diff --git a/master/_sources/lcls-twincat-motion_Library_source.rst.txt b/master/_sources/lcls-twincat-motion_Library_source.rst.txt index 00e17c1..3621a63 100644 --- a/master/_sources/lcls-twincat-motion_Library_source.rst.txt +++ b/master/_sources/lcls-twincat-motion_Library_source.rst.txt @@ -249,6 +249,25 @@ E_EpicsMotorCmd +E_LCLSMotionError +^^^^^^^^^^^^^^^^^ + +:: + + {attribute 'qualified_only'} + {attribute 'strict'} + TYPE E_LCLSMotionError : + ( + ABORTED := 16#7900, + UNSAFE := 16#7901, + INVALID := 16#7902, + TEST := 16#FFFF + ) UDINT; + END_TYPE + + + + E_MotionFFType ^^^^^^^^^^^^^^ @@ -3061,10 +3080,10 @@ F_MotionErrorCodeLookup 16#4FFF: msg:='Unknown NC error (not in manual)'; // Custom error definitions - 16#7900: msg:='Aborted move request with active move in progress'; - 16#7901: msg:='Position state unsafe'; - 16#7902: msg:='Position state invalid'; - 16#FFFF: msg:='Fake testing error'; + E_LCLSMotionError.ABORTED: msg:='Aborted move request with active move in progress'; + E_LCLSMotionError.UNSAFE: msg:='Position state unsafe'; + E_LCLSMotionError.INVALID: msg:='Position state invalid'; + E_LCLSMotionError.TEST: msg:='Fake testing error'; // Fallbacks 0: msg:=''; @@ -3076,6 +3095,8 @@ F_MotionErrorCodeLookup END_FUNCTION +Related: + * `E_LCLSMotionError`_ F_PosOverLowerBound @@ -7992,7 +8013,7 @@ FB_MotionRequest E_MotionRequest.ABORT: nState := ERROR; bError := TRUE; - nErrorId := 16#7900; + nErrorId := E_LCLSMotionError.ABORTED; END_CASE ELSE nState := START_MOVE; @@ -8065,6 +8086,7 @@ FB_MotionRequest Related: * `E_EpicsMotorCmd`_ + * `E_LCLSMotionError`_ * `E_MotionRequest`_ * `FB_MotionStage`_ * `F_MotionErrorCodeLookup`_ @@ -10681,15 +10703,23 @@ FB_PositionStateMove END_VAR VAR fbMotionRequest: FB_MotionRequest; + rtExec: R_TRIG; + rtReset: R_TRIG; + bInnerExec: BOOL; bAllowMove: BOOL; + nLatchAllowErrorID: UDINT; END_VAR // Veto the move for uninitialized and unsafe states bAllowMove := stPositionState.bMoveOk AND stPositionState.bValid AND stPositionState.bUpdated; + rtExec(CLK:=bExecute); + bInnerExec S= rtExec.Q AND bAllowMove AND NOT bError; + bInnerExec R= NOT bExecute; + // Do the move fbMotionRequest( stMotionStage := stMotionStage, - bExecute := bExecute AND bAllowMove, + bExecute := bInnerExec, bReset := bReset, enumMotionRequest := enumMotionRequest, fPos := stPositionState.fPosition, @@ -10702,15 +10732,24 @@ FB_PositionStateMove bBusy => bBusy, bDone => bDone); + rtReset(CLK:=bReset); + IF rtReset.Q THEN + nLatchAllowErrorID := 0; + END_IF + // Inject custom error if we can't move because of bMoveOk or bValid - IF bExecute AND NOT bAllowMove THEN + IF nLatchAllowErrorID <> 0 OR (bExecute AND NOT bAllowMove) THEN bError := TRUE; - IF stPositionState.bValid THEN - nErrorId := 16#7901; + IF nLatchAllowErrorID <> 0 THEN + nErrorID := nLatchAllowErrorID; + ELSIF stPositionState.bValid THEN + nErrorID := E_LCLSMotionError.UNSAFE; ELSE - nErrorId := 16#7902; + nErrorID := E_LCLSMotionError.INVALID; END_IF - sErrorMessage := F_MotionErrorCodeLookup(nErrorId := nErrorID); + // Keep error latched until it is cleared, otherwise it can be lost early + nLatchAllowErrorID := nErrorID; + sErrorMessage := CONCAT(CONCAT(F_MotionErrorCodeLookup(nErrorId := nErrorID), ' for '), stPositionState.sName); END_IF // This can be useful if we're running this FB standalone for some reason @@ -10720,6 +10759,7 @@ FB_PositionStateMove Related: + * `E_LCLSMotionError`_ * `E_MotionRequest`_ * `FB_MotionRequest`_ * `F_AtPositionState`_ @@ -10753,6 +10793,7 @@ FB_PositionStateMove_Test bOneTestDone: BOOL; fTestStartPos: LREAL; tonTimer: TON; + tonCleanup: TON; nIter: DINT; bStatesReady: BOOL; END_VAR @@ -10814,23 +10855,43 @@ FB_PositionStateMove_Test TestMove(3, 