diff --git a/.github/workflows/build-library.yml b/.github/workflows/build-library.yml index 51fa2e2..e2c2e29 100644 --- a/.github/workflows/build-library.yml +++ b/.github/workflows/build-library.yml @@ -7,4 +7,4 @@ jobs: APAX_TOKEN: ${{ secrets.APAX_TOKEN }} SIMATIC_AX_TOKEN: ${{ secrets.DEPLOY_KEY }} with: - LOGIN_SIMATIC_AX: true \ No newline at end of file + LOGIN_SIMATIC_AX: true diff --git a/apax-lock.json b/apax-lock.json index 9567cc7..d7a7dc3 100644 --- a/apax-lock.json +++ b/apax-lock.json @@ -4,53 +4,37 @@ "resolved": "https://registry.simatic-ax.siemens.io/@ax/apax-build/-/apax-build-0.7.0.tgz", "integrity": "sha512-OkmqLq6SI0gv9x/7FLFmABuJYylHHyOzZ4Kvmfys2RGiP06/WbOpycmuqYBneK1zAe3KoBu8ZmelPdXbxcK4+w==" }, - "@ax/axunit": { - "version": "4.0.6", - "resolved": "https://registry.simatic-ax.siemens.io/@ax/axunit/-/axunit-4.0.6.tgz", - "integrity": "sha512-zuXuKxqHeP0fdn2cG/CbpogjYAweIwBKpDwZzSrzTG9tCM/axK/c3MZ/+DUN8aINdcyy0NdWTX6Z7kaU68nQBA==", + "@ax/axunitst": { + "version": "4.1.8", + "resolved": "https://registry.simatic-ax.siemens.io/@ax/axunitst/-/axunitst-4.1.8.tgz", + "integrity": "sha512-Ax4b503soS4RrfokQg5NbhqFOSJ7cKIzK8bNwtobWHy9asUPUbuwQhsILGETFh+T7cw8FGzFZ/VzKOL6tkhq8A==", "dependencies": { - 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"@ax/system-timer": "4.0.1", - "@simatic-ax/io": "4.0.1" + "@ax/system-timer": "6.0.94", + "@simatic-ax/io": "5.0.0" } }, "@simatic-ax/snippetscollection": { - "version": "0.1.3", - "resolved": "https://npm.pkg.github.com/download/@simatic-ax/snippetscollection/0.1.3/e287ad803a10c04ed92a9b73eb1b735ca267212f", - "integrity": "sha512-YcuBXUs4VeW60LLdJ/p7p2aCXWxhrzHg4YEmMKtDOLPjL7EWbQT+4RUNoE2PANv7VTX/hr9+iLjR5ahfKp2utA==" - }, - "@simatic-ax/statemachine": { - "version": "4.0.1", - "resolved": "https://npm.pkg.github.com/download/@simatic-ax/statemachine/4.0.1/034e68fe931e0a670a2171973d66b94db2a7bcc4", - "integrity": "sha512-ygl0VFp2U665OWtWRv9UYH5jUoIRAdTyzZ3nQpt1wokQeGhe83X7OSTF6mbCvT68O56x9bz1u/sYQjzS5InbVQ==", - "dependencies": { - "@ax/system-timer": "4.0.1" - } + "version": "1.0.0", + "resolved": "https://npm.pkg.github.com/download/@simatic-ax/snippetscollection/1.0.0/60302d7e0da15a914ce0126503398063a42e1917", + "integrity": "sha512-8BNldIIGZuuLSiMjJxcBmHt7sL7kSlc0dss88BcrfnL/7iXPmHwhlnh4XobcVoOHXaz5f8cbMbXCUrffBIwecQ==" } } diff --git a/apax.yml b/apax.yml index e6aff65..02d49ef 100644 --- a/apax.yml +++ b/apax.yml @@ -15,12 +15,11 @@ variables: - '--debug' targets: - '1500' - - 'axunit-llvm' - # - 'llvm' + - 'llvm' # Dependencies devDependencies: - '@ax/sdk': ^4.0.8 - "@simatic-ax/snippetscollection": ^0.1.3 + '@ax/sdk': 2311.0.1 + "@simatic-ax/snippetscollection": 1.0.0 # Registry information, where the package will be published registries: @@ -33,7 +32,7 @@ files: - 'src' - 'snippets' dependencies: - "@ax/simatic-1500-clocks": ^4.0.1 - "@simatic-ax/simple-control-modules": ^4.0.1 - "@simatic-ax/statemachine": ^4.0.1 - "@simatic-ax/io": ^4.0.1 + "@ax/simatic-1500-clocks": 6.0.37 + "@simatic-ax/simple-control-modules": 5.0.1 + "@simatic-ax/io": 5.0.0 + "@ax/system-timer": 6.0.94 diff --git a/src/Actuator/ActuatorStates.st b/src/Actuator/ActuatorStates.st new file mode 100644 index 0000000..30e4f90 --- /dev/null +++ b/src/Actuator/ActuatorStates.st @@ -0,0 +1,5 @@ +NAMESPACE Simatic.Ax.axftcmlib + TYPE + ActuatorState : (Retracted, Activating, Activated, Retracting) := Retracted; + END_TYPE +END_NAMESPACE diff --git a/src/Actuator/ActuatorTimeBased.st b/src/Actuator/ActuatorTimeBased.st new file mode 100644 index 0000000..a3e8f19 --- /dev/null +++ b/src/Actuator/ActuatorTimeBased.st @@ -0,0 +1,61 @@ +USING System.Timer; +USING Simatic.Ax.Io.Output; + +NAMESPACE Simatic.Ax.axftcmlib + + CLASS ActuatorTimeBased + EXTENDS ControlModuleAbstract + IMPLEMENTS IActuator + VAR PUBLIC + ControlPush : IBinOutput; + OnDuration : TIME; + END_VAR + VAR + _tonOnDuration : OnDelay; + _state : ActuatorState; + END_VAR + + METHOD PROTECTED OVERRIDE _constructor + ; + END_METHOD + + METHOD PROTECTED OVERRIDE _runCyclicCustom + IF (ControlPush = NULL) THEN + THIS.SetError(WORD#16#8101); + RETURN; + ELSE + THIS.SetError(FALSE); + END_IF; + _tonOnDuration(signal := ControlPush.IsOn(), Duration := OnDuration); + CASE _state OF + ActuatorState#Retracted: + // IF () + ControlPush.SetOff(); + ActuatorState#Activating: + ControlPush.SetOn(); + _state := ActuatorState#Activated; + ActuatorState#Activated: + IF (_tonOnDuration.output) THEN + _state := ActuatorState#Retracting; + ControlPush.SetOff(); + END_IF; + ActuatorState#Retracting: + ControlPush.SetOff(); + _state := ActuatorState#Retracted; + END_CASE; + END_METHOD + + METHOD PUBLIC Enable + _state := ActuatorState#Activating; + END_METHOD + + METHOD PUBLIC Disable + _state := ActuatorState#Retracted; + END_METHOD + + METHOD PUBLIC GetState : ActuatorState + GetState := _state; + END_METHOD + END_CLASS + +END_NAMESPACE diff --git a/src/Actuator/IActuator.st b/src/Actuator/IActuator.st new file mode 100644 index 0000000..f567814 --- /dev/null +++ b/src/Actuator/IActuator.st @@ -0,0 +1,8 @@ +NAMESPACE Simatic.Ax.axftcmlib + INTERFACE IActuator + METHOD Enable END_METHOD + METHOD Disable END_METHOD + METHOD GetState : ActuatorState + END_METHOD + END_INTERFACE +END_NAMESPACE \ No newline at end of file diff --git a/src/ControlModuleAbstract.st b/src/ControlModuleAbstract.st index 8224460..462d9d4 100644 --- a/src/ControlModuleAbstract.st +++ b/src/ControlModuleAbstract.st @@ -7,6 +7,8 @@ NAMESPACE Simatic.Ax.axftcmlib END_VAR VAR PROTECTED _init : BOOL; + _hasError : BOOL; + _errorState : WORD; END_VAR METHOD PUBLIC RunCyclic @@ -25,6 +27,33 @@ NAMESPACE Simatic.Ax.axftcmlib METHOD PROTECTED ABSTRACT _constructor END_METHOD + + METHOD PROTECTED SetError + VAR_INPUT + ErrorCode : WORD; + END_VAR + _errorState := ErrorCode; + _hasError := TRUE; + ; + END_METHOD + + METHOD PROTECTED SetError + VAR_INPUT + Set : BOOL; + END_VAR + _hasError := Set; + ; + END_METHOD + + // control module has an error + METHOD PUBLIC HasError : BOOL; + HasError := _hasError; + END_METHOD + + METHOD PUBLIC