Skip to content

acc,dcc,jerk,homing #1121

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
TomKovac merged 1 commit into from
May 4, 2026
Merged

acc,dcc,jerk,homing #1121

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
17 changes: 11 additions & 6 deletions src/components.festo.drives/ctrl/src/AxoCmmtAs/AxoCmmtAs.st
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -795,29 +795,29 @@ NAMESPACE AXOpen.Components.Festo.Drives
_scalingReadState := UINT#28;
END_IF;
END_IF;

//Rotary
IF _scalingReadState = UINT#27 THEN
ScalingConstantRequiredPosition := _exp[-1*(TO_INT(PNU_11724) )]; // TODO verify scaling with Automation Suite
ScalingConstantActualPosition := LREAL#1.0/ScalingConstantRequiredPosition; // TODO verify scaling with Automation Suite

ScalingConstantRequiredVelocity := _exp[-1*(TO_INT(PNU_11725) )]; // TODO verify scaling with Automation Suite
ScalingConstantActualVelocity := PNU_12345 * _exp[(TO_INT(PNU_11725) + 3)] / LREAL#1073741824.0; // 16#4000 0000 ~~ 1073741824 // TODO verify scaling with Automation Suite

ScalingConstantRequiredAcceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)] / PNU_810; // 16#4000 ~~ 16384
ScalingConstantRequiredAcceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)+3] / PNU_810; // 16#4000 ~~ 16384
ScalingConstantActualAcceleration := LREAL#1.0 / ScalingConstantRequiredAcceleration;

ScalingConstantRequiredDeceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)] / PNU_811; // 16#4000 ~~ 16384
ScalingConstantRequiredDeceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)+3] / PNU_811; // 16#4000 ~~ 16384
Comment on lines +806 to +809
Copy link

Copilot AI Apr 30, 2026

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

For consistency with nearby expressions (e.g., (TO_INT(PNU_11725) + 3)), consider adding spaces around the + 3 in these _exp[...] indices to improve readability.

Copilot uses AI. Check for mistakes.
ScalingConstantActualDeceleration := LREAL#1.0 / ScalingConstantRequiredDeceleration;
Comment thread
TomKovac marked this conversation as resolved.

ScalingConstantRequiredTorque := 1;
ScalingConstantActualTorque := PNU_11122 / 16384; // 16#4000 ~~ 16384

ScalingConstantRequiredJerk := _exp[TO_INT(PNU_11727)];
ScalingConstantRequiredJerk := _exp[TO_INT(PNU_11727)+3];
Comment thread
TomKovac marked this conversation as resolved.
ScalingConstantActualJerk := LREAL#1.0 / ScalingConstantRequiredJerk;

_scalingReadState := UINT#29;
END_IF;

//Linear
IF _scalingReadState = UINT#28 THEN
ScalingConstantRequiredPosition := _exp[-1*(TO_INT(PNU_11724) + 3)];
ScalingConstantActualPosition := LREAL#1.0/ScalingConstantRequiredPosition;
Expand Down Expand Up @@ -1722,7 +1722,12 @@ NAMESPACE AXOpen.Components.Festo.Drives
Parametrization.Inputs.Subindex := 0;
Parametrization.Inputs.AxisNo := BYTE#1;
Parametrization.Inputs.HardwareId := _AxisReference^.HWIDs.HW_ModuleAccessPoint;
Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000000.0);
IF AxisType = eAxoDriveAxisType#Rotary THEN
Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000.0);
ELSIF AxisType = eAxoDriveAxisType#Linear THEN
Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000000.0);
Comment thread
TomKovac marked this conversation as resolved.
END_IF;

IF Parametrization.Outputs.Done AND NOT Parametrization.Outputs.Error THEN
State := UINT#48;
END_IF;
Expand Down
Loading