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MBP-389 Monitoring crash #20

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6bde1ed
MBP-389: Create INIT action in MAIN
szilard-ess May 18, 2026
21dd495
MBP-389: Add pragma linked AMSNETID
szilard-ess May 18, 2026
e202b4e
MBP-389: Rename iAxis to iCnt
szilard-ess May 18, 2026
ac5f38a
MBP-389: Add AmsNetID as an input of monitoring
szilard-ess May 18, 2026
c108aa7
MBP-389: Add error message for invalid AmsNetID
szilard-ess May 18, 2026
f017d82
MBP-389: Fix white space
szilard-ess May 18, 2026
5105553
MBP-389: Rename EtherCAT Device
szilard-ess Jul 17, 2026
b1f3b67
MBP-389: Add Device to the hardware name
szilard-ess Jul 23, 2026
f9b9582
MBP-389: Fix white space
szilard-ess Jul 23, 2026
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50 changes: 49 additions & 1 deletion solution/_Config/PLC/tc_project_app.xti
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Original file line number Diff line number Diff line change
@@ -1,11 +1,59 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.62" ClassName="CNestedPlcProjDef">
<DataTypes>
<DataType>
<Name GUID="{18071995-0000-0000-0000-000000000041}" TcBaseType="true" HideSubItems="true" CName="AmsNetId">AMSNETID</Name>
<BitSize>48</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>6</Elements>
</ArrayInfo>
<Format>
<Printf>%d.%d.%d.%d.%d.%d</Printf>
<Parameter>[0]</Parameter>
<Parameter>[1]</Parameter>
<Parameter>[2]</Parameter>
<Parameter>[3]</Parameter>
<Parameter>[4]</Parameter>
<Parameter>[5]</Parameter>
</Format>
</DataType>
</DataTypes>
<DataTypes>
<DataType>
<Name GUID="{18071995-0000-0000-0000-000000000041}" TcBaseType="true" HideSubItems="true" CName="AmsNetId">AMSNETID</Name>
<BitSize>48</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000001}">BYTE</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>6</Elements>
</ArrayInfo>
<Format>
<Printf>%d.%d.%d.%d.%d.%d</Printf>
<Parameter>[0]</Parameter>
<Parameter>[1]</Parameter>
<Parameter>[2]</Parameter>
<Parameter>[3]</Parameter>
<Parameter>[4]</Parameter>
<Parameter>[5]</Parameter>
</Format>
</DataType>
</DataTypes>
<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="..\..\tc_project_app\tc_project_app.plcproj" TmcFilePath="..\..\tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" ClearInvalidPersist="true" SymbolicMapping="true">
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{C38143B7-B57C-03FF-2ED1-1847F1DEC6E1}">
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{65D4D45D-061D-4666-58A6-8CF5541F61E3}">
<Name>tc_project_app Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="1">
<Name>PlcTask Inputs</Name>
<Var>
<Name>MAIN.aEtherCATMasterNetId</Name>
<Type GUID="{18071995-0000-0000-0000-000000000041}">AMSNETID</Type>
</Var>
<Var>
<Name>MAIN.aEtherCATMasterNetId</Name>
<Type GUID="{18071995-0000-0000-0000-000000000041}">AMSNETID</Type>
</Var>
<Var>
<Name>Safety_Shutter.bPSSPermit1</Name>
<Comment><![CDATA[{attribute 'TcLinkTo' := 'TIID^Device 1 (EtherCAT)^KF201 (EK1200)^KF208 (EL1808)^Channel 5^Input'}]]></Comment>
Expand Down
17 changes: 10 additions & 7 deletions solution/tc_project_app/POUs/Application_Specific/Applications/Cabinet_Monitoring.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -2,20 +2,23 @@
<TcPlcObject Version="1.1.0.1">
<POU Name="Cabinet_Monitoring" Id="{f09ddf2c-38c8-0b17-348a-c2e3aa836c88}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM Cabinet_Monitoring
VAR_INPUT
sEtherCATMasterNetId: T_AmsNetID;
END_VAR
VAR
//fbCabinetMonitoring: FB_ESSMonitoringMCU5001a; FB_ESSMonitoringMCU5001b; FB_ESSMonitoringMCU6001a; FB_ESSMonitoringMCU6001b; FB_ESSMonitoringMCU5002; FB_ESSMonitoringMCU5003;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[//Cabinet monitoring
(*fbCabinetMonitoring(
nEcMasterNetId:= , //AMS NetId of Device (EtherCAT) from I/Os
aErrorID=> ,
aErrorMsg=> ,
nEcMasterFramesLost=> ,
nCPULoad=> ,
fCycleExecTime_ms=> ,
nAlarmGrpBitNumber=> );
nEcMasterNetId := sEtherCATMasterNetId, //AMS NetId of Device (EtherCAT) from I/Os
aErrorID => ,
aErrorMsg => ,
nEcMasterFramesLost => ,
nCPULoad => ,
fCycleExecTime_ms => ,
nAlarmGrpBitNumber => );
*)
]]></ST>
</Implementation>
Expand Down
66 changes: 45 additions & 21 deletions solution/tc_project_app/POUs/MAIN.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ VAR
bRestoreExecute: BOOL := FALSE;
nReadEncRefSysRetry: UINT := 0; //Counts number of retries to read encoder reference system
nCheckRestoreRetry: UINT := 0; //Counts number of retries to restore axis position or position bias
iAxes: UINT; //Index for, for-loops in position recovery actions
iCnt: UINT; //Index for various for-loops
iCurrentAxis: UINT := 1; //Index for position recovery actions (not in for loops)

