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*Refactor Eseries tto versions v 5_x_x (Eseries not verified with HW)
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+TcoCb3 series verified with hw
+exmaple in sequence added and tested
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@peterbarancek
peterbarancek committed Nov 22, 2023
1 parent 14acf0c commit dfbd728
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Showing 21 changed files with 155 additions and 170 deletions.
25 changes: 0 additions & 25 deletions src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceViewModel.cs
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4 changes: 2 additions & 2 deletions ...ries/TcoUrEseries_V_1_x_xServiceView.xaml → ...ries/TcoUrEseries_v_5_x_xServiceView.xaml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<UserControl
x:Class="TcoUrRobotics.TcoUrEseries_V_1_x_xServiceView"
x:Class="TcoUrRobotics.TcoUrEseries_v_5_x_xServiceView"
xmlns="http://schemas.microsoft.com/winfx/2006/xaml/presentation"
xmlns:x="http://schemas.microsoft.com/winfx/2006/xaml"
xmlns:d="http://schemas.microsoft.com/expression/blend/2008"
Expand All @@ -11,7 +11,7 @@

mc:Ignorable="d">
<d:UserControl.DataContext>
<local:TcoUrEseries_V_1_x_xServiceViewModel />
<local:TcoUrEseries_v_5_x_xServiceViewModel />
</d:UserControl.DataContext>

<local:TcoUrRoboticsBaseServiceView DataContext="{Binding }"></local:TcoUrRoboticsBaseServiceView>
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6 changes: 3 additions & 3 deletions ...s/TcoUrEseries_V_1_x_xServiceView.xaml.cs → ...s/TcoUrEseries_v_5_x_xServiceView.xaml.cs
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Expand Up @@ -20,13 +20,13 @@
namespace TcoUrRobotics
{

public partial class TcoUrEseries_V_1_x_xServiceView : UserControl
public partial class TcoUrEseries_v_5_x_xServiceView : UserControl
{
public TcoUrEseries_V_1_x_xServiceView()
public TcoUrEseries_v_5_x_xServiceView()
{
if (DesignerProperties.GetIsInDesignMode(this))
{
this.DataContext = new TcoUrEseries_V_1_x_xServiceViewModel();
this.DataContext = new TcoUrEseries_v_5_x_xServiceViewModel();
}

InitializeComponent();
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13 changes: 13 additions & 0 deletions src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceViewModel.cs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,13 @@
namespace TcoUrRobotics
{
public class TcoUrEseries_v_5_x_xServiceViewModel : TcoUrRoboticsBaseServiceViewModel<TcoUrEseries_v_5_x_x>
{

public TcoUrEseries_v_5_x_xServiceViewModel():base()
{


}
}

}
2 changes: 1 addition & 1 deletion src/TcoUrRobotics/src/TcoUrRobotics.Wpf/TcOpen.Inxton.TcoUrRobotics.Wpf.csproj
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Original file line number Diff line number Diff line change
Expand Up @@ -47,7 +47,7 @@
<SubType>Designer</SubType>
<Generator>MSBuild:Compile</Generator>
</Page>
<Page Update="Eseries\TcoUrEseries_V_1_x_xServiceView.xaml">
<Page Update="Eseries\TcoUrEseries_v_5_x_xServiceView.xaml">
<XamlRuntime>$(DefaultXamlRuntime)</XamlRuntime>
<SubType>Designer</SubType>
</Page>
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87 changes: 21 additions & 66 deletions src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.Designer.cs
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6 changes: 0 additions & 6 deletions src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.resx
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Original file line number Diff line number Diff line change
Expand Up @@ -123,9 +123,6 @@
<data name="___Stopped_due_safety__" xml:space="preserve">
<value>Stopped due safety</value>
</data>
<data name="___Drive_error_no___" xml:space="preserve">
<value>Drive error no </value>
</data>
<data name="___Status__" xml:space="preserve">
<value>Status</value>
</data>
Expand Down Expand Up @@ -168,9 +165,6 @@
<data name="___Restore__" xml:space="preserve">
<value>Restore</value>
</data>
<data name="___Safety_Error___" xml:space="preserve">
<value>Safety Error </value>
</data>
<data name="___Invalid_reference____" xml:space="preserve">
<value>Invalid reference: </value>
</data>
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2 changes: 1 addition & 1 deletion ...ticsConnector/pex/TcoUrEseries_v_1_x_x.cs → ...ticsConnector/pex/TcoUrEseries_v_5_x_x.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@