GetErrorStatus : WORD + GetErrorStatus := _errorState; + END_METHOD + END_CLASS END_NAMESPACE \ No newline at end of file diff --git a/src/Cylinder/IPneumaticCylinder.st b/src/Cylinder/IPneumaticCylinder.st deleted file mode 100644 index ebe2bbc..0000000 --- a/src/Cylinder/IPneumaticCylinder.st +++ /dev/null @@ -1,12 +0,0 @@ -NAMESPACE Simatic.Ax.axftcmlib - ///Interface for implementing a pneumatic cylinder - ///Contains basic functions needed for realising a cylinder - INTERFACE IPneumaticCylinder - //Activates valve to push the coil - METHOD PneumaticCylinderPush - END_METHOD - //deactivates the valve to retract the cylinder - METHOD PneumaticCylinderRetract - END_METHOD - END_INTERFACE -END_NAMESPACE \ No newline at end of file diff --git a/src/Cylinder/PneumaticCylinder.st b/src/Cylinder/PneumaticCylinder.st deleted file mode 100644 index 3eb33f7..0000000 --- a/src/Cylinder/PneumaticCylinder.st +++ /dev/null @@ -1,114 +0,0 @@ -USING Simatic.Ax.IO; -USING Simatic.Ax.axftcmlib; -USING Simatic.Ax.IO.Output; -USING Simatic.Ax.StateFramework; -NAMESPACE Simatic.Ax.axftcmlib - ///Class contains basic functions for a pneumatic cyliner - ///contains a statemachine that can be used to generate a working cylinder - /// Is used for the Fischertechnik Factorysimulation 24V - CLASS PneumaticCylinder EXTENDS ControlModuleAbstract IMPLEMENTS IPneumaticCylinder - VAR PUBLIC - CoilPushing : IBinOutput; // = Used Valve - ActivationTime : TIME := T#1s; //Delay for Coil beeing pushed - ErrorState : BOOL; - END_VAR - - VAR PROTECTED - _ctrl : StateController; - - // State Retracted --> initial state - _retracted : StateRetracted; - _retractedToPush : Transition; - _retractedToPushGuard : StartGuard; - - // State Pushing - _pushing : StatePushing; - _pushingToPushed : Transition; - _pushingToPushedGuard : TrueGuard; - - // State Pushed - _pushed : StatePushed; - _pushedToRetracting : Transition; - _pushedToRetractingGuard : TimeoutGuard; - - // State Retracting - _retracting : StateRetracting; - _retractingToRetracted : Transition; - _retractingToRetractedGuard : TrueGuard; - END_VAR - - ///Mimics a constructor and asigns the values - /// Executed by the Controlmodule - METHOD PROTECTED OVERRIDE _constructor //Inititializing with Values - // State Retracted - _retracted.Cylinder := THIS; - _retracted.Transition1 := _retractedToPush; - _retractedToPush.Guard := _retractedToPushGuard; - _retractedToPush.NextState := _pushing; - - // State Pushing - _pushing.Cylinder := THIS; - _pushing.Transition1 := _pushingToPushed; - _pushingToPushed.Guard := _pushingToPushedGuard; - _pushingToPushed.NextState := _pushed; - - // State Pushed - _pushed.Cylinder := THIS; - _pushed.Transition1 := _pushedToRetracting; - _pushedToRetracting.Guard := _pushedToRetractingGuard; - _pushedToRetracting.NextState := _retracting; - - // State Retracting - _retracting.Cylinder := THIS; - _retracting.Transition1 := _retractingToRetracted; - _retractingToRetracted.Guard := _retractingToRetractedGuard; - _retractingToRetracted.NextState := _retracted; - - // Set