From dfbd728d52f2a2d0f623bd77b318ed493a7e8b43 Mon Sep 17 00:00:00 2001 From: Peter Barancek Date: Wed, 22 Nov 2023 16:03:57 +0100 Subject: [PATCH] *Refactor Eseries tto versions v 5_x_x (Eseries not verified with HW) +TcoCb3 series verified with hw +exmaple in sequence added and tested --- .../TcoUrEseries_V_1_x_xServiceViewModel.cs | 25 ------ ...l => TcoUrEseries_v_5_x_xServiceView.xaml} | 4 +- ...> TcoUrEseries_v_5_x_xServiceView.xaml.cs} | 6 +- .../TcoUrEseries_v_5_x_xServiceViewModel.cs | 13 +++ .../TcOpen.Inxton.TcoUrRobotics.Wpf.csproj | 2 +- .../Properties/Localizations.Designer.cs | 87 +++++-------------- .../Properties/Localizations.resx | 6 -- ...ies_v_1_x_x.cs => TcoUrEseries_v_5_x_x.cs} | 2 +- .../Prototypes/Cb3/TcoUrCb3_v_3_x_x.TcPOU | 64 +++++++++----- ..._x.TcDUT => TcoUrEseries_IO_v_5_x_x.TcDUT} | 8 +- ...cDUT => TcoUrEseries_Inputs_v_5_x_x.TcDUT} | 4 +- ...DUT => TcoUrEseries_Outputs_v_5_x_x.TcDUT} | 4 +- ...1_x_x.TcPOU => TcoUrEseries_v_5_x_x.TcPOU} | 39 ++++++--- .../StartMotorsProgramAndMovementsTask.TcPOU | 3 +- .../Starts/StartMovementsTask.TcPOU | 3 +- .../Stops/StopMovementsAndProgramTask.TcPOU | 2 +- .../Stops/StopMovementsTask.TcPOU | 7 +- .../TcoUrRobotics/TcoUrRobotics.plcproj | 8 +- .../TcoUrRoboticsTests/GVLs/GVL.TcGVL | 2 +- .../Tests/TcoContext/WpfContext.TcPOU | 17 +++- .../XaeTcoUrRobotics/XaeTcoUrRobotics.tsproj | 19 ++-- 21 files changed, 155 insertions(+), 170 deletions(-) delete mode 100644 src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceViewModel.cs rename src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/{TcoUrEseries_V_1_x_xServiceView.xaml => TcoUrEseries_v_5_x_xServiceView.xaml} (85%) rename src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/{TcoUrEseries_V_1_x_xServiceView.xaml.cs => TcoUrEseries_v_5_x_xServiceView.xaml.cs} (80%) create mode 100644 src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceViewModel.cs rename src/TcoUrRobotics/src/TcoUrRoboticsConnector/pex/{TcoUrEseries_v_1_x_x.cs => TcoUrEseries_v_5_x_x.cs} (95%) rename src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/{TcoUrEseries_IO_v_1_x_x.TcDUT => TcoUrEseries_IO_v_5_x_x.TcDUT} (64%) rename src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/{TcoUrEseries_Inputs_v_1_x_x.TcDUT => TcoUrEseries_Inputs_v_5_x_x.TcDUT} (86%) rename src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/{TcoUrEseries_Outputs_v_1_x_x.TcDUT => TcoUrEseries_Outputs_v_5_x_x.TcDUT} (77%) rename src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/{TcoUrEseries_v_1_x_x.TcPOU => TcoUrEseries_v_5_x_x.TcPOU} (97%) diff --git a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceViewModel.cs b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceViewModel.cs deleted file mode 100644 index 5d958bfda..000000000 --- a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceViewModel.cs +++ /dev/null @@ -1,25 +0,0 @@ -using System; -using System.Collections.Generic; -using System.Collections.ObjectModel; -using System.ComponentModel; -using System.Linq; -using System.Text; -using System.Threading.Tasks; -using System.Windows; -using Vortex.Connector; -using Vortex.Presentation.Wpf; - - -namespace TcoUrRobotics -{ - public class TcoUrEseries_V_1_x_xServiceViewModel : TcoUrRoboticsBaseServiceViewModel - { - - public TcoUrEseries_V_1_x_xServiceViewModel():base() - { - - - } - } - -} diff --git a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceView.xaml b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceView.xaml similarity index 85% rename from src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceView.xaml rename to src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceView.xaml index afd0a4f03..472263590 100644 --- a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceView.xaml +++ b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceView.xaml @@ -1,5 +1,5 @@  - + diff --git a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceView.xaml.cs b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceView.xaml.cs similarity