namespace TcoUrRobotics
{
public partial class TcoUrEseries_v_1_x_x
public partial class TcoUrEseries_v_5_x_x
{
private const string blank = " ";
private string onlineMsg = string.Empty; string additionalInfo = " ";
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64 changes: 42 additions & 22 deletions ...oUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Cb3/TcoUrCb3_v_3_x_x.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -141,15 +141,12 @@ IF _someTaskIsActive THEN
IF(_status.State.Inputs.Safety.ES_IsEmergencyStopped) THEN
Messenger.Error('<#Emergency stop active#>');
END_IF;
IF(NOT _status.State.Inputs.Safety.ST_IsStoppedDueSafety) THEN
IF( _status.State.Inputs.Safety.ST_IsStoppedDueSafety) THEN
Messenger.Warning('<#Stopped due safety#>');
END_IF;
END_IF;
//
//IF(_status.State.Error) THEN Messenger.Error(_sb.Clear().Append('<#Drive error no #>').Append(UDINT_TO_STRING(_status.State.EventId)).Append(' |[[0]AdvancedDiagnosticMessage]|').Append('.').Append('For details see the service mode').ToString()); END_IF;
//
UpdateControl();]]></ST>
</Implementation>
Expand Down Expand Up @@ -233,6 +230,29 @@ METHOD PROTECTED ServiceMode]]></Declaration>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Property Name="SpeedSliderFraction" Id="{46dce8b3-6275-0ee0-1c7f-99bdedbc4c0e}">
<Declaration><![CDATA[PROPERTY PUBLIC SpeedSliderFraction : REFERENCE TO real]]></Declaration>
<Get Name="Get" Id="{f9dad188-ded5-065c-33d5-47cbbb2a9a2b}">
<Declaration><![CDATA[VAR
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[SpeedSliderFraction REF= _control.Outputs.Speed.SpeedSliderFraction;]]></ST>
</Implementation>
</Get>
</Property>
<Property Name="SSM_SpeedSliderFractionMask" Id="{1a5766db-f99e-0c6b-3c9d-c3c2cb34517a}">
<Declaration><![CDATA[PROPERTY PUBLIC SSM_SpeedSliderFractionMask : REFERENCE TO BOOL
]]></Declaration>
<Get Name="Get" Id="{a794d586-e547-08fe-37be-d5e9e202c460}">
<Declaration><![CDATA[VAR
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[SSM_SpeedSliderFractionMask REF= _control.Outputs.Speed.SSM_SpeedSliderFractionMask;]]></ST>
</Implementation>
</Get>
</Property>
<Method Name="StartAtMain" Id="{fbb76925-92f3-07dc-20b4-53fde61ff6df}" FolderPath="Operations\">
<Declaration><![CDATA[METHOD PUBLIC StartAtMain : TcoCore.ITcoTaskStatus
VAR_INPUT
Expand Down Expand Up @@ -449,11 +469,9 @@ index := index + 1;
_control.outputs.Reg1.Bits[index] := _control.Tool_4_Extend;
index := index + 1;
//master mode such as manual/auto ....
index := 0;
_control.Outputs.Reg1.Ints[index] := _control.MasterMode;
//zone
index := index + 1;
index :=0;
_control.Outputs.Reg1.Ints[index] := _control.Zone;
//position
index := index + 1;
Expand All @@ -471,6 +489,9 @@ index := index + 1;
_control.Outputs.Reg1.Ints[index] := _control.WorkobjectNo;
index := index + 1;
_control.Outputs.Reg1.Ints[index] := _control.PointNo;
//master mode such as manual/auto ....
index := index +1;
