Skip to content

MBP-247: Position Recovery Improvements - #17

Closed
aslanliafichev wants to merge 35 commits into
masterfrom
aslanl/position-recovery-improvements
Closed

MBP-247: Position Recovery Improvements #17
aslanliafichev wants to merge 35 commits into
masterfrom
aslanl/position-recovery-improvements

Conversation

@aslanliafichev

@aslanliafichev aslanliafichev commented Mar 6, 2026

Copy link
Copy Markdown
Collaborator
  1. Check that position, encoder position bias are saved after a power failure.
  2. Check that we timestamp the power failure and startup of the CPU.
  3. At startup check that axises are calibrated and initliazed correctly.

@aslanliafichev aslanliafichev self-assigned this Mar 6, 2026
szilard-ess
szilard-ess requested changes Mar 9, 2026
View reviewed changes
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
@aslanliafichev
MBP-247: Remove extra apostrophe RestoreWithHome
9836ed1
@aslanliafichev
MBP-247: Remove action SYSTEM_TIME()
25e09a7 
Make the timestamping a one-liner, instead of an action.
@aslanliafichev
MBP-247: Replace MC_SetPosition with MC_Home
943176f 
MC_SetPosition is replaced by MC_Home, thus it sets the home position
to actual position and the calibration flag.
@aslanliafichev
MBP-247: Add the homing status as persistent
5013e57
@aslanliafichev
MBP-247: Add enum eNextAxis
1e02a82
@aslanliafichev
MBP-247: Change to loop with different index
b75774f 
Changed solution to loop using the iCurrentAxis index, and
incrementing if position restore was properly executed or if axis was
not initialized properly or if axis was not homed before power failure.
@aslanliafichev
MBP-247: Add constants for the encoder reference
1797897 
Changed encoder reference to be constants, for better
readability.
@aslanliafichev
MBP-247: Remove redundant return statements
c3f8aea
@aslanliafichev
MBP-247: Check whitespace
fe35dd2
@aslanliafichev
MBP-247: Change logic restore position
62fd630 
Always restore position despite an axis not being initilized or
homed during shutdown.
@aslanliafichev
MBP-247: Sample position at specific time interval
9b0532b 
For incremental encoders the moving status of the axis cannot
be determined before a power failure, therefore the position
of the axis is sampled every 5 seconds with a difference
limit of 0.001 mm. These values can be changed.
@aslanliafichev
MBP-247: Execution logic change
7502455 
Cleanup of the execution logic for restore position
action.
@aslanliafichev
MBP-247: Save axis status variables as persistent
0d4ac65
@aslanliafichev

aslanliafichev commented Apr 7, 2026

Copy link
Copy Markdown
Collaborator Author

Please review the latest changes to the position recovery improvements. Overall the following changes have been made:

  • As discovered the status of the axis before power failure cannot be confirmed (goes to error stop) which is important to confirm if moving or standstill before power failure for incremental encoders. Furthermore whilst moving before a power failure there is always some positional difference between the sampled position before shutdown and the actual one at startup. Therefore the position of the axis is sampled every 5 seconds this can be changed with a positional difference limit of 0.001 can also be changed. This is only important for incremental encoders.

  • Furthermore status variables has been added to be saved as persistent variables.

  • Also E_RestorePosition still includes the options to RestoreWithHome, which is relevant for incremental encoders, I still believe that this option should be included, as there are cases where the position of an incremental encoder can be recovered accurately ( for exampled disabled or standstill for more than 5 seconds), eRestorePositionBias has also been included as this is the default value for absolute encoders.

@aslanliafichev
MBP-247: Correct naming convention
f5968a5 
Change to correct naming for TON-timers and time.
@aslanliafichev
MBP-247: Adjust execution logic
688a56a 
MBP-247: Adjust execution logic to match E_RestorePosition changes.
szilard-ess
szilard-ess requested changes Apr 13, 2026
View reviewed changes
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
szilard-ess
szilard-ess reviewed Apr 13, 2026
View reviewed changes
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU
@aslanliafichev
MBP-247: EncRefSys, implement ENUM
6cff926
@aslanliafichev
MBP-247: Implement the use of fb instead of afb
018ae74 
The following function blocks have been changed to fb's
fbReadEncRefSys: MC_ReadParameter;
fbSetHomePosition: MC_Home;
fbSetPosition: MC_SetPosition;
fbWritePositionBias: MC_WriteParameter;

To adhere to the solution handling each axis separeatly.
The following afb is still kept as is, as these values needs to be stored
as persistent before shutdown.

afbReadPositionBias: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
@aslanliafichev
MBP-247: Cleanup comments
afcbce9
@aslanliafichev
MBP-247: Add retry handling
9272255
@aslanliafichev
MBP-247: Refactor case execution logic
dcdee85 
Included more steps into the eRestorePositions enum
to handle each edge case for an encoder separatly.
@aslanliafichev
MBP-247: Add error handling
c5ef083 
Added error handling for the fbs as well as a retry counter.
@aslanliafichev
MBP-247: Update variable naming and comments
637b168
@aslanliafichev
MBP-247: Remove enum restore positions
123437f 
Uses encoder reference system to decide restore type.
Keeps only the check for whether restore is needed.
szilard-ess
szilard-ess requested changes Apr 28, 2026
View reviewed changes
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
szilard-ess
szilard-ess requested changes Apr 28, 2026
View reviewed changes
Comment thread solution/tc_project_app/POUs/MAIN.TcPOU Outdated
@szilard-ess

szilard-ess commented Apr 28, 2026 •
edited
Loading

Copy link
Copy Markdown
Collaborator

Tested for various setups, code works as expected.

  1. Absolute + Not Homed + Not Moving = Update Position Bias
  2. Absolute + Not Homed + Moving = Update Position Bias
  3. Absolute + Homed + Not Moving = Update Position Bias
  4. Absolute + Homed + Moving = Update Position Bias
  • Incremental + Not Homed + Not Moving = Update Position
  • Incremental + Not Homed + Moving = Update Position
  • Incremental + Homed + Not Moving = Update Position + Set Calibration Flag
  • Incremental + Homed + Moving = Update Position

In all cases Initialized was TRUE, otherwise no restore occurs.
In Open Loop axis handled as Incremental, position restored accordingly to the saved shutdown variables.

@szilard-ess szilard-ess mentioned this pull request Apr 30, 2026
Merged
@federrg

federrg commented Jun 17, 2026

Copy link
Copy Markdown
Member

I just noticed that you have doen here What I asked in the other one. Could you just copy paste the info here in teh confluence page and if you seem something can be added or explain more in detail do, if not then just also copy oaste this to the ticket and I will merge both tickets

@federrg federrg mentioned this pull request Jun 22, 2026
Merged
@federrg

federrg commented Jun 22, 2026 •
edited
Loading

Copy link
Copy Markdown
Member

I will close this PR because it does not follow the branch naming convention. I already created a new branch and new PR here:
#25

@federrg federrg closed this Jun 22, 2026
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@szilard-ess szilard-ess szilard-ess approved these changes
@federrg federrg Awaiting requested review from federrg
@mac-kan mac-kan Awaiting requested review from mac-kan

Assignees

@aslanliafichev aslanliafichev

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

3 participants

@aslanliafichev @szilard-ess @federrg