etherlab/pous.xml
author Edouard Tisserant <edouard@beremiz.fr>
Wed, 03 Apr 2024 14:17:50 +0200
changeset 3922 ffc8da83fdc2
parent 2641 c9deff128c37
permissions -rw-r--r--
SVG: fix HMI:Assign widget to properly handle single-letter variable names.
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://www.plcopen.org/xml/tc6.xsd"
         xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
         xmlns:xhtml="http://www.w3.org/1999/xhtml">
  <fileHeader companyName="EtherlabMaster"
              productName="EtherlabMaster"
              productVersion="1"
              creationDateTime="2012-10-22T12:12:45"/>
  <contentHeader name="EtherlabMaster SDO Blocks"
                 modificationDateTime="2012-11-13T18:03:39">
    <coordinateInfo>
      <fbd>
        <scaling x="0" y="0"/>
      </fbd>
      <ld>
        <scaling x="0" y="0"/>
      </ld>
      <sfc>
        <scaling x="0" y="0"/>
      </sfc>
    </coordinateInfo>
  </contentHeader>
  <types>
    <dataTypes/>
    <pous>
      <pou name="EtherLabSDOUpload" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="EXECUTE">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="POS">
              <type>
                <INT/>
              </type>
            </variable>
            <variable name="INDEX">
              <type>
                <UINT/>
              </type>
            </variable>
            <variable name="SUBINDEX">
              <type>
                <USINT/>
              </type>
            </variable>
            <variable name="VARTYPE">
              <type>
                <string/>
              </type>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="ACK">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="VALID">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="VALUE">
              <type>
                <string/>
              </type>
            </variable>
          </outputVars>
          <localVars>
            <variable name="PY0">
              <type>
                <derived name="python_eval"/>
              </type>
            </variable>
            <variable name="PY1">
              <type>
                <derived name="python_eval"/>
              </type>
            </variable>
            <variable name="EXECUTE0">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="STATE">
              <type>
                <INT/>
              </type>
              <initialValue>
                <simpleValue value="0"/>
              </initialValue>
            </variable>
          </localVars>
        </interface>
        <body>
          <ST>
<![CDATA[{extern int AcquireSDOLock();}
{extern int HasAnswer();}
{extern void ReleaseSDOLock();}
CASE STATE OF
  0:
    IF EXECUTE AND NOT EXECUTE0 THEN
      STATE := 1;
      ACK := 0;
      VALID := 0;
      VALUE := 'None';
    END_IF;
  1:
    {if (AcquireSDOLock()) __SET_VAR(data__->,STATE, 2)}
  2:
    IF PY0.ACK THEN
      STATE := 3;
    END_IF;
  3:
    {if (HasAnswer()) __SET_VAR(data__->,STATE, 4)}
  4:
    IF PY1.ACK THEN
      ACK := 1;
      VALUE := PY1.RESULT;
      VALID := NE(VALUE, 'None');
      STATE := 0;
      {ReleaseSDOLock();}
    END_IF;
ELSE
  STATE := 0;
END_CASE;

EXECUTE0 := EXECUTE;
PY0(TRIG := STATE = 2, 
    CODE := CONCAT('EthercatSDOUpload(',
                   INT_TO_STRING(POS),
                   ',',
                   UINT_TO_STRING(INDEX),
                   ',',
                   USINT_TO_STRING(SUBINDEX),
                   ',"',
                   VARTYPE,
                   '")'));
PY1(TRIG := STATE = 4, 
    CODE := 'GetResult()');
]]>
          </ST>
        </body>
      </pou>
      <pou name="EtherLabSDODownload" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="EXECUTE">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="POS">
              <type>
                <INT/>
              </type>
            </variable>
            <variable name="INDEX">
              <type>
                <UINT/>
              </type>
            </variable>
            <variable name="SUBINDEX">
              <type>
                <USINT/>
              </type>
            </variable>
            <variable name="VARTYPE">
              <type>
                <string/>
              </type>
            </variable>
            <variable name="VALUE">
              <type>
                <string/>
              </type>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="ACK">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="ERROR">
              <type>
                <BOOL/>
              </type>
            </variable>
          </outputVars>
          <localVars>
            <variable name="PY0">
              <type>
                <derived name="python_eval"/>
              </type>
            </variable>
            <variable name="PY1">
              <type>
                <derived name="python_eval"/>
              </type>
            </variable>
            <variable name="EXECUTE0">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="STATE">
              <type>
                <INT/>
              </type>