_control.Outputs.Reg1.Ints[index] := _control.MasterMode;
index := 0;
_control.Outputs.Reg1.Floats[index] := _control.UserSpecSpeed1;
Expand All @@ -479,18 +500,18 @@ _control.Outputs.Reg1.Floats[index] := _control.UserSpecSpeed2;
index := index + 1;
////Coordinates
_control.Outputs.Reg1.Floats[index] := _control.Coordinates.X / 1000;
_control.Outputs.Reg1.Floats[index] := _control.Coordinates.X ;
index := index + 1;
_control.Outputs.Reg1.Floats[index] := _control.Coordinates.Y / 1000;
_control.Outputs.Reg1.Floats[index] := _control.Coordinates.Y;
index := index + 1;
_control.Outputs.Reg1.Floats[index] := _control.Coordinates.Z / 1000;
_control.Outputs.Reg1.Floats[index] := _control.Coordinates.Z ;
index := index + 1;
_control.Outputs.Reg1.Floats[index] := DEG_TO_RAD(_control.Coordinates.Rx);
_control.Outputs.Reg1.Floats[index] := (_control.Coordinates.Rx);
index := index + 1;
_control.Outputs.Reg1.Floats[index] := DEG_TO_RAD(_control.Coordinates.Ry);
_control.Outputs.Reg1.Floats[index] := (_control.Coordinates.Ry);
index := index + 1;
_control.Outputs.Reg1.Floats[index] := DEG_TO_RAD(_control.Coordinates.Rz);
_control.Outputs.Reg1.Floats[index] := (_control.Coordinates.Rz);
//st_URO_CB3_O2TSpeedData => 8_O2T Robot IO
index := 0;
Expand Down Expand Up @@ -1218,10 +1239,9 @@ index := 0;
_status.State.Zone := _status.State.Inputs.Ints.Register[index];
index := index + 1;
_status.State.InPosition := _status.State.Inputs.Ints.Register[index];
index := index + 1;
//Movement parameters
index := index + 1;
_status.State.ActionNo := _status.State.Inputs.Ints.Register[index];
index := index + 1;
Expand All @@ -1244,17 +1264,17 @@ index := index + 1;
_status.State.UserSpecSpeed2 := _status.State.Inputs.Floats.Register[index];
index := index + 1;
_status.State.Coordinates.X := Status.State.Inputs.Floats.Register[index] * 1000.0;
_status.State.Coordinates.X := Status.State.Inputs.Floats.Register[index] ;
index := index + 1;
_status.State.Coordinates.Y := Status.State.Inputs.Floats.Register[index] * 1000.0;
_status.State.Coordinates.Y := Status.State.Inputs.Floats.Register[index] ;
index := index + 1;
_status.State.Coordinates.Z := Status.State.Inputs.Floats.Register[index] * 1000.0;
_status.State.Coordinates.Z := Status.State.Inputs.Floats.Register[index] ;
index := index + 1;
_status.State.Coordinates.Rx := RAD_TO_DEG(Status.State.Inputs.Floats.Register[index]);
_status.State.Coordinates.Rx := Status.State.Inputs.Floats.Register[index];
index := index + 1;
_status.State.Coordinates.Ry := RAD_TO_DEG(Status.State.Inputs.Floats.Register[index]);
_status.State.Coordinates.Ry := Status.State.Inputs.Floats.Register[index];
index := index + 1;
_status.State.Coordinates.Rz := RAD_TO_DEG(Status.State.Inputs.Floats.Register[index]);
_status.State.Coordinates.Rz := Status.State.Inputs.Floats.Register[index];
index := index + 1;
//toido event id
Expand Down
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