MBP-388: Safety Implementation

solution/tc_project_app/DUTs/E_SafetyFunctions.TcDUT

@@ -0,0 +1,27 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_SafetyFunctions" Id="{67cba4a1-d914-0ba8-3f98-b5150a554ddf}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+(*
+Central definition of safety functions includes for a motion control cabinet.
+Add new safety functions to match the incoming safety functions from the PNOZmulti 2.
+Each safety function represents 4-bits of information. However the PLC still stores the incoming 4-bits
+into 1-byte.
+*)
+TYPE E_SafetyFunctions :
+(
+    //Note: This is just an example
+    eNone,
+    eEStop,
+    ePSSAccess,
+    eStartExp,
+    eStartOpt,
+    eMFStop,
+    eMFEnable,
+    eReserved
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

solution/tc_project_app/DUTs/ST_MCC_CustomStatusIn.TcDUT

@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_MCC_CustomStatusIn" Id="{3047c094-43cd-0281-2261-d5308c49a667}">
+    <Declaration><![CDATA[TYPE ST_MCC_CustomStatusIn :
+STRUCT
+    //Note: This is just an example, move status bits into tc_mca_std_lib make it a UDINT.
+    //Map the bits in specific application code.
+    bEStopExperimentOK: BIT; //The experiment cave, bitEStopOK (MCC5)
+    bEStopOpticsOK: BIT; //The Optics cave, bitEStopOK (MCC3)
+    bEStopExternalOK: BIT; //The Selene Guides, bitEStopOK (MCC4) = bitEStopOK (MCC3) AND bitEStopOK (MCC5)
+    bReserved19: BIT;
+    bFocusDoorClosed: BIT;
+    bOptCaveInRemote: BIT; //Allow requests to jog focus changer from NICOS
+    bFocusChangerPos: BIT; //Request Changer move positive
+    bFocusChangerNeg: BIT; //Request Changer move negative
+    bChangerStandstill: BIT;
+    bReserved25: BIT;
+    bReserved26: BIT;
+    bReserved27: BIT;
+    bReserved28: BIT;
+    bReserved29: BIT;
+    bReserved30: BIT;
+    bReserved31: BIT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

solution/tc_project_app/DUTs/ST_MCC_CustomStatusOut.TcDUT

@@ -0,0 +1,29 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_MCC_CustomStatusOut" Id="{6d8ad02a-be6f-0232-209b-380247c69933}">
+    <Declaration><![CDATA[//Status information specific to the cabinet IPC --> PNOZ, can be customized depending on cabinet
+TYPE ST_MCC_CustomStatusOut :
+STRUCT
+    //Note: This is just an example, move status bits into tc_mca_std_lib make it a UDINT.
+    //Map the bits in specific application code.
+    bReserved16: BIT;
+    bReserved17: BIT;
+    bReserved18: BIT;
+    bReserved19: BIT;
+    bFocusDoorLocked: BIT;
+    bReserved21: BIT;
+    bChangerMovingPos: BIT; //Set if moving in a positive direction
+    bChangerMovingNeg: BIT; //Set if moving in a negative direction
+    bReserved24: BIT;
+    bReserved25: BIT;
+    bReserved26: BIT;
+    bReserved27: BIT;
+    bReserved28: BIT;
+    bReserved29: BIT;
+    bReserved30: BIT;
+    bReserved31: BIT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

solution/tc_project_app/GVLs/GVL_APP.TcGVL

@@ -17,6 +17,9 @@ VAR_GLOBAL CONSTANT
     fHIGH_LIMIT_AIR_PRESSURE1: REAL := 6; //User defined value in bar for high limit air pressure value for pneumatic axes group 1
     fLOW_LIMIT_AIR_PRESSURE2: REAL := 1; //User defined value in bar for low limit air pressure value for pneumatic axes group 2
     fHIGH_LIMIT_AIR_PRESSURE2: REAL := 6; //User defined value in bar for high limit air pressure value for pneumatic axes group 2
+
+    nNUM_OF_SAFETY_FUNCTIONS: UINT := 8;  //Virtual Output/Input bytes 04..15, each containing 8 bits
+    nNUM_OF_TECHNOSOFT: UINT := 0; //Number of Technosoft axises
 END_VAR
 ]]></Declaration>
   </GVL>

solution/tc_project_app/POUs/Application_Specific/Applications/Cabinet_Monitoring.TcPOU

@@ -8,15 +8,16 @@ 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=> );
-*)
+//fbCabinetMonitoring(
+//    nEcMasterNetId := '10.102.116.36.3.1', //AMS NetId of Device (EtherCAT) from I/Os,
+//    iSafetyProvider := Motion_Safety.fbMotionSafety,
+//    aErrorID => ,
+//    aErrorMsg => ,
+//    nEcMasterFramesLost => ,
+//    nCPULoad => ,
+//    fCycleExecTime_ms => ,
+//    nAlarmGrpBitNumber =>
+//);
 ]]></ST>
     </Implementation>
   </POU>

solution/tc_project_app/POUs/Application_Specific/Applications/Motion_Safety.TcPOU