              <initialValue>
                <simpleValue value="0"/>
              </initialValue>
            </variable>
          </localVars>
        </interface>
        <body>
          <ST>
<![CDATA[{extern int AcquireSDOLock();}
{extern int HasAnswer();}
{extern void ReleaseSDOLock();}
CASE STATE OF
  0:
    IF EXECUTE AND NOT EXECUTE0 THEN
      STATE := 1;
      ACK := 0;
      ERROR := 0;
    END_IF;
  1:
    {if (AcquireSDOLock()) __SET_VAR(data__->,STATE, 2)}
  2:
    IF PY0.ACK THEN
      STATE := 3;
    END_IF;
  3:
    {if (HasAnswer()) __SET_VAR(data__->,STATE, 4)}
  4:
    IF PY1.ACK THEN
      ACK := 1;
      ERROR := EQ(PY1.RESULT, 'False');
      STATE := 0;
      {ReleaseSDOLock();}
    END_IF;
ELSE
  STATE := 0;
END_CASE;
EXECUTE0 := EXECUTE;
PY0(TRIG := STATE = 2, 
    CODE := CONCAT('EthercatSDODownload(',
                   INT_TO_STRING(POS),
                   ',',
                   UINT_TO_STRING(INDEX),
                   ',',
                   USINT_TO_STRING(SUBINDEX),
                   ',"',
                   VARTYPE,
                   '",',
                   VALUE,
                   ')'));
PY1(TRIG := STATE = 4, 
    CODE := 'GetResult()');
]]>
          </ST>
        </body>
      </pou>
      <pou name="EtherLabSetTorqueLimit" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="Pos">
              <type>
                <INT/>
              </type>
            </variable>
            <variable name="Execute">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="TorqueLimitPos">
              <type>
                <UINT/>
              </type>
            </variable>
            <variable name="TorqueLimitNeg">
              <type>
                <UINT/>
              </type>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="Done">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="Busy">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="Error">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="ErrorID">
              <type>
                <WORD/>
              </type>
            </variable>
          </outputVars>
          <localVars>
            <variable name="EtherLabSDOUpload0">
              <type>
                <derived name="EtherLabSDODownload"/>
              </type>
            </variable>
            <variable name="EtherLabSDOUpload1">
              <type>
                <derived name="EtherLabSDODownload"/>
              </type>
            </variable>
            <variable name="RS0">
              <type>
                <derived name="RS"/>
              </type>
            </variable>
          </localVars>
        </interface>
        <body>
          <FBD>
            <block localId="1" width="168" height="238" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload0">
              <position x="479" y="70"/>
              <inputVariables>
                <variable formalParameter="EXECUTE">
                  <connectionPointIn>
                    <relPosition x="0" y="38"/>
                    <connection refLocalId="3">
                      <position x="479" y="108"/>
                      <position x="111" y="108"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="POS">
                  <connectionPointIn>
                    <relPosition x="0" y="74"/>
                    <connection refLocalId="4">
                      <position x="479" y="144"/>
                      <position x="423" y="144"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="INDEX">
                  <connectionPointIn>
                    <relPosition x="0" y="110"/>
                    <connection refLocalId="6">
                      <position x="479" y="180"/>
                      <position x="423" y="180"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="SUBINDEX">
                  <connectionPointIn>
                    <relPosition x="0" y="146"/>
                    <connection refLocalId="8">
                      <position x="479" y="216"/>
                      <position x="423" y="216"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="VARTYPE">
                  <connectionPointIn>
                    <relPosition x="0" y="182"/>
                    <connection refLocalId="10">
                      <position x="479" y="252"/>
                      <position x="423" y="252"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="VALUE">
                  <connectionPointIn>
                    <relPosition x="0" y="218"/>
                    <connection refLocalId="25" formalParameter="OUT">
                      <position x="479" y="288"/>
                      <position x="450" y="288"/>
                      <position x="450" y="306"/>
                      <position x="422" y="306"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="ACK">
                  <connectionPointOut>
                    <relPosition x="168" y="38"/>
                  </connectionPointOut>
                </variable>
                <variable formalParameter="ERROR">
                  <connectionPointOut>
