosticsOk :=
(_stAxis.stInputs.wBrakeTerminalDiagnositics AND BRAKE_OPEN_LOAD) = 0
AND (_stAxis.stInputs.wBrakeTerminalDiagnositics AND BRAKE_OVER_CURRENT) = 0
AND (_stAxis.stInputs.wBrakeTerminalDiagnositics AND BRAKE_SHORT_CIRCUIT) = 0;

{info 'NOTE: If terminal diagnostics is not used, a risk constitutes for an airpad/brake without feedback.'}
IF _stAxis.stConfig.stAirpadBrake.bAirpadConnected
AND NOT _stAxis.stConfig.stAirpadBrake.bExternalBrakeConnected THEN
_stAxis.stStatus.bAxisReadyToMove :=
Expand Down