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MBP-247: Position Recovery Improvements #44

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MBP-247: Position Recovery Improvements #44

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ad1f60a
MBP-247: Extend E_RestorePosition
mac-kan Nov 11, 2025
a28bb3c
MBP-247: Add persistent time variable in the GVL
aslanliafichev Mar 6, 2026
5824a59
MPB-247: Fix whitespace
aslanliafichev Mar 6, 2026
7334d3b
MBP-247: Add persistent variable
aslanliafichev Mar 26, 2026
08a6735
MBP-247: Extend restore position
aslanliafichev Apr 7, 2026
79ccffa
MBP-247: Extend ST_AxisPersistent
aslanliafichev Apr 7, 2026
49e09a8
MBP-247: Remove enums E_RestorePosition
aslanliafichev Apr 7, 2026
3a30e01
MBP-247: Remove persistent variables
aslanliafichev Apr 7, 2026
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3 changes: 3 additions & 0 deletions DUTs/Axis_Structures/ST_AxisPersistent.TcDUT
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,9 @@ STRUCT
fPositionAtShutdown: LREAL; //Position of the axis when the CPU was powered off
fEncoderBiasAtShutdown: LREAL; //Encoder bias value when the CPU was powered off
bMovingAtShutdown: BOOL; //Indicates if the axis was moving during the shutdown (True if moving, false otherwise)
bHomedAtShutdown: BOOL; //Homing status of the axis when the CPU was powered off
bInitializedAtShutdown: BOOL; //Initialized status of the axis when the CPU was powered off
fPositionDifferenceAtShutdown: LREAL; //Position difference between the sampled position and the position at shutdown
END_STRUCT
END_TYPE
]]></Declaration>
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4 changes: 2 additions & 2 deletions DUTs/Axis_Structures/ST_SwitchInfo.TcDUT
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@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_SwitchInfo" Id="{8b691b20-d15e-04fc-085e-324c48490184}">
<DUT Name="ST_SwitchInfo" Id="{fd2b2bd3-e117-0efc-04d6-132bd855c7c6}">
<Declaration><![CDATA[TYPE ST_SwitchInfo :
STRUCT
fLimitBwdTrigPos: LREAL; //Last trigger pos of the bwd limit
Expand All @@ -19,4 +19,4 @@ END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>
</TcPlcObject>
5 changes: 3 additions & 2 deletions DUTs/E_RestorePosition.TcDUT
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Expand Up @@ -5,8 +5,9 @@
{attribute 'strict'}
TYPE E_RestorePosition :
(
eDontRestore :=0,
eRestoreWithoutHome := 1 //Redefined the position of the axis to that when the power was lost
eDontRestore := 0,
eRestorePosition := 1, //Restores the position of the axis to that when the power was lost (incremental)
eRestorePositionBias := 2 //Restores position bias (absolute)
);
END_TYPE
]]></Declaration>
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1 change: 1 addition & 0 deletions GVLs/GVL.TcGVL
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Expand Up @@ -25,6 +25,7 @@ END_VAR

VAR_GLOBAL PERSISTENT
astAxesPersistent: ARRAY [1..GVL_APP.nAXIS_NUM] OF ST_AxisPersistent;
timeAtShutdownPersistent: DT; //Date and time when the CPU was powered off
END_VAR
]]></Declaration>
</GVL>
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