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increase mcpower timeout in festo drive component #1127

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Merged
TomKovac merged 2 commits into from
May 5, 2026
Merged

increase mcpower timeout in festo drive component #1127

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b02291c
Create draft PR for #1126
TomKovac May 5, 2026
054922e
done
TomKovac May 5, 2026
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3 changes: 0 additions & 3 deletions src/components.festo.drives/components.festo.drives.code-workspace
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Original file line number Diff line number Diff line change
Expand Up @@ -2,9 +2,6 @@
"folders": [
{
"path": "ctrl"
},
{
"path": "app"
}
],
"settings": {}
Expand Down
68 changes: 33 additions & 35 deletions src/components.festo.drives/ctrl/src/AxoCmmtAs/AxoCmmtAs.st
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Expand Up @@ -1169,7 +1169,6 @@ NAMESPACE AXOpen.Components.Festo.Drives
///</summary>
VAR INTERNAL
MC_PowerEnable_PV : BOOL := FALSE; //Enable - previous value
MC_PowerCycle : ULINT := ULINT#0;
END_VAR
METHOD PUBLIC OVERRIDE MC_Power
VAR_INPUT
Expand All @@ -1196,39 +1195,37 @@ NAMESPACE AXOpen.Components.Festo.Drives
END_IF;

IF Enable THEN
MC_PowerCycle := MC_PowerCycle + ULINT#1;
THIS.UpdateInputs(AxisRef);
IF NOT MC_PowerEnable_PV THEN
_AxisReference^.Telegram750_Out.M_LIMIT_POS := 16384;
_AxisReference^.Telegram750_Out.M_LIMIT_NEG := -16384;
_AxisReference^.Telegram111_Out.MDI_ACC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.MDI_DEC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.Override_ := TO_WORD(TO_INT(16384.0 )); // * _AxisReference^.Data.OverrideVelocityFactor));
_AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
END_IF;
_AxisReference^.Telegram111_Out.STW1.on_ := TRUE;
_AxisReference^.Telegram111_Out.STW1.activateTraversing := FALSE;
_AxisReference^.Telegram111_Out.STW1.acknowledgeFault := FALSE;
// _AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
_AxisReference^.Telegram111_Out.POS_STW2.SW_Limit := TRUE;
_AxisReference^.Telegram111_Out.POS_STW2.HW_Limit := TRUE;
_AxisReference^.Telegram111_Out.STW1.noCoastStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.noQuickStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.enableOperation := TRUE;
_AxisReference^.Telegram111_Out.STW1.cancelTraversing := TRUE;
_AxisReference^.Telegram111_Out.STW1.intermediateStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.controlByPlc := TRUE;
IF _AxisReference^.Telegram111_In.ZSW1.operationEnabled THEN
MC_PowerCycle := ULINT#0;
Status := TRUE; (* Status OK*)
Valid := TRUE;
ELSIF _AxisReference^.Telegram111_In.ZSW1.faultPresent = TRUE THEN
Error := TRUE; (* Set the ERROR-Output *)
Valid := TRUE;
ErrorID := TO_DINT(_AxisReference^.Telegram111_In.Fault_Code);
END_IF;
IF MC_PowerCycle >= ULINT#200 THEN
MC_PowerCycle := ULINT#0;
IF _blink.Blink(THIS,T#2s,T#500ms) THEN
IF NOT MC_PowerEnable_PV THEN
_AxisReference^.Telegram750_Out.M_LIMIT_POS := 16384;
_AxisReference^.Telegram750_Out.M_LIMIT_NEG := -16384;
_AxisReference^.Telegram111_Out.MDI_ACC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.MDI_DEC := TO_UINT(16384.0 * _AxisReference^.Data.OverrideAccelerationFactor);
_AxisReference^.Telegram111_Out.Override_ := TO_WORD(TO_INT(16384.0 )); // * _AxisReference^.Data.OverrideVelocityFactor));
_AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
END_IF;
_AxisReference^.Telegram111_Out.STW1.on_ := TRUE;
_AxisReference^.Telegram111_Out.STW1.activateTraversing := FALSE;
_AxisReference^.Telegram111_Out.STW1.acknowledgeFault := FALSE;
// _AxisReference^.Telegram111_Out.MDI_VELOCITY := DINT#1;
// _AxisReference^.Telegram111_Out.POS_STW2.SW_Limit := TRUE;
_AxisReference^.Telegram111_Out.POS_STW2.HW_Limit := TRUE;
_AxisReference^.Telegram111_Out.STW1.noCoastStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.noQuickStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.enableOperation := TRUE;
_AxisReference^.Telegram111_Out.STW1.cancelTraversing := TRUE;
_AxisReference^.Telegram111_Out.STW1.intermediateStop := TRUE;
_AxisReference^.Telegram111_Out.STW1.controlByPlc := TRUE;
IF _AxisReference^.Telegram111_In.ZSW1.operationEnabled THEN
Status := TRUE; (* Status OK*)
Valid := TRUE;
ELSIF _AxisReference^.Telegram111_In.ZSW1.faultPresent = TRUE THEN
Error := TRUE; (* Set the ERROR-Output *)
Valid := TRUE;
ErrorID := TO_DINT(_AxisReference^.Telegram111_In.Fault_Code);
END_IF;
ELSE
_AxisReference^.Telegram111_Out.STW1.on_ := FALSE;
_AxisReference^.Telegram111_Out.STW1.StartHoming := FALSE;
_AxisReference^.Telegram111_Out.POS_STW1.MDI_MOD := FALSE;
Expand All @@ -1253,7 +1250,7 @@ NAMESPACE AXOpen.Components.Festo.Drives

IF NOT Enable AND MC_PowerEnable_PV THEN
THIS.UpdateInputs(AxisRef);
MC_PowerCycle := ULINT#0;
_blink.Restore();
_AxisReference^.Telegram111_Out.STW1.on_ := FALSE;
THIS.UpdateOutputs(AxisRef);
END_IF;
Expand Down Expand Up @@ -5559,7 +5556,6 @@ NAMESPACE AXOpen.Components.Festo.Drives
END_METHOD

METHOD PUBLIC OVERRIDE Restore
MC_PowerCycle := ULINT#0;
MC_HomeExecute_PV := FALSE;
MC_HomeErrorID := DINT#0;
MC_HomeCycle := ULINT#0;
Expand Down Expand Up @@ -5682,6 +5678,8 @@ NAMESPACE AXOpen.Components.Festo.Drives
DriveStatus.Error.Id := UINT#0;
Messenger.Restore();
TaskMessenger.Restore();
_blink.Restore();


//AxoPower_Task.Restore();
AxoStop_Task.Restore();
Expand Down
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