index 80% rename from src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceView.xaml.cs rename to src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceView.xaml.cs index c337328b4..2228ca649 100644 --- a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_V_1_x_xServiceView.xaml.cs +++ b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceView.xaml.cs @@ -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(); diff --git a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceViewModel.cs b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceViewModel.cs new file mode 100644 index 000000000..3b5d350fb --- /dev/null +++ b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/Eseries/TcoUrEseries_v_5_x_xServiceViewModel.cs @@ -0,0 +1,13 @@ +namespace TcoUrRobotics +{ + public class TcoUrEseries_v_5_x_xServiceViewModel : TcoUrRoboticsBaseServiceViewModel + { + + public TcoUrEseries_v_5_x_xServiceViewModel():base() + { + + + } + } + +} diff --git a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/TcOpen.Inxton.TcoUrRobotics.Wpf.csproj b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/TcOpen.Inxton.TcoUrRobotics.Wpf.csproj index 04c378b0f..1787ca994 100644 --- a/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/TcOpen.Inxton.TcoUrRobotics.Wpf.csproj +++ b/src/TcoUrRobotics/src/TcoUrRobotics.Wpf/TcOpen.Inxton.TcoUrRobotics.Wpf.csproj @@ -47,7 +47,7 @@ Designer MSBuild:Compile - + $(DefaultXamlRuntime) Designer diff --git a/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.Designer.cs b/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.Designer.cs index 72628a232..b0957b200 100644 --- a/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.Designer.cs +++ b/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.Designer.cs @@ -61,20 +61,20 @@ internal Localizations() { } /// - /// Looks up a localized string similar to is OFF . + /// Looks up a localized string similar to Waiting for signal: . /// - public static string ____is_OFF___ { + public static string ____Waiting_for_signal____ { get { - return ResourceManager.GetString("____is_OFF___", resourceCulture); + return ResourceManager.GetString("____Waiting_for_signal____", resourceCulture); } } /// - /// Looks up a localized string similar to Waiting for signal: . + /// Looks up a localized string similar to Waiting to program is stopped. . /// - public static string ____Waiting_for_signal____ { + public static string ____Waiting_to_program_is_stopped____ { get { - return ResourceManager.GetString("____Waiting_for_signal____", resourceCulture); + return ResourceManager.GetString("____Waiting_to_program_is_stopped____", resourceCulture); } } @@ -240,15 +240,6 @@ public static string ___Coordinates__ { } } - /// - /// Looks up a localized string similar to Drive error no . - /// - public static string ___Drive_error_no___ { - get { - return ResourceManager.GetString("___Drive_error_no___", resourceCulture); - } - } - /// /// Looks up a localized string similar to Emergency stop active. /// @@ -852,15 +843,6 @@ public static string ___Run_action__ { } } - /// - /// Looks up a localized string similar to Safety Error . - /// - public static string ___Safety_Error___ { - get { - return ResourceManager.GetString("___Safety_Error___", resourceCulture); - } - } - /// /// Looks up a localized string similar to Safety mode. /// @@ -1239,42 +1221,6 @@ public static string ___Status__ { } } - /// - /// Looks up a localized string similar to Stop motors. - /// - public static string ___Stop_motors__ { - get { - return ResourceManager.GetString("___Stop_motors__", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Stop motors finished with error.. - /// - public static string ___Stop_motors_finished_with_error___ { - get { - return ResourceManager.GetString("___Stop_motors_finished_with_error___", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Stop motors started.. - /// - public static string ___Stop_motors_started___ { - get { - return