EuropeanSpallationSource · federrg · Jun 22, 2026 · Nov 11, 2025 · Mar 6, 2026 · Mar 6, 2026
diff --git a/DUTs/Axis_Structures/ST_AxisConfig.TcDUT b/DUTs/Axis_Structures/ST_AxisConfig.TcDUT
@@ -12,7 +12,7 @@ STRUCT
     fHomePosition: LREAL := 0; //Position to set the axis to after completing the homing sequence
     fHomeFinishDistance: LREAL := 0; //Distance to move back into the working zone after homing is complete
     eHomeSeq: E_HomingRoutines; //Homing sequence routine to execute
-    eRestorePosition: E_RestorePosition; //Option to restore incremental axis position after power loss(0 = No, 1 = Yes)
+    bRestorePosition: BOOL := TRUE; //Option to restore the position or not during a shutdown
     bEnableStopWithAnyLimitSwitch: BOOL := TRUE; //Option to stop the axis when either the forward or backward limit switch is triggered
 
     //Advanced homing parameters

diff --git a/DUTs/Axis_Structures/ST_AxisPersistent.TcDUT b/DUTs/Axis_Structures/ST_AxisPersistent.TcDUT
@@ -7,6 +7,9 @@ STRUCT
     fPositionAtShutdown: LREAL; //Position of the axis when the CPU was powered off
     fEncoderBiasAtShutdown: LREAL; //Encoder bias value when the CPU was powered off
     bMovingAtShutdown: BOOL; //Indicates if the axis was moving during the shutdown (True if moving, false otherwise)
+    bHomedAtShutdown: BOOL; //Homing status of the axis when the CPU was powered off
+    bInitializedAtShutdown: BOOL; //Initialized status of the axis when the CPU was powered off
+    fPositionDifferenceAtShutdown: LREAL; //Position difference between the sampled position and the position at shutdown
 END_STRUCT
 END_TYPE
 ]]></Declaration>

diff --git a/DUTs/Axis_Structures/ST_AxisStatus.TcDUT b/DUTs/Axis_Structures/ST_AxisStatus.TcDUT
@@ -5,6 +5,7 @@
 STRUCT
     //Outputs & Status
     bAxisInitialized: BOOL := FALSE; //True when all parameters from actReadMcParameters are valid
+    bAxisHasBeenRestored: BOOL := FALSE;
     bEnabled: BOOL; //Axis drive enabled
     bAxisReadyToMove: BOOL; //Axis enabled and input ok from additional equipment (e.g. airpad, brake).
     bCommandAborted: BOOL; //Command aborted output of the eCommand function blocks

diff --git a/DUTs/Axis_Structures/ST_SwitchInfo.TcDUT b/DUTs/Axis_Structures/ST_SwitchInfo.TcDUT
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
-  <DUT Name="ST_SwitchInfo" Id="{8b691b20-d15e-04fc-085e-324c48490184}">
+  <DUT Name="ST_SwitchInfo" Id="{fd2b2bd3-e117-0efc-04d6-132bd855c7c6}">
     <Declaration><![CDATA[TYPE ST_SwitchInfo :
 STRUCT
     fLimitBwdTrigPos: LREAL; //Last trigger pos of the bwd limit
@@ -19,4 +19,4 @@ END_STRUCT
 END_TYPE
 ]]></Declaration>
   </DUT>
-</TcPlcObject>
+</TcPlcObject>
diff --git a/DUTs/E_EncoderRefSys.TcDUT b/DUTs/E_EncoderRefSys.TcDUT
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_EncoderRefSys" Id="{ff512c1b-64e0-0594-0892-e45187163ac3}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+//For more information about the encoder reference system types: https://infosys.beckhoff.com/english.php?content=../content/1033/tf50x0_tc3_nc_ptp/3439907723.html&id=
+TYPE E_EncoderRefSys :
+(
+    INCREMENTAL := 0,
+    ABSOLUTE := 1,
+    ABSOLUTE_MODULO := 2,
+    ABSOLUTE_MULTITURN_RANGE := 3,  //(with single overflow)
+    INCREMENTAL_SINGLETURN_ABSOLUTE := 4,
+    ABSOLUTE_SINGLETURN_RANGE := 5 //(with single overflow)
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
diff --git a/DUTs/E_RestorePosition.TcDUT b/DUTs/E_RestorePosition.TcDUT
diff --git a/GVLs/GVL.TcGVL b/GVLs/GVL.TcGVL
@@ -25,6 +25,7 @@ END_VAR
 
 VAR_GLOBAL PERSISTENT
     astAxesPersistent: ARRAY [1..GVL_APP.nAXIS_NUM] OF ST_AxisPersistent;
+    dtAtShutdownPersistent: DT; //Date and time when the CPU was powered off
 END_VAR
 ]]></Declaration>
   </GVL>