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functional basics of CA Group
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use of XTS_Utility lib
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introduction to station based approach
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configurable station placement
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station acts as sender
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configurable station design with basic transport logic
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configurable station design with variable transport logic
individual targeting of mover to Station grouping of stations for parallel or serial work flow of extern process -
function blocks with ctrl/state structs:
cyclic check on change of command enumeration state struct enumeration with offsets for progress -
This project collection is intended to convey the idea of a stand alone XTS transport layer to use in heterogen environments / applications. The main idea is that for every process a corresponding position on the xts exists.
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In order to reduce the amount of repetetive work when implementing a XTS into a machine, this project collection may help to put a transport layer in place
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A transport layer shall have an interface for guiding a mover through a process station
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A transport layer shall have an interface to manipulate a mover within a station or for a certain task
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A transport layer shall have an interface for setting-up or clearing the CollisionAvoidance Group
The following explanations and descriptions shall help to set up a transportation layer that suits your requirements
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FORMATTING: my OCD my fomatting, allspaces no tabs, indent 2
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please read the code and datatypes, in most places I left comments
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... MAIN(PRG) and GVL_XTS are good places to start
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projects are numbered with rising level of complexity
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choose wisely
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- TwinCAT project with XPU simulation and NC Axis
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- handles Collision Avoidance Group
- ClearGroup
- BuildGroup
- EnableGroup
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- MC2 function blocks
- CA function blocks
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- simple examples, replaced later they will be
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- cyclic checks to ProcessingUnit
- Mover 1 detection
- access to local instance of Tc3_XTS_Utility function blocks;
- OTCID Initialization and checks added
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interface to extern control
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interface to fb_Xpu
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interface to fb_CaGroup
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Interface to fb_Mover
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Operation Modes (change of mode is checked):
_eCmd := _Ctrl.Cmd; // check for command change // get state for cmd IF (_eCmd <> _eCmdOld) THEN _eState := Cmd(_eCmd); _eCmdOld := _eCmd; END_IF ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// {attribute 'strict'} {attribute 'to_string'} TYPE E_XTS_TRANSPORT_CTRL : ( CMD_NULL, CMD_INIT := 10, // Xpu, Group, Mover initialization: clear errors, clear group, check Xpu data, check mover detection CMD_IDLE, CMD_MOVER_ENABLE := 20, // all mover are enabled, checked for ControlLoopClosed CMD_MOVER_DISABLE, // all mover are disabled, no axis in CaGroup: no error, any axis in CaGroup: group error CMD_GROUP_CLEAR := 30, // halt all movers, clear errors, remove all movers from group, clear group CMD_GROUP_BUILD, // add all movers to group CMD_GROUP_ENABLE, // group with movers is enabled CMD_TRANSPORT_START := 40, // move all mover[i] to start position CMD_TRANSPORT_RESTART // move all mover[i] to LastPosition[i] )UINT; END_TYPE
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Introduction of fb_Station: mover is handled by handshakes, targets can be set during operations
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Stations are defined in ST_STATION_PARAMETER
- Station Parameter description see below (Who's who)
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fb_Station
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interface to extern control; infeed from linked list entry, process handshake, sending mover to target and adding tail at linked list of target station
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command and state interface for access to station workflow
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ST_STATION_CTRL:
- eCmd : E_STATION_CTRL;
- nMask : BYTE; // nest mask for sending mover to next station
- nTargetStation : USINT; // where to next? [index of station in global array]
- rOffset : REAL; // optional offset for mover in target station when leaving sending station;
// use case: position correction of workpiece on wpc by vision
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ST_STATION_STATE :
- eState : E_STATION_STATE;
- nMask : BYTE; // current nest mask of mover in station
- nMoverId : USINT; // mover ID in station
- nQueue : USINT; // queue count for station
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I_Station_LinkedList:
- Linked list implementation for sending mover to target, every station has its own list
- AddTailValue:
- sending station adds mover at tail of target station
- GetHead:
- station gets mover ID and optional data from top of its list
- Count:
- how many mover were entered into list
- AddTailValue:
- Linked list implementation for sending mover to target, every station has its own list
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I_XtsTransport_Mover:
- Mover interface for use in fb_Station
- CA methods used for positioning and sending of mover
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message handling: Verbose, Info, Warn, Error
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e_Device: first category where message was set
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e_SubDevice: second category where message was set
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iError: Error message from function block or MoverId for Verbose msg
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MessageData(PRG)
- automated write to file, new file for each day
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GVL_MSG
- namespace for everything message related
- each project is complete with XPU in simulation mode
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- missing in this repo
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designed for use with extern cyclic or non cyclic flow control
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station based approach with individual targeting of mover
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handshake in station with extern process flow
(ST_STATION_CTRL / ST_STATION_STATE) -
individual cyclic mover interface with given set of movement functionalities
(ST_MOVER_CTRL / ST_MOVER_STATE)
XTS_TRANSPORT: main control of transport
- use ST_XTS_TRANSPORT_CTRL / ST_XTS_TRANSPORT_STATE
(GVL_XTS.XtsTransportCtrl / GVL_XTS.XtsTransportState)
- StartUp sequence for CMD_TRANSPORT_START: (wait for each PROGRESS_DONE)
- CMD_INIT or CMD_NULL
- CMD_GROUP_CLEAR
- CMD_GROUP_BUILD
- CMD_GROUP_ENABLE: (mcGroupStateNotReady)
- CMD_MOVER_ENABLE: (mcGroupStateStandby or mcGroupStateMoving)
- CMD_TRANSPORT_START: (now handshake with ST_STATION_CTRL / ST_STATION_STATE can start)
STATION_VISU: handshake for stations
- regular handshake sequence as buttons
MOVER_VISU: Access to cyclic mover interfaces.