                    <relPosition x="168" y="74"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <block localId="2" width="168" height="264" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload1">
              <position x="482" y="351"/>
              <inputVariables>
                <variable formalParameter="EXECUTE">
                  <connectionPointIn>
                    <relPosition x="0" y="40"/>
                    <connection refLocalId="3">
                      <position x="482" y="391"/>
                      <position x="131" y="391"/>
                      <position x="131" y="108"/>
                      <position x="111" y="108"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="POS">
                  <connectionPointIn>
                    <relPosition x="0" y="80"/>
                    <connection refLocalId="5">
                      <position x="482" y="431"/>
                      <position x="431" y="431"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="INDEX">
                  <connectionPointIn>
                    <relPosition x="0" y="120"/>
                    <connection refLocalId="7">
                      <position x="482" y="471"/>
                      <position x="431" y="471"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="SUBINDEX">
                  <connectionPointIn>
                    <relPosition x="0" y="160"/>
                    <connection refLocalId="9">
                      <position x="482" y="511"/>
                      <position x="430" y="511"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="VARTYPE">
                  <connectionPointIn>
                    <relPosition x="0" y="200"/>
                    <connection refLocalId="11">
                      <position x="482" y="551"/>
                      <position x="431" y="551"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="VALUE">
                  <connectionPointIn>
                    <relPosition x="0" y="240"/>
                    <connection refLocalId="12" formalParameter="OUT">
                      <position x="482" y="591"/>
                      <position x="456" y="591"/>
                      <position x="456" y="610"/>
                      <position x="431" y="610"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="ACK">
                  <connectionPointOut>
                    <relPosition x="168" y="40"/>
                  </connectionPointOut>
                </variable>
                <variable formalParameter="ERROR">
                  <connectionPointOut>
                    <relPosition x="168" y="80"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <inVariable localId="3" height="27" width="63">
              <position x="48" y="95"/>
              <connectionPointOut>
                <relPosition x="63" y="13"/>
              </connectionPointOut>
              <expression>Execute</expression>
            </inVariable>
            <inVariable localId="4" height="27" width="35">
              <position x="388" y="131"/>
              <connectionPointOut>
                <relPosition x="35" y="13"/>
              </connectionPointOut>
              <expression>Pos</expression>
            </inVariable>
            <inVariable localId="5" height="27" width="35">
              <position x="396" y="418"/>
              <connectionPointOut>
                <relPosition x="35" y="13"/>
              </connectionPointOut>
              <expression>Pos</expression>
            </inVariable>
            <inVariable localId="6" height="27" width="68">
              <position x="355" y="167"/>
              <connectionPointOut>
                <relPosition x="68" y="13"/>
              </connectionPointOut>
              <expression>16#60E0</expression>
            </inVariable>
            <inVariable localId="7" height="27" width="68">
              <position x="363" y="458"/>
              <connectionPointOut>
                <relPosition x="68" y="13"/>
              </connectionPointOut>
              <expression>16#60E1</expression>
            </inVariable>
            <inVariable localId="8" height="27" width="33">
              <position x="390" y="203"/>
              <connectionPointOut>
                <relPosition x="33" y="13"/>
              </connectionPointOut>
              <expression>0</expression>
            </inVariable>
            <inVariable localId="9" height="27" width="33">
              <position x="397" y="498"/>
              <connectionPointOut>
                <relPosition x="33" y="13"/>
              </connectionPointOut>
              <expression>0</expression>
            </inVariable>
            <inVariable localId="10" height="27" width="60">
              <position x="363" y="239"/>
              <connectionPointOut>
                <relPosition x="60" y="13"/>
              </connectionPointOut>
              <expression>'uint16'</expression>
            </inVariable>
            <inVariable localId="11" height="27" width="60">
              <position x="371" y="538"/>
              <connectionPointOut>
                <relPosition x="60" y="13"/>
