McePosTableCheckConditions

0.1.0

PosTable

Check the conditions for a given entry.

Version history

0.1.0

28 Mar 2024 deGroot

Changes

Added:

initial version

Overview

kind	name	type	comment
input	index	`INT`	PosTable entry for which the start conditions should be checked
input	posTableSize	`INT`	number of entries
input	conditions	`ARRAY [0..GVL.CONDITIONS_UBOUND] OF BOOL`	bits used as start conditions for a PosTable entry
in_out	posTable	`McePosTableData`	trajectory to be processed by PosTable

Details

index

INT

PosTable entry for which the start conditions should be checked.

posTableSize

INT

Number of entries of the PosTable.

conditions

ARRAY [0..GVL.CONDITIONS_UBOUND] OF BOOL

Bits used as start conditions for a PosTable entry.

If a PosTable entry has one or more bits in startConditions set to TRUE then the motion for that entry will not be started until the start conditions are satisfied.

Conditions are only checked for the TRUE state
If you need a condition to be checked for the FALSE state, you need to invert the connected signal outside of PosTable

posTable

McePosTableData

Trajectory to be processed by PosTable.

Source code

Declarations

(*Check start conditions of a PosTable entry*)
FUNCTION McePosTableCheckConditions : MCEPOSTABLECONDITIONS

(*
 * -----------------------------------------------------------------------------
 * Name               : McePosTableCheckConditions
 * Version            : 0.1.0
 * Date               : 2024-03-28
 * Author             : deGroot
 * Family             : YaskawaMce
 * Organisation       : github.com/YaskawaEurope/mlx-examples
 * 
 * -----------------------------------------------------------------------------
 * Check start conditions of a PosTable entry
 * -----------------------------------------------------------------------------
 *)

VAR_INPUT
  index : INT; (*PosTable entry for which the start conditions should be checked*)
  posTableSize : INT; (*number of entries*)
  conditions : ARRAY [0..GVL.CONDITIONS_UBOUND] OF BOOL; (*bits used as start conditions for a PosTable entry*)
END_VAR

VAR_IN_OUT
  posTable : McePosTableData; (*trajectory to be processed by PosTable*)
END_VAR

VAR
  i : DINT; (*index for FOR loops*)
  stConditionResult : McePosTableConditions; (*state if the next motion condition are satisfied*)
END_VAR

Logic

MEMUtils.MemSet(pbyBuffer := ADR(stConditionResult), byValue :=  0, dwSize :=  SIZEOF(stConditionResult));

// check if this entry has start conditions
stConditionResult.bHasConditions := FALSE;
stConditionResult.bConditionsOk := TRUE;
IF index >= 0 THEN
  FOR i := 0 TO GVL.CONDITIONS_UBOUND DO
    stConditionResult.bHasConditions := stConditionResult.bHasConditions OR posTable.stEntry[index].aStartCondition[i];
    stConditionResult.bConditionsOk := stConditionResult.bConditionsOk AND (NOT posTable.stEntry[index].aStartCondition[i] OR (posTable.stEntry[index].aStartCondition[i] AND conditions[i]));
    stConditionResult.aMissingConditions[i] := posTable.stEntry[index].aStartCondition[i] AND NOT conditions[i];
  END_FOR
END_IF;

McePosTableCheckConditions := stConditionResult;

Implementation

Snippet of the function call:

dummy := McePosTableCheckConditions(
           index := , 
           posTableSize := , 
           conditions := , 
           posTable := );