3, TRUE); // Test that we cannot move to an invalid state TestBadStates(4); + // Test that we need a new bExecute to start a new move if a move goes from unsafe to safe + TestMoveOk(5); + + // Wait a few cycles for remaining errors to propagate + tonCleanup(IN:=bOneTestDone, PT:=T#1s); + IF tonCleanup.Q THEN + IF fbMove.bBusy THEN + fbMove( + stMotionStage:=stMotionStage, + stPositionState:=stDummyPos, + bExecute:=FALSE, + bReset:=FALSE, + ); + ELSIF stMotionStage.bBusy THEN + stMotionStage.bExecute := FALSE; + ELSIF fbMove.bError THEN + fbMove( + stMotionStage:=stMotionStage, + stPositionState:=stDummyPos, + bExecute:=FALSE, + bReset:=TRUE, + ); + ELSIF stMotionStage.bError THEN + stMotionStage.bReset := TRUE; + ELSE + fbMove( + stMotionStage:=stMotionStage, + stPositionState:=stDummyPos, + bExecute:=FALSE, + bReset:=FALSE, + ); + stMotionStage.bReset := FALSE; - IF bOneTestDone THEN - bOneTestDone := FALSE; - nTestCounter := nTestCounter + 1; - fbMove( - stMotionStage:=stMotionStage, - stPositionState:=stDummyPos, - bExecute:=FALSE, - bReset:=TRUE, - ); - fbMove( - stMotionStage:=stMotionStage, - stPositionState:=stDummyPos, - bExecute:=FALSE, - bReset:=FALSE, - ); - tonTimer(IN:=FALSE); + bOneTestDone := FALSE; + nTestCounter := nTestCounter + 1; + tonTimer(IN:=FALSE); + END_IF END_IF // Use this timer to time out any tests that stall tonTimer( @@ -10845,7 +10906,7 @@ FB_PositionStateMove_Test nTestIndex: UINT; END_VAR TEST(CONCAT('TestInvalid', UINT_TO_STRING(nTestIndex))); - IF nTestCounter <> nTestIndex THEN + IF nTestCounter <> nTestIndex OR bOneTestDone THEN RETURN; END_IF @@ -10926,9 +10987,10 @@ FB_PositionStateMove_Test VAR_INST bLocalInit: BOOL; bInterruptStarted: BOOL; + tonBusy: TON; END_VAR TEST(CONCAT('TestMove', UINT_TO_STRING(nTestIndex))); - IF nTestCounter <> nTestIndex THEN + IF nTestCounter <> nTestIndex OR bOneTestDone THEN RETURN; END_IF @@ -10945,7 +11007,10 @@ FB_PositionStateMove_Test bLocalInit := TRUE; END_IF - bInterruptStarted S= bInterrupt AND stMotionStage.bBusy; + // Simulate waiting a moment before stopping + tonBusy(IN:=stMotionStage.bBusy, PT:=T#100ms); + bInterruptStarted S= bInterrupt AND tonBusy.Q; + fbMove( stMotionStage:=stMotionstage, stPositionState:=astPositionState[nStateIndex], @@ -10990,6 +11055,144 @@ FB_PositionStateMove_Test END_IF END_METHOD + METHOD TestMoveOk + VAR_INPUT + nTestIndex: UINT; + END_VAR + VAR_INST + nStep: UINT; + fStartPos: LREAL; + stState: ST_PositionState := ( + sName:='GOAL', + fPosition:=135, + fDelta:=0.5, + fVelocity:=1, + bValid:=TRUE, + bMoveOk:=FALSE, + bUpdated:=TRUE + ); + tonInternal: TON; + bLocalExec: BOOL; + bLocalReset: BOOL; + END_VAR + VAR CONSTANT + END: UINT := 999; + END_VAR + TEST('TestMoveOk'); + IF nTestCounter <> nTestIndex OR bOneTestDone THEN + RETURN; + END_IF + + CASE nStep OF + // Initial setup and checks + 0: + fStartPos := stMotionStage.stAxisStatus.fActPosition; + AssertFalse( + fbMove.bError, + 'Started with a fbMove error', + ); + AssertFalse( + stMotionStage.bError, + 'Started with a motor error', + ); + bLocalExec := FALSE; + bLocalReset := FALSE; + nStep := nStep + 1; + // Move to a state that is bad + 1: + stState.bMoveOk := FALSE; + bLocalExec := TRUE; + nStep := nStep + 1; + // The move should have failed with an error on the FB that never propagated to the motor itself- we shouldn't have attempted the move at all + 2: + AssertTrue( + fbMove.bError, + 'Did not have the expected move not ok error', + ); + AssertFalse( + stMotionStage.bError, + 'Had a motion error, but we never should have asked for a move?', + ); + nStep := nStep + 1; + // Make the state no longer bad, and wait a bit + 3: + stState.bMoveOk := TRUE; + tonInternal(IN:=TRUE, PT:=T#500ms); + IF tonInternal.Q