@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="Motion_Safety" Id="{2cc620d0-4324-0fec-1587-9760faae60d9}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM Motion_Safety
+VAR
+    fbMotionSafety: FB_MotionSafety;
+    stSafety: ST_Safety;
+    bMCC_OK: BOOL;
+    bAxisEnableAllowed: BOOL;
+
+    bMCCWatchdogFault: BOOL;
+
+    //Specific Application
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[fbMotionSafety(
+    bEnable := TRUE,
+    stSafety := stSafety,
+    bMCC_OK => bMCC_OK,
+    bAxisEnableAllowed => bAxisEnableAllowed,
+    bMCCWatchdogFault => bMCCWatchdogFault);
+
+//Specific Application
+
+
+fbMotionSafety.mWriteOutputs(stSafetyData := stSafety);
+]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>

solution/tc_project_app/POUs/Application_Specific/Applications/Zone_Monitoring.TcPOU

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="Zone_Monitoring" Id="{2b0d7b86-187f-0bc2-2f54-f64dd930b8f4}" SpecialFunc="None">
+    <Declaration><![CDATA[PROGRAM Zone_Monitoring
+VAR
+    fbZoneMonitoring: FB_ZoneMonitoring;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[fbZoneMonitoring(
+    iSafetyProvider := Motion_Safety.fbMotionSafety,
+    stSafety := Motion_Safety.stSafety,
+    aErrorID =>,
+    aErrorMsg =>,
+    nAlarmGrpBitNumber =>);
+]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>

solution/tc_project_app/tc_project_app.plcproj

@@ -24,6 +24,15 @@
     <Compile Include="DUTs\E_CPUType.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="DUTs\E_SafetyFunctions.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="DUTs\ST_MCC_CustomStatusIn.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="DUTs\ST_MCC_CustomStatusOut.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="GlobalTextList.TcGTLO">
       <SubType>Code</SubType>
     </Compile>
@@ -40,6 +49,9 @@
     <Compile Include="POUs\Application_Specific\Applications\Cabinet_Monitoring.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Application_Specific\Applications\Motion_Safety.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Application_Specific\Applications\Slit_Template.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -49,6 +61,9 @@
     <Compile Include="POUs\Application_Specific\Applications\Shutter_Operator_Panel.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="POUs\Application_Specific\Applications\Zone_Monitoring.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="POUs\Application_Specific\Axes\Axis_Template.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -178,18 +193,59 @@
     <Compile Include="tc_mca_std_lib\DUTs\E_SlitPairStates.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\ST_MonitoringAlarm.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="tc_mca_std_lib\DUTs\E_MotionFunctions.TcDUT">
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\I_SafetyProvider.TcIO">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_LEDState.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_MCCStatusIn.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_MCCStatusOut.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_PNOZCommDiag.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_PNOZEtherCATIn.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_PNOZEtherCATOut.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_SafetyFunctionIn.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\PNOZ\ST_SafetyFunctionOut.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\ST_Safety.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\ST_SafetyIn.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\Safety\ST_SafetyOut.TcDUT">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="tc_mca_std_lib\DUTs\ST_McStatus.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\DUTs\ST_TechnosoftMotionError.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\GVLs\GVL.TcGVL">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\GVLs\GVL_Safety.TcGVL">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\FB_PulseGenerator.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Monitoring\FB_ESSMonitoringBase.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -214,6 +270,9 @@
     <Compile Include="tc_mca_std_lib\POUs\Monitoring\FB_ESSMonitoringMCU6001b.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Monitoring\FB_ZoneMonitoring.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\POUs\Motion\FB_Axis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -229,6 +288,12 @@
     <Compile Include="tc_mca_std_lib\POUs\Pneumatics\FB_PneumaticAxis.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Safety\FB_MotionSafety.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="tc_mca_std_lib\POUs\Safety\F_TechnosoftErrorActive.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="tc_mca_std_lib\VISUs\CoEParamTextList.TcTLO">
       <SubType>Code</SubType>
     </Compile>
@@ -257,11 +322,14 @@
     <Folder Include="POUs\Application_Specific\Applications" />
     <Folder Include="POUs\Application_Specific\Axes" />
     <Folder Include="tc_mca_std_lib\DUTs\Axis_Structures" />
+    <Folder Include="tc_mca_std_lib\DUTs\Safety" />
     <Folder Include="tc_mca_std_lib\DUTs\Pneumatics" />
     <Folder Include="POUs\Application_Specific\Applications" />
     <Folder Include="POUs\Application_Specific\Axes" />
+    <Folder Include="tc_mca_std_lib\DUTs\Safety\PNOZ" />
     <Folder Include="tc_mca_std_lib\POUs\Motion\Homing" />
     <Folder Include="tc_mca_std_lib\POUs\Monitoring" />
+    <Folder Include="tc_mca_std_lib\POUs\Safety" />
     <Folder Include="tc_mca_std_lib\POUs\Pneumatics" />
     <Folder Include="tc_mca_std_lib\VISUs" />
     <Folder Include="tc_mca_std_lib" />