afbReadPositionBias: ARRAY [1..GVL_APP.nAXIS_NUM] OF MC_ReadParameter;
Expand All @@ -32,6 +32,11 @@ VAR

fbGetDeviceIdentification: FB_GetDeviceIdentificationEx;
dtAtStartup: DT;

{attribute 'TcLinkTo' := 'TIID^KF200-EC1 (EtherCAT Device)^InfoData^AmsNetId'}
aEtherCATMasterNetId AT%I*: AMSNETID;
sEtherCATMasterNetId: T_AmsNetId;

nTestNum: UINT := 0; //Variable used in ESS's FAT_SAT_tools scripts to keep track of the test number

//Read position at a specific time interval
Expand All @@ -46,7 +51,8 @@ END_VAR

]]></Declaration>
<Implementation>
<ST><![CDATA[POSITION_RECOVERY();
<ST><![CDATA[INIT();
POSITION_RECOVERY();
PROG();
AXES();

Expand Down Expand Up @@ -98,9 +104,9 @@ END_FOR
fbC6017UPS(eUPSMode := eSelUpsMode);
END_CASE

FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
IF astAxes[iAxes].stStatus.bAxisInitialized THEN
afbReadPositionBias[iAxes](Axis := GVL.astAxes[iAxes].Axis,
FOR iCnt := 1 TO GVL_APP.nAXIS_NUM DO
IF astAxes[iCnt].stStatus.bAxisInitialized THEN
afbReadPositionBias[iCnt](Axis := GVL.astAxes[iCnt].Axis,
Enable := TRUE,
ReadMode:= READMODE_CYCLIC,
ParameterNumber := E_AxisParameters.AxisEncoderOffset);
Expand All @@ -117,6 +123,27 @@ ELSIF eGlobalSUpsState <> eSUPS_PowerOK THEN
//Next cycles of powerfailure
//Skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown...
END_IF
]]></ST>
</Implementation>
</Action>
<Action Name="INIT" Id="{211fcb7f-ce8f-0752-27ee-b9ea8bd7e7c5}">
<Implementation>
<ST><![CDATA[//Get task index for initialization.
GVL.fbGetCurTaskIndex();

IF _TaskInfo[fbGetCurTaskIndex.index].FirstCycle THEN
FOR iCnt := 0 TO (SIZEOF(AMSNETID) - 1) DO
IF aEtherCATMasterNetId[iCnt] = 0 THEN
ADSLOGSTR(ADSLOG_MSGTYPE_ERROR,'Invalid Device 2 AmsNetID','');
EXIT;
END_IF

sEtherCATMasterNetId := CONCAT(sEtherCATMasterNetId, TO_STRING(aEtherCATMasterNetId[iCnt]));
IF iCnt < (SIZEOF(AMSNETID) - 1) THEN
sEtherCATMasterNetId := CONCAT(sEtherCATMasterNetId, '.');
END_IF
END_FOR
END_IF
]]></ST>
</Implementation>
</Action>
Expand All @@ -125,8 +152,8 @@ END_IF
<ST><![CDATA[fbReadPositionTimer(IN := bReadPosition, PT := tReadPosition);