THEN + tonInternal(IN:=FALSE); + nStep := nStep + 1; + END_IF + // There should be no movement still + 4: + AssertEquals_LREAL( + Expected:=fStartPos, + Actual:=stMotionStage.stAxisStatus.fActPosition, + Delta:=0.1, + Message:='Motor moved without bReset or a new bExecute!', + ); + // Reset the error (rising edge) + bLocalReset := TRUE; + nStep := nStep + 1; + // After we reset the error, wait a bit + 5: + // Drop for rising edges later + bLocalReset := FALSE; + tonInternal(IN:=TRUE, PT:=T#500ms); + IF tonInternal.Q THEN + tonInternal(IN:=FALSE); + nStep := nStep + 1; + END_IF + // There should be no error, and STILL be no movement + 6: + AssertFalse( + fbMove.bError, + 'The error should be reset', + ); + AssertEquals_LREAL( + Expected:=fStartPos, + Actual:=stMotionStage.stAxisStatus.fActPosition, + Delta:=0.1, + Message:='Motor moved without a new bExecute!', + ); + // Set bExecute to FALSE for an upcoming rising edge. It should be TRUE at this point. + bLocalExec := FALSE; + nStep := nStep + 1; + // We should be able to start a move via bExecute now + 7: + stState.fVelocity := 2000; + stState.fAccel := 15000; + stState.fDecel := 15000; + bLocalExec := TRUE; + IF fbMove.bAtState AND stMotionStage.bDone THEN + nStep := END; + END_IF + END_CASE + + // Run fbMove exactly once every cycle no matter what + fbMove( + stMotionStage:=stMotionStage, + stPositionState:=stState, + bExecute:=bLocalExec, + bReset:=bLocalReset, + ); + + IF nStep = END OR tonTimer.Q THEN + AssertFalse( + tonTimer.Q, + 'Test timed out', + ); + // Check that we've reached the goal + AssertEquals_LREAL( + Expected:=stState.fPosition, + Actual:=stMotionStage.stAxisStatus.fActPosition, + Delta:=0.1, + Message:='Motor did not reach the goal.', + ); + bOneTestDone := TRUE; + TEST_FINISHED(); + END_IF + END_METHOD + Related: * `FB_MotionStage`_ @@ -11403,6 +11606,7 @@ FB_PositionStateND_Core stUserInput:=stEpicsToPlc, bMoveBusy:=fbMove.bBusy, nStartingState:=fbRead.nPositionIndex, + bMoveError:=fbMove.bError, nCurrGoal=>nCurrGoal, bExecMove=>, bResetMove=>, @@ -17018,6 +17222,8 @@ FB_StatesInputHandler bMoveBusy: BOOL; // The starting state number to seed nCurrGoal with nStartingState: UINT; + // TRUE if we have a move error, to prevent moves + bMoveError: BOOL; END_VAR VAR_OUTPUT // The goal index to input to the motion FB. This will be clamped to the range 0..GeneralConstants.MAX_STATES @@ -17080,6 +17286,10 @@ FB_StatesInputHandler END_IF END_CASE + IF bMoveError THEN + bExecMove := FALSE; + END_IF + // Help us detect if there is an EPICS put before the next cycle stUserInput.nSetValue := 0; stUserInput.bReset := FALSE; diff --git a/master/_sources/lcls-twincat-motion_Library_summary.rst.txt b/master/_sources/lcls-twincat-motion_Library_summary.rst.txt index 86f8f96..46f01e0 100644 --- a/master/_sources/lcls-twincat-motion_Library_summary.rst.txt +++ b/master/_sources/lcls-twincat-motion_Library_summary.rst.txt @@ -24,7 +24,7 @@ Settings Pragmas ------- -Total pragmas found: 191 +Total pragmas found: 193 Total linter errors: 0 diff --git a/master/_sources/lcls-twincat-motion_pragmas.rst.txt b/master/_sources/lcls-twincat-motion_pragmas.rst.txt index 905cff9..68e2e8c 100644 --- a/master/_sources/lcls-twincat-motion_pragmas.rst.txt +++ b/master/_sources/lcls-twincat-motion_pragmas.rst.txt @@ -6,7 +6,7 @@ Pragmas :header: PLC Name, Total Pragmas, Errors :align: center - :ref:`Library `, 191, 0 + :ref:`Library `, 193, 0 .. _Library_overview_pragmas: @@ -15,7 +15,7 @@ Pragmas Library ^^^^^^^ -Total pragmas found: 191 +Total pragmas found: 193 Total linter errors: 0 diff --git a/master/index.html b/master/index.html index 4de5b65..d4105d1 100644 --- a/master/index.html +++ b/master/index.html @@ -145,6 +145,7 @@