              </connectionPointOut>
              <expression>'uint16'</expression>
            </inVariable>
            <block localId="16" width="67" height="98" typeName="AND">
              <position x="763" y="69"/>
              <inputVariables>
                <variable formalParameter="IN1">
                  <connectionPointIn>
                    <relPosition x="0" y="39"/>
                    <connection refLocalId="1" formalParameter="ACK">
                      <position x="763" y="108"/>
                      <position x="647" y="108"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="IN2">
                  <connectionPointIn>
                    <relPosition x="0" y="78"/>
                    <connection refLocalId="2" formalParameter="ACK">
                      <position x="763" y="147"/>
                      <position x="707" y="147"/>
                      <position x="707" y="391"/>
                      <position x="650" y="391"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="OUT">
                  <connectionPointOut>
                    <relPosition x="67" y="39"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <outVariable localId="17" height="27" width="45">
              <position x="941" y="95"/>
              <connectionPointIn>
                <relPosition x="0" y="13"/>
                <connection refLocalId="16" formalParameter="OUT">
                  <position x="941" y="108"/>
                  <position x="830" y="108"/>
                </connection>
              </connectionPointIn>
              <expression>Done</expression>
            </outVariable>
            <block localId="18" width="67" height="111" typeName="OR">
              <position x="778" y="344"/>
              <inputVariables>
                <variable formalParameter="IN1">
                  <connectionPointIn>
                    <relPosition x="0" y="42"/>
                    <connection refLocalId="1" formalParameter="ERROR">
                      <position x="778" y="386"/>
                      <position x="752" y="386"/>
                      <position x="752" y="254"/>
                      <position x="659" y="254"/>
                      <position x="659" y="144"/>
                      <position x="647" y="144"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="IN2">
                  <connectionPointIn>
                    <relPosition x="0" y="87"/>
                    <connection refLocalId="2" formalParameter="ERROR">
                      <position x="778" y="431"/>
                      <position x="650" y="431"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="OUT">
                  <connectionPointOut>
                    <relPosition x="67" y="42"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <block localId="19" width="67" height="98" typeName="AND">
              <position x="933" y="308"/>
              <inputVariables>
                <variable formalParameter="IN1">
                  <connectionPointIn>
                    <relPosition x="0" y="39"/>
                    <connection refLocalId="16" formalParameter="OUT">
                      <position x="933" y="347"/>
                      <position x="886" y="347"/>
                      <position x="886" y="108"/>
                      <position x="830" y="108"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="IN2">
                  <connectionPointIn>
                    <relPosition x="0" y="78"/>
                    <connection refLocalId="18" formalParameter="OUT">
                      <position x="933" y="386"/>
                      <position x="845" y="386"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="OUT">
                  <connectionPointOut>
                    <relPosition x="67" y="39"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <outVariable localId="20" height="27" width="45">
              <position x="1037" y="334"/>
              <connectionPointIn>
                <relPosition x="0" y="13"/>
                <connection refLocalId="19" formalParameter="OUT">
                  <position x="1037" y="347"/>
                  <position x="1000" y="347"/>
                </connection>
              </connectionPointIn>
              <expression>Error</expression>
            </outVariable>
            <block localId="22" width="97" height="93" typeName="RS" instanceName="RS0">
              <position x="854" y="498"/>
              <inputVariables>
                <variable formalParameter="S">
                  <connectionPointIn>
                    <relPosition x="0" y="38"/>
                    <connection refLocalId="23">
                      <position x="854" y="536"/>
                      <position x="795" y="536"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="R1">
                  <connectionPointIn>
                    <relPosition x="0" y="74"/>
                    <connection refLocalId="21">
                      <position x="854" y="572"/>
                      <position x="790" y="572"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="Q1">