ResourceManager.GetString("___Stop_motors_started___", resourceCulture); - } - } - - /// - /// Looks up a localized string similar to Stop motors was completed successfully.. - /// - public static string ___Stop_motors_was_completed_successfully___ { - get { - return ResourceManager.GetString("___Stop_motors_was_completed_successfully___", resourceCulture); - } - } - /// /// Looks up a localized string similar to Stop movements. /// @@ -1356,6 +1302,15 @@ public static string ___Stop_program_was_completed_successfully___ { } } + /// + /// Looks up a localized string similar to Stopped due safety. + /// + public static string ___Stopped_due_safety__ { + get { + return ResourceManager.GetString("___Stopped_due_safety__", resourceCulture); + } + } + /// /// Looks up a localized string similar to Stopping movement finished with error.. /// @@ -1654,20 +1609,20 @@ public static string ___Waiting_for_motors_are_On____ { } /// - /// Looks up a localized string similar to Waiting for program running signal! . + /// Looks up a localized string similar to Waiting for system is without errors! . /// - public static string ___Waiting_for_program_running_signal____ { + public static string ___Waiting_for_system_is_without_errors____ { get { - return ResourceManager.GetString("___Waiting_for_program_running_signal____", resourceCulture); + return ResourceManager.GetString("___Waiting_for_system_is_without_errors____", resourceCulture); } } /// - /// Looks up a localized string similar to Waiting for system is without errors! . + /// Looks up a localized string similar to Waiting to program running! . /// - public static string ___Waiting_for_system_is_without_errors____ { + public static string ___Waiting_to_program_running____ { get { - return ResourceManager.GetString("___Waiting_for_system_is_without_errors____", resourceCulture); + return ResourceManager.GetString("___Waiting_to_program_running____", resourceCulture); } } diff --git a/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.resx b/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.resx index 283b5ce17..d452b6d1e 100644 --- a/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.resx +++ b/src/TcoUrRobotics/src/TcoUrRoboticsConnector/Properties/Localizations.resx @@ -123,9 +123,6 @@ Stopped due safety - - Drive error no - Status @@ -168,9 +165,6 @@ Restore - - Safety Error - Invalid reference: diff --git a/src/TcoUrRobotics/src/TcoUrRoboticsConnector/pex/TcoUrEseries_v_1_x_x.cs b/src/TcoUrRobotics/src/TcoUrRoboticsConnector/pex/TcoUrEseries_v_5_x_x.cs similarity index 95% rename from src/TcoUrRobotics/src/TcoUrRoboticsConnector/pex/TcoUrEseries_v_1_x_x.cs rename to src/TcoUrRobotics/src/TcoUrRoboticsConnector/pex/TcoUrEseries_v_5_x_x.cs index a670f3b93..7a51c4e1c 100644 --- a/src/TcoUrRobotics/src/TcoUrRoboticsConnector/pex/TcoUrEseries_v_1_x_x.cs +++ b/src/TcoUrRobotics/src/TcoUrRoboticsConnector/pex/TcoUrEseries_v_5_x_x.cs @@ -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 = " "; diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Cb3/TcoUrCb3_v_3_x_x.TcPOU b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Cb3/TcoUrCb3_v_3_x_x.TcPOU index a28f2f7bf..f6ec360b3 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Cb3/TcoUrCb3_v_3_x_x.TcPOU +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Cb3/TcoUrCb3_v_3_x_x.TcPOU @@ -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();]]> @@ -233,6 +230,29 @@ METHOD PROTECTED ServiceMode]]> + + + + + + + + + + + + + + + + + + 8_O2T Robot IO index := 0; @@ -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; @@ -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 diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_IO_v_1_x_x.TcDUT b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_IO_v_5_x_x.TcDUT similarity index 64% rename from src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_IO_v_1_x_x.TcDUT rename to src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_IO_v_5_x_x.TcDUT index e8ebd9a7d..a5beed303 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_IO_v_1_x_x.TcDUT +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_IO_v_5_x_x.TcDUT @@ -1,15 +1,15 @@  - - + "} - In : TcoUrCb3_Inputs_v_3_x_x; + In : TcoUrEseries_Inputs_v_5_x_x; {attribute addProperty Name "<#OUT#>"} - Out : TcoUrCb3_Outputs_v_3_x_x; + Out : TcoUrEseries_Outputs_v_5_x_x; END_STRUCT END_TYPE ]]> diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Inputs_v_1_x_x.TcDUT b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Inputs_v_5_x_x.TcDUT similarity index 86% rename from src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Inputs_v_1_x_x.TcDUT rename to src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Inputs_v_5_x_x.TcDUT index 5e00a16dc..ad694891c 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Inputs_v_1_x_x.TcDUT +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Inputs_v_5_x_x.TcDUT @@ -1,7 +1,7 @@  - - + "} State : TcoUrRobotics_T2O_State_IO; diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Outputs_v_1_x_x.TcDUT b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Outputs_v_5_x_x.TcDUT similarity index 77% rename from src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Outputs_v_1_x_x.TcDUT rename to src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Outputs_v_5_x_x.TcDUT index 3c61bd5f0..1469420d8 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Outputs_v_1_x_x.TcDUT +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/IO/TcoUrEseries_Outputs_v_5_x_x.TcDUT @@ -1,7 +1,7 @@  - - + "} RobotIO : TcoUrRobotics_O2T_Robot_IO; diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/TcoUrEseries_v_1_x_x.TcPOU b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/TcoUrEseries_v_5_x_x.TcPOU similarity index 97% rename from src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/TcoUrEseries_v_1_x_x.TcPOU rename to src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/TcoUrEseries_v_5_x_x.TcPOU index 9517a41c7..3aebe0b9f 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/TcoUrEseries_v_1_x_x.TcPOU +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/Eseries/TcoUrEseries_v_5_x_x.TcPOU @@ -1,9 +1,9 @@  - - + '); END_IF; - IF(NOT _status.State.Inputs.Safety.ST_IsStoppedDueSafety) THEN - Messenger.Warning('<#Safety Error #>'); + 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();]]> @@ -236,6 +232,29 @@ METHOD PROTECTED ServiceMode]]> + + + + + + + + + + + + + + + + + + '; END_IF; -CallTimers(FALSE); -inoControl.Pause := TRUE;]]> +CallTimers(FALSE);]]> diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU index 5bed09a92..117251a6a 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Starts/StartMovementsTask.TcPOU @@ -169,8 +169,7 @@ THIS^._errorMessage.Error(_sb.Clear().Append(description).Append(' To restore ac ]]> '; END_IF; -CallTimers(FALSE); -inoControl.Pause := TRUE;]]> +CallTimers(FALSE);]]> diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU index 83c7a6dff..e0c41d7cc 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsAndProgramTask.TcPOU @@ -30,7 +30,7 @@ IF Execute() THEN inoControl.Stop := TRUE ; - IF inoStatus.State.Inputs.Robot.PR_IsProgramRunning THEN + IF not inoStatus.State.Inputs.Robot.PR_IsProgramRunning THEN inoControl.Stop := FALSE ; _progress := _progress + 1; diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU index fec40742e..c82867f3f 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/POUs/Prototypes/RoboticsTasks/Stops/StopMovementsTask.TcPOU @@ -31,7 +31,7 @@ IF Execute() THEN inoControl.Pause := TRUE ; - IF inoStatus.State.Inputs.Robot.PR_IsProgramRunning THEN + IF NOT inoStatus.State.Inputs.Robot.PR_IsProgramRunning THEN inoControl.Pause := FALSE ; END_IF END_IF; @@ -71,7 +71,7 @@ METHOD PROTECTED OnAbort ]]> ';END_IF; -inoControl.Pause := TRUE;]]> +inoControl.Pause := false;]]> @@ -129,7 +129,8 @@ CallTimers(FALSE);]]> METHOD Restore : ITcoRestorable]]> diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/TcoUrRobotics.plcproj b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/TcoUrRobotics.plcproj index 3755d86e3..82039dab7 