lcls-twincat-motionE_EpicsHomeCmd
  • E_EpicsInOut
  • E_EpicsMotorCmd
    • +
  • E_LCLSMotionError
  • E_MotionFFType
  • E_MotionRequest
  • E_PnuematicActuatorPositionState
    • diff --git a/master/lcls-twincat-motion_Library_source.html b/master/lcls-twincat-motion_Library_source.html index 105d078..db4e1d8 100644 --- a/master/lcls-twincat-motion_Library_source.html +++ b/master/lcls-twincat-motion_Library_source.html @@ -70,6 +70,7 @@
  • E_EpicsHomeCmd
  • E_EpicsInOut
  • E_EpicsMotorCmd
    • +
  • E_LCLSMotionError
  • E_MotionFFType
  • E_MotionRequest
  • E_PnuematicActuatorPositionState
    • @@ -493,6 +494,21 @@

    E_EpicsMotorCmd +

    E_LCLSMotionError

    +
    {attribute 'qualified_only'}
+{attribute 'strict'}
+TYPE E_LCLSMotionError :
+(
+    ABORTED := 16#7900,
+    UNSAFE := 16#7901,
+    INVALID := 16#7902,
+    TEST := 16#FFFF
+) UDINT;
+END_TYPE
+
    +
    +

    E_MotionFFType

    {attribute 'qualified_only'}
@@ -3228,10 +3244,10 @@ 
    F_MotionErrorCodeLookup16#4FFF: msg:='Unknown NC error (not in manual)';
 
     // Custom error definitions
-    16#7900: msg:='Aborted move request with active move in progress';
-    16#7901: msg:='Position state unsafe';
-    16#7902: msg:='Position state invalid';
-    16#FFFF: msg:='Fake testing error';
+    E_LCLSMotionError.ABORTED: msg:='Aborted move request with active move in progress';
+    E_LCLSMotionError.UNSAFE: msg:='Position state unsafe';
+    E_LCLSMotionError.INVALID: msg:='Position state invalid';
+    E_LCLSMotionError.TEST: msg:='Fake testing error';
 
     // Fallbacks
     0: msg:='';
@@ -3243,6 +3259,12 @@ 
    F_MotionErrorCodeLookupEND_FUNCTION
    +
    +
    Related:
    +
    +

    F_PosOverLowerBound

    @@ -8131,7 +8153,7 @@

    FB_MotionRequestE_MotionRequest.ABORT: nState := ERROR; bError := TRUE; - nErrorId := 16#7900; + nErrorId := E_LCLSMotionError.ABORTED; END_CASE ELSE nState := START_MOVE; @@ -8205,6 +8227,7 @@

    FB_MotionRequest
    Related:

    Pragmas

    -

    Total pragmas found: 191 +

    Total pragmas found: 193 Total linter errors: 0

    diff --git a/master/lcls-twincat-motion_pragmas.html b/master/lcls-twincat-motion_pragmas.html index d2446f4..318fb54 100644 --- a/master/lcls-twincat-motion_pragmas.html +++ b/master/lcls-twincat-motion_pragmas.html @@ -102,14 +102,14 @@

    Pragmas

    Library

    -

    191

    +

    193

    0

    Library

    -

    Total pragmas found: 191 +

    Total pragmas found: 193 Total linter errors: 0

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