initial state - _ctrl.InitialState := _retracted; //Giving statecontroller the initialization --> Start - - - ; - END_METHOD - - ///Returns TRUE if the coil is not working - METHOD PUBLIC ErrorFound - IF THIS.CoilPushing <> NULL THEN - ErrorState:= FALSE; - ELSE - ErrorState := TRUE; - END_IF; - END_METHOD - - ///Is executed by the ControlmoduleAbstract: RunCyclic() - ///initializes the first state - METHOD PROTECTED OVERRIDE _runCyclicCustom - _ctrl.Execute(); - END_METHOD - - ///Starts the statemachine - METHOD PUBLIC Start - _pushedToRetractingGuard.timeout := ActivationTime; - _retractedToPushGuard.Start(); - END_METHOD - - //Activates valve to push the coil - METHOD PUBLIC PneumaticCylinderPush - THIS.ErrorFound(); - IF ErrorState = FALSE THEN - coilPushing.SetOn(); - END_IF; - END_METHOD - - //deactivates the valve to retract the cylinder - METHOD PUBLIC PneumaticCylinderRetract - THIS.ErrorFound(); - IF ErrorState = FALSE THEN - coilPushing.SetOff(); - END_IF; - END_METHOD - END_CLASS - - -END_NAMESPACE - \ No newline at end of file diff --git a/src/Cylinder/StatePushed.st b/src/Cylinder/StatePushed.st deleted file mode 100644 index 3adda27..0000000 --- a/src/Cylinder/StatePushed.st +++ /dev/null @@ -1,11 +0,0 @@ -USING Simatic.Ax.StateFramework; - -NAMESPACE Simatic.Ax.axftcmlib - ///State: coil is completely pushed - CLASS INTERNAL StatePushed EXTENDS State1Transition - VAR PUBLIC - Cylinder : IPneumaticCylinder; - END_VAR - END_CLASS - -END_NAMESPACE \ No newline at end of file diff --git a/src/Cylinder/StatePushing.st b/src/Cylinder/StatePushing.st deleted file mode 100644 index 8fdcfcc..0000000 --- a/src/Cylinder/StatePushing.st +++ /dev/null @@ -1,16 +0,0 @@ -USING Simatic.Ax.StateFramework; - -NAMESPACE Simatic.Ax.axftcmlib - //State: coil is beeing pushe out - CLASS INTERNAL StatePushing EXTENDS State1Transition - VAR PUBLIC - Cylinder : IPneumaticCylinder; - END_VAR - - METHOD PUBLIC OVERRIDE OnEntry - Cylinder.PneumaticCylinderPush(); - END_METHOD - - END_CLASS - -END_NAMESPACE \ No newline at end of file diff --git a/src/Cylinder/StateRetract.st b/src/Cylinder/StateRetract.st deleted file mode 100644 index ec83072..0000000 --- a/src/Cylinder/StateRetract.st +++ /dev/null @@ -1,14 +0,0 @@ -USING Simatic.Ax.StateFramework; - -NAMESPACE Simatic.Ax.axftcmlib - ///State: Coil is retractig - CLASS INTERNAL StateRetracting EXTENDS State1Transition - VAR PUBLIC - Cylinder : IPneumaticCylinder; - END_VAR - METHOD PUBLIC OVERRIDE OnEntry - Cylinder.PneumaticCylinderRetract(); - END_METHOD - END_CLASS - -END_NAMESPACE \ No newline at end of file diff --git a/src/Cylinder/StateRetracted.st b/src/Cylinder/StateRetracted.st deleted file mode 100644 index aabeafe..0000000 --- a/src/Cylinder/StateRetracted.st +++ /dev/null @@ -1,11 +0,0 @@ -USING Simatic.Ax.StateFramework; - -NAMESPACE Simatic.Ax.axftcmlib - ///Coil is fully retracted, Start/ default state - CLASS INTERNAL StateRetracted EXTENDS State1Transition - VAR PUBLIC - Cylinder : IPneumaticCylinder; - END_VAR - END_CLASS - -END_NAMESPACE \ No newline at end of file diff --git a/src/Guards/BinSignalRiseGuard.st b/src/Guards/BinSignalRiseGuard.st deleted file mode 100644 index 834d44c..0000000 --- a/src/Guards/BinSignalRiseGuard.st +++ /dev/null @@ -1,18 +0,0 @@ -USING Simatic.Ax.StateFramework; -USING Simatic.Ax.IO.Input; -NAMESPACE Simatic.Ax.axftcmlib - - CLASS BinSignalRiseGuard IMPLEMENTS IGuard - VAR PUBLIC - BinSignal : IBinSignal; - END_VAR - - METHOD PUBLIC Check : BOOL - Check := (BinSignal.QRis()); - END_METHOD - - METHOD PUBLIC Reset - ; - END_METHOD - END_CLASS -END_NAMESPACE \ No newline at end of file diff --git a/src/Guards/PLCOpentateGuard.st b/src/Guards/PLCOpentateGuard.st deleted file mode 100644 index ebf60f6..0000000 --- a/src/Guards/PLCOpentateGuard.st +++ /dev/null @@ -1,21 +0,0 @@ -USING Simatic.Ax.StateFramework; -NAMESPACE Simatic.Ax.axftcmlib - - ///This guard is used to check the activity of an axis - ///An Axis will return a PLCOpenSTate#Done if a movement is finished - /// This is sed for state transitions - CLASS PLCOpenstateGuard IMPLEMENTS IGuard - VAR PUBLIC - Axis : REF_TO Axis; - END_VAR - - METHOD PUBLIC Check : BOOL - Check := (Axis^.GetPlcOpenState() = PlcOpenState#Done); - END_METHOD - - METHOD PUBLIC Reset - ; - END_METHOD - END_CLASS -END_NAMESPACE - diff --git a/src/Guards/StartGuard.st b/src/Guards/StartGuard.st deleted file mode 100644 index 1fbb64e..0000000 --- a/src/Guards/StartGuard.st +++ /dev/null @@ -1,25 +0,0 @@ -USING Simatic.Ax.StateFramework; - -NAMESPACE Simatic.Ax.axftcmlib - ///Guard used to start the actual statemachine - /// Is used in the pneumatic cylinder class - CLASS StartGuard IMPLEMENTS IGuard - - VAR - IsStarted : BOOL; - END_VAR - - METHOD PUBLIC Check : BOOL - Check := IsStarted; - END_METHOD - - METHOD PUBLIC Reset - IsStarted := FALSE; - END_METHOD - - METHOD PUBLIC Start - IsStarted := TRUE; - END_METHOD - END_CLASS - -END_NAMESPACE diff --git a/test/Cylinder_test.st b/test/Cylinder_test.st index 3fb82ed..2c233ed 100644 --- a/test/Cylinder_test.st +++ b/test/Cylinder_test.st @@ -1,5 +1,4 @@ //USING Simatic.Ax.Cylinder; -USING Simatic.Ax.IO.Input; USING Simatic.Ax.axftcmlib; USING Simatic.Ax.IO.Output; USING AxUnit.Assert; @@ -9,26 +8,32 @@ NAMESPACE Simatic.Ax.axftcmlib {TestFixture} CLASS MyCylinderTest VAR PROTECTED - _testPneumaticCylinder : PneumaticCylinder; - _testSubject : BinOutput; + _actuator : ActuatorTimeBased; + _actuatorStateLess : ActuatorTimeBased; + _output : BinOutput; END_VAR + {TestSetup} METHOD PUBLIC SetUp - _testPneumaticCylinder.CoilPushing := _testSubject; + _actuator := _actuatorStateLess; + _actuator.ControlPush := _output; END_METHOD - {Test} + {Test} METHOD PUBLIC TestTurnPneumaticCylinderPush_Expect_state_is_On THIS.SetUp(); - _testPneumaticCylinder.PneumaticCylinderPush(); - AxUnit.Assert.Equal(expected := TRUE, actual := _testSubject.IsOn()); + _actuator.Enable(); + _actuator.RunCyclic(); + AxUnit.Assert.Equal(expected := TRUE, actual := _output.IsOn()); END_METHOD {Test} METHOD PUBLIC