                  <connectionPointOut>
                    <relPosition x="97" y="38"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <inVariable localId="21" height="27" width="45">
              <position x="745" y="559"/>
              <connectionPointOut>
                <relPosition x="45" y="13"/>
              </connectionPointOut>
              <expression>Done</expression>
            </inVariable>
            <inVariable localId="23" height="27" width="63">
              <position x="732" y="523"/>
              <connectionPointOut>
                <relPosition x="63" y="13"/>
              </connectionPointOut>
              <expression>Execute</expression>
            </inVariable>
            <outVariable localId="24" height="27" width="41">
              <position x="1006" y="523"/>
              <connectionPointIn>
                <relPosition x="0" y="13"/>
                <connection refLocalId="22" formalParameter="Q1">
                  <position x="1006" y="536"/>
                  <position x="951" y="536"/>
                </connection>
              </connectionPointIn>
              <expression>Busy</expression>
            </outVariable>
            <block localId="25" width="126" height="40" typeName="UINT_TO_STRING">
              <position x="296" y="276"/>
              <inputVariables>
                <variable formalParameter="IN">
                  <connectionPointIn>
                    <relPosition x="0" y="30"/>
                    <connection refLocalId="14">
                      <position x="296" y="306"/>
                      <position x="262" y="306"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="OUT">
                  <connectionPointOut>
                    <relPosition x="126" y="30"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <inVariable localId="14" height="27" width="117">
              <position x="145" y="293"/>
              <connectionPointOut>
                <relPosition x="117" y="13"/>
              </connectionPointOut>
              <expression>TorqueLimitPos</expression>
            </inVariable>
            <block localId="12" width="126" height="40" typeName="UINT_TO_STRING">
              <position x="305" y="580"/>
              <inputVariables>
                <variable formalParameter="IN">
                  <connectionPointIn>
                    <relPosition x="0" y="30"/>
                    <connection refLocalId="15">
                      <position x="305" y="610"/>
                      <position x="283" y="610"/>
                      <position x="283" y="611"/>
                      <position x="262" y="611"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="OUT">
                  <connectionPointOut>
                    <relPosition x="126" y="30"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <inVariable localId="15" height="27" width="119">
              <position x="143" y="598"/>
              <connectionPointOut>
                <relPosition x="119" y="13"/>
              </connectionPointOut>
              <expression>TorqueLimitNeg</expression>
            </inVariable>
          </FBD>
        </body>
      </pou>
      <pou name="EtherLabGetTorqueLimit" pouType="functionBlock">
        <interface>
          <inputVars>
            <variable name="Pos">
              <type>
                <INT/>
              </type>
            </variable>
            <variable name="Execute">
              <type>
                <BOOL/>
              </type>
            </variable>
          </inputVars>
          <outputVars>
            <variable name="Done">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="Busy">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="Error">
              <type>
                <BOOL/>
              </type>
            </variable>
            <variable name="ErrorID">
              <type>
                <WORD/>
              </type>
            </variable>
            <variable name="TorqueLimitPos">
              <type>
                <UINT/>
              </type>
            </variable>
            <variable name="TorqueLimitNeg">
              <type>
                <UINT/>
              </type>
            </variable>
          </outputVars>
          <localVars>
            <variable name="EtherLabSDOUpload0">
              <type>
                <derived name="EtherLabSDOUpload"/>
              </type>
            </variable>
            <variable name="EtherLabSDOUpload1">
              <type>
                <derived name="EtherLabSDOUpload"/>
              </type>
            </variable>
            <variable name="RS0">
              <type>
                <derived name="RS"/>
              </type>
            </variable>
          </localVars>
        </interface>
        <body>
          <FBD>
            <block localId="1" width="149" height="203" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
              <position x="283" y="70"/>
              <inputVariables>
                <variable formalParameter="EXECUTE">
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