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/TcoUrRobotics.plcproj +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRobotics/TcoUrRobotics.plcproj @@ -108,16 +108,16 @@ Code - + Code - + Code - + Code - + Code diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/GVLs/GVL.TcGVL b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/GVLs/GVL.TcGVL index f51d27cbd..794d7b033 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/GVLs/GVL.TcGVL +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/GVLs/GVL.TcGVL @@ -4,7 +4,7 @@ \ No newline at end of file diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/Tests/TcoContext/WpfContext.TcPOU b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/Tests/TcoContext/WpfContext.TcPOU index f95b5ecd2..6437bf6fc 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/Tests/TcoContext/WpfContext.TcPOU +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/TcoUrRoboticsTests/Tests/TcoContext/WpfContext.TcPOU @@ -8,7 +8,7 @@ VAR _robot1 : TcoUrRobotics.TcoUrCb3_v_3_x_x(THIS^); {attribute addProperty Name "<#UR E series#>"} - _robot2 : TcoUrRobotics.TcoUrEseries_v_1_x_x(THIS^); + _robot2 : TcoUrRobotics.TcoUrEseries_v_5_x_x(THIS^); @@ -109,7 +109,10 @@ IF (seq.Step(inStepID := 0, inStepDescription := 'READY TO START')) THEN //-------------------------------------------------------- _param.GlobalSpeed :=100; - _noOfAttmets:=0; + _robot1.SSM_SpeedSliderFractionMask:=TRUE; + _robot1.SpeedSliderFraction:=_param.GlobalSpeed; + + _noOfAttmets:=0; answer := _dialog .Show() @@ -194,6 +197,9 @@ IF (seq.Step(inStepID := 15, inStepDescription := 'START MOVEMENTS')) THEN //-------------------------------------------------------- _param.ActionNo:=100; + _param.GlobalSpeed:=50; + _robot1.SSM_SpeedSliderFractionMask:=TRUE; + _robot1.SpeedSliderFraction:=_param.GlobalSpeed; IF _robot1.StartMovements(inData:=_param).Done THEN seq.CompleteStep(); @@ -209,7 +215,10 @@ IF (seq.Step(inStepID := 16, inStepDescription := 'START ANOTHER MOVE MOVEMENTS')) THEN //-------------------------------------------------------- _param.ActionNo:=1; - _param.GlobalSpeed:=90; + _param.GlobalSpeed:=70; + _robot1.SSM_SpeedSliderFractionMask:=TRUE; + _robot1.SpeedSliderFraction:=_param.GlobalSpeed; + IF _robot1.StartMovements(inData:=_param).Done THEN IF _noOfAttmets<_maxAllowedAttempts THEN _noOfAttmets:=_noOfAttmets+1; @@ -283,6 +292,8 @@ IF (seq.Step(inStepID := 525, _param.ActionNo:=100; _param.GlobalSpeed :=20; + _robot1.SSM_SpeedSliderFractionMask:=TRUE; + _robot1.SpeedSliderFraction:=_param.GlobalSpeed; IF _robot1.StartMovements(inData:=_param).Done THEN seq.CompleteStep(); END_IF diff --git a/src/TcoUrRobotics/src/XaeTcoUrRobotics/XaeTcoUrRobotics.tsproj b/src/TcoUrRobotics/src/XaeTcoUrRobotics/XaeTcoUrRobotics.tsproj index 5c7cebbf7..8fa45f2bd 100644 --- a/src/TcoUrRobotics/src/XaeTcoUrRobotics/XaeTcoUrRobotics.tsproj +++ b/src/TcoUrRobotics/src/XaeTcoUrRobotics/XaeTcoUrRobotics.tsproj @@ -333,7 +333,7 @@ - + TcoUrRoboticsTests Instance {08500001-0000-0000-F000-000000000064} @@ -413,6 +413,10 @@ PlcTask1 Outputs + + GVL.Robot1.PnIoBoxCtrl + UINT + GVL.Robot1.Out.RobotIO.bArray ARRAY [0..23] OF BYTE @@ -425,10 +429,6 @@ GVL.Robot1.Out.Reg2.bArray ARRAY [0..99] OF BYTE - - GVL.Robot1.PnIoBoxCtrl - UINT - GVL.Robot2.PnIoBoxCtrl UINT @@ -2031,7 +2031,7 @@ Bit 8 - 15 : reserved]]> - + Device 2 (EtherCAT) @@ -3895,10 +3895,10 @@ Bit 8 - 15 : reserved]]> - + Device 5 (Profinet Controller) - 000000000000000000000000a08601005c4445564943455c7b45414643393630312d453041302d343533322d394635392d3933384541464141344437447d000000000000000001000104a8c000ffffff0001056fc1bd040000000000000000000000000000000000000000000000000000000000000000000000000000000000 - + 000000000000000000000000000000005c4445564943455c7b45414643393630312d453041302d343533322d394635392d3933384541464141344437447d000000000000000001000104a8c000ffffff0001056fc1bd040000000000000000000000000000000000000000000000000000000000000000000000000000000000 + Image @@ -4354,7 +4354,6 @@ Submodule Info: Write General Purpose Registers 2 -