TestTurnPneumaticCylinderRetract_Expect_state_is_Off THIS.SetUp(); - _testPneumaticCylinder.PneumaticCylinderRetract(); - AxUnit.Assert.Equal(expected := FALSE, actual := _testSubject.IsOn()); + THIS.TestTurnPneumaticCylinderPush_Expect_state_is_On(); + _actuator.Disable(); + _actuator.RunCyclic(); + AxUnit.Assert.Equal(expected := FALSE, actual := _output.IsOn()); END_METHOD {Test} @@ -36,15 +41,9 @@ NAMESPACE Simatic.Ax.axftcmlib VAR Test : BOOL; END_VAR - _testPneumaticCylinder.ErrorFound(); - Test := _testPneumaticCylinder.ErrorState; - - IF Test <> TRUE THEN - _testPneumaticCylinder.PneumaticCylinderRetract(); - END_IF; - - AxUnit.Assert.Equal(Expected := TRUE, actual := Test); - + _actuator.ControlPush := NULL; + _actuator.RunCyclic(); + AxUnit.Assert.Equal(Expected := TRUE, actual := _actuator.HasError()); ; END_METHOD @@ -55,25 +54,11 @@ NAMESPACE Simatic.Ax.axftcmlib END_VAR THIS.SetUp(); - _testPneumaticCylinder.ErrorFound(); - Test := _testPneumaticCylinder.ErrorState; + Test := _actuator.HasError(); AxUnit.Assert.Equal(Expected := FALSE, actual := Test); ; END_METHOD - {Test} - METHOD PUBLIC TestPneumaticCylinderNullReferenceExpected_ErrorFoundTRUE - VAR - Test : BOOL; - END_VAR - - _testPneumaticCylinder.PneumaticCylinderRetract(); - _testPneumaticCylinder.ErrorFound(); - Test := _testPneumaticCylinder.ErrorState; - AxUnit.Assert.Equal(Expected := TRUE, actual := Test); - ; - END_METHOD - END_CLASS END_NAMESPACE diff --git a/test/TestAxisMoveAbsolut.st b/test/TestAxisMoveAbsolut.st index ea6e645..af62a94 100644 --- a/test/TestAxisMoveAbsolut.st +++ b/test/TestAxisMoveAbsolut.st @@ -10,13 +10,16 @@ NAMESPACE Simatic.Ax.Library CLASS TestAxisMoveAbsolut VAR PROTECTED _axis : Axis; + _axisStateLess : Axis; _refSwitch : BinSignal; _motor : MotorFT; _fwd : BinOutput; _rvs : BinOutput; _encoder : Simatic.Ax.SimpleControlModules.EncoderAB; END_VAR + {TestSetup} METHOD PUBLIC Setup + _axisStateLess := _axis; _motor.Forward := _fwd; _motor.Reverse := _rvs; _axis.Motor := _motor; @@ -37,53 +40,53 @@ NAMESPACE Simatic.Ax.Library axis^.RunCyclic(); Home := axis^.IsHomed(); END_METHOD - {Test} - METHOD PUBLIC Test_MoveAbsolut_on_a_not_homed_axis_which_results_in_an_error - VAR_TEMP - isHomed : BOOL; - END_VAR - THIS.Setup(); - _axis.MoveAbsolute(velocity := 100.0, position := LINT#100); - _axis.RunCyclic(); - Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); - Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Error); - Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); - END_METHOD - {Test} - METHOD PUBLIC Test_MoveAbsolut_on_a_homed_axis - VAR_TEMP - isHomed : BOOL; - END_VAR - THIS.Setup(); - isHomed := THIS.Home(axis := REF(_axis), refSwitch := REF(_refSwitch)); - Equal(expected := TRUE, actual := isHomed); - Equal(expected := FALSE, actual := _fwd.IsOn()); - Equal(expected := FALSE, actual := _rvs.IsOn()); - // start Axis to move to position 100 - _axis.MoveAbsolute(velocity := 100.0, position := LINT#100); - _axis.RunCyclic(); - Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); - Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Error); - Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); - Equal(expected := TRUE, actual := _fwd.IsOn()); - Equal(expected := FALSE, actual := _rvs.IsOn()); - // Axis is at position 99 - _encoder.SetValue(value := LINT#99); - _axis.RunCyclic(); - Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); - // test axis in position - _encoder.SetValue(value := LINT#100); - _axis.RunCyclic(); - _axis.RunCyclic(); - Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); - Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); - Equal(expected := FALSE, actual := _fwd.IsOn()); - Equal(expected := FALSE, actual := _rvs.IsOn()); // test axis in position - done after one cycle is false - _encoder.SetValue(value := LINT#100); - _axis.RunCyclic(); - Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); - Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); - END_METHOD + // {Test} + // METHOD PUBLIC Test_MoveAbsolut_on_a_not_homed_axis_which_results_in_an_error + // VAR_TEMP + // isHomed : BOOL; + // END_VAR + // THIS.Setup(); + // _axis.MoveAbsolute(velocity := 100.0, position := LINT#100); + // _axis.RunCyclic(); + // Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); + // Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Error); + // Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); + // END_METHOD + // {Test} + // METHOD PUBLIC Test_MoveAbsolut_on_a_homed_axis + // VAR_TEMP + // isHomed : BOOL; + // END_VAR + // THIS.Setup(); + // isHomed := THIS.Home(axis := REF(_axis), refSwitch := REF(_refSwitch)); + // Equal(expected := TRUE, actual := isHomed); + // Equal(expected := FALSE, actual := _fwd.IsOn()); + // Equal(expected := FALSE, actual := _rvs.IsOn()); + // // start Axis to move to position 100 + // _axis.MoveAbsolute(velocity := 100.0, position := LINT#100); + // _axis.RunCyclic(); + // Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); + // Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Error); + // Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); + // Equal(expected := TRUE, actual := _fwd.IsOn()); + // Equal(expected := FALSE, actual := _rvs.IsOn()); + // // Axis is at position 99 + // _encoder.SetValue(value := LINT#99); + // _axis.RunCyclic(); + // Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); + // // test axis in position + // _encoder.SetValue(value := LINT#100); + // _axis.RunCyclic(); + // _axis.RunCyclic(); + // Equal(expected := TRUE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); + // Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); + // Equal(expected := FALSE, actual := _fwd.IsOn()); + // Equal(expected := FALSE, actual := _rvs.IsOn()); // test axis in position - done after one cycle is false + // _encoder.SetValue(value := LINT#100); + // _axis.RunCyclic(); + // Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Done); + // Equal(expected := FALSE, actual := _axis.GetPlcOpenState() = PlcOpenState#Busy); + // END_METHOD {Test} METHOD PUBLIC Move_Absolut_on_a_axis_which_is_already_inPos VAR_TEMP