- use ST_MOVER_CTRL / ST_MOVER_STATE (GVL_XTS.MoverCtrl / GVL_XTS.MoverState)
you better call MAIN(), cyclic calls to everyone
constants are always upper case
constants from XTS_Utility lib are mapped onto shorter names here
use XTS_Utility lib
TcIoXtsEnvironmentParameterList
for setting up your system
this project relys on those parameters to be correct
AXIS_REF for mover
global instances of function blocks and Ctrl/State structs
fb_TransportUnit
xts and mover are set to defined state
interface to extern control for mode selection
current state of example is that command CMD_TRANSPORT_START
is sending all mover to startup position
and adds all mover to queue of startup station
--> now handshake of stations can start
fb_CaGroup
handles Collision Avoidance state
AddAll()
RemoveAll()
Reset()
Enable()
Disable()
I_XtsTransport_Group
fb_Mover cyclic interface
- for extern usage (ST_MOVER_CTRL / ST_MOVER_STATE)
- methods are writing LastPosition and Last Gap
- for each mover on motion execute
- Interface pointer for use within fb_Station and fb_TransportUnit.
- see E_MOVER_CTRL for available functionalities
rPosStop: is added to WaitPos, beware when using negative offsets (avoiding collision, no movement, no error)
fb_Station cyclic interface
- for extern usage (ST_STATION_CTRL / ST_STATION_STATE)
- handshake for mover infeed, process (nests), outfeed
- static offset datafield for every Mover in every station with every nest
- additional process offset by LinkedList entry
- Interface to LinkedList use for adding mover to target station queue
- after mover has left the station
- Put the Modulo turn anywhere,
BUT NOT within WaitPos, StopPos, ReleaseDistance of a station.
The code does not support crossing the modulo turn within a station.
- The Use of LinkedList methods (AddTail, GetHead)
requires thought about when the mover is entered into the target station.
- 1. parallel stations for a process:
EXAMPLE:
P1 uses XTS_STN[1] to XTS_STN[4]
--> The ReleaseDistance of STN[4] shall be shortest,
all other stations follow accordingly.
EXAMPLE:
condition: STN[4].WaitPos > STN[3].WaitPos
for n := 3 to 1
STN[n].ReleaseDistance :=
STN[4].WaitPos
- STN[n].WaitPos
+ STN[4].StopPos[furthest pos out]
+ STN[4].ReleaseDistance
- 2. using stations sparsely:
in this case it is easiest to always handshake
the stations and use the forwarding command if
a station shall be skipped: STATION_MOVER_SEND.
- 3. deactivating stations:
make sure the queue is empty before deactivating,
since the waiting mover will hold up all the others
in case of required deactivation while movers are in the queue:
- handshake mover with
E_STATION_CTRL.STATION_MOVER_SEND to new target station
- do not send any new mover to the station in question
- disable station
- preceeding stations continue workflow
with changed ST_STATION_CTRL.nTargetStation
- all coordinates are modulo values, from station to station only forward,
within station limits backward movement by use of negative nest offset
or use of ST_MOVER_CTRL.
IF move backwards you have to make sure that there is room for it
--> distance between PosWait and PosStop
- station is defined by PosWait, PosStop[], and ReleaseDistance
TYPE ST_STATION_PARAMETER :
STRUCT
sText : STRING(80); // only description
// start of station, a sending station is using this value to send mover to
rPosWait : REAL;
// distance from Mover.ActPos has to travel in order
// for station to go back to checking list entries
rReleaseDistance : REAL;
rGap : REAL;
rVelo : REAL;
rAccDec : REAL;
rJerk : REAL;
// how many nests (stop positions) mover has to stop at (1 = default)
nConfiguredStopCount : USINT := 1; // 1-8 --> NestMask = BYTE
// mover stop position in station, relative to rPosWait!!
rPosStop : ARRAY[1..8] OF LREAL;
END_STRUCT
END_TYPE
fb_Xpu:
- one Track, one Part, (InfoServer not yet)
- cyclic plausibility checks to ProcessingUnit and MotorModules
- Mover 1 detection after Init
- connects local function blocks to XTS_Utility lib
- collects motor module info data
If you distribute you do also have to ensure support in case of questions from your recipients