IF fbReadPositionTimer.Q THEN
FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
afSavedPosition[iAxes] := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
FOR iCnt := 1 TO GVL_APP.nAXIS_NUM DO
afSavedPosition[iCnt] := GVL.astAxes[iCnt].Axis.NcToPlc.ActPos;
END_FOR
bReadPosition := FALSE;
END_IF
Expand All @@ -147,10 +174,7 @@ END_IF
</Action>
<Action Name="PROG" Id="{5d03ebbb-2a47-4890-ad6d-e82daf72dc51}">
<Implementation>
<ST><![CDATA[//Get task index for Axes parameters initialization.
GVL.fbGetCurTaskIndex();

//Call the programs that are defined in the "Application Specific" folder.
<ST><![CDATA[//Call the programs that are defined in the "Application Specific" folder.
//Create as many programs in that folder as axes and applications you have or need

//Cabinet monitoring and pressure limits for pneumatics
Expand All @@ -162,7 +186,7 @@ Safety_Shutter();
//Pneumatics_Template();

//Application program calls
Cabinet_Monitoring();
Cabinet_Monitoring(sEtherCATMasterNetId:= sEtherCATMasterNetId);
Pneumatic_Box();
//Shutter_Operator_Panel();
//Slit_Template();
Expand Down Expand Up @@ -357,24 +381,24 @@ END_IF
</Action>
<Action Name="STORE_PERSISTENT" Id="{cb5c9254-2e5f-47b1-9baa-10e728a961b0}" FolderPath="POSITION_RECOVERY\">
<Implementation>
<ST><![CDATA[FOR iAxes := 1 TO GVL_APP.nAXIS_NUM DO
<ST><![CDATA[FOR iCnt := 1 TO GVL_APP.nAXIS_NUM DO
//Store actual position at shutdown
astAxesPersistent[iAxes].fPositionAtShutdown := GVL.astAxes[iAxes].Axis.NcToPlc.ActPos;
astAxesPersistent[iCnt].fPositionAtShutdown := GVL.astAxes[iCnt].Axis.NcToPlc.ActPos;

//Store encoder position BIAS at shutdown
astAxesPersistent[iAxes].fEncoderBiasAtShutdown := afbReadPositionBias[iAxes].Value;
astAxesPersistent[iCnt].fEncoderBiasAtShutdown := afbReadPositionBias[iCnt].Value;


//Store axis status at shutdown
astAxesPersistent[iAxes].bInitializedAtShutdown := GVL.astAxes[iAxes].stStatus.bAxisInitialized;
astAxesPersistent[iAxes].bHomedAtShutdown := GVL.astAxes[iAxes].stStatus.bHomed;
astAxesPersistent[iAxes].fPositionDifferenceAtShutdown := ABS(afSavedPosition[iAxes] - astAxesPersistent[iAxes].fPositionAtShutdown);
astAxesPersistent[iCnt].bInitializedAtShutdown := GVL.astAxes[iCnt].stStatus.bAxisInitialized;
astAxesPersistent[iCnt].bHomedAtShutdown := GVL.astAxes[iCnt].stStatus.bHomed;
astAxesPersistent[iCnt].fPositionDifferenceAtShutdown := ABS(afSavedPosition[iCnt] - astAxesPersistent[iCnt].fPositionAtShutdown);

//Store value of moving at shutdown
IF astAxes[iAxes].Axis.Status.Disabled OR astAxesPersistent[iAxes].fPositionDifferenceAtShutdown < fPositionDifferenceLimit THEN
astAxesPersistent[iAxes].bMovingAtShutdown := FALSE;
IF astAxes[iCnt].Axis.Status.Disabled OR astAxesPersistent[iCnt].fPositionDifferenceAtShutdown < fPositionDifferenceLimit THEN
astAxesPersistent[iCnt].bMovingAtShutdown := FALSE;
ELSE
astAxesPersistent[iAxes].bMovingAtShutdown := TRUE;
astAxesPersistent[iCnt].bMovingAtShutdown := TRUE;
END_IF
END_FOR

Expand Down
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