Skip to content

Iv3 debug #1150

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
PTKu merged 5 commits into from
May 20, 2026
Merged

Iv3 debug #1150

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
9b26b73
wip
May 18, 2026
ed95b97
pwip
May 18, 2026
fbc8177
clean up
May 18, 2026
67d4543
messages
May 18, 2026
6dfacd1
Merge branch 'dev' into iv3-debug
PTKu May 20, 2026
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
94 changes: 49 additions & 45 deletions src/components.keyence.vision/ctrl/src/Axo_IV3/Axo_IV3.st
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,6 @@ NAMESPACE AXOpen.Components.Keyence.Vision
{#ix-attr:[ComponentDetails("Tasks")]}
{#ix-set:AttributeName = "<#Restore#>"}
RestoreTask : AXOpen.Core.AxoTask;


{#ix-attr:[Group(GroupLayout.GroupBox)]}
{#ix-attr:[ComponentDetails("Tasks")]}
Expand Down Expand Up @@ -95,6 +94,7 @@ NAMESPACE AXOpen.Components.Keyence.Vision
_resultUpdateComplete : BOOL;
_resultNo : UINT;
_programNumber : UINT;
_ProgChangeInterrupted : BOOL;
END_VAR

///<summary>
Expand Down Expand Up @@ -6222,6 +6222,8 @@ NAMESPACE AXOpen.Components.Keyence.Vision
Status.Error.Id := UINT#0;
TaskMessenger.Restore();
THIS.CallTimers(FALSE);

_ProgChangeInterrupted := FALSE;
_progress := 310;
END_IF;
// ChangeProgramTask running: checking the program number.
Expand All @@ -6234,27 +6236,30 @@ NAMESPACE AXOpen.Components.Keyence.Vision
Status.Error.Id := UINT#510;
END_IF;
END_IF;
// ChangeProgramTask running: if 'ProgramSwitchingResponse' signal is true finish previous change.

// ChangeProgramTask running: if 'ProgramSwitchingResponse' signal is true, finish previous change.
IF _progress = 311 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#511, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#511;
END_IF;
// Do not cancel (1 → 0) [Program switching request] before [Program switching response] changes from
// 0 to 1. The program may not be able to switch correctly.
// When [Program switching request] was canceled (1 → 0) before [Program switching response] changes
// from 0 to 1, execute (0 → 1) [Program switching request] and cancel (1 → 0) it again.

IF Inputs.CommandStatusBits.ProgramSwitchingResponse THEN
THIS.CallTimers(FALSE);
THIS.CallTimers(FALSE);
_ProgChangeInterrupted := TRUE;
_progress := 312; // ACK PREVIOUS CHANGE
ELSE
THIS.CallTimers(FALSE);
_progress := 314; // Continue to change program
END_IF;
END_IF;

// evaluated before 312 => +1 plc cycle
// ChangeProgramTask running: wait for falling edge ProgramSwitchingResponse
// ChangeProgramTask running: check if is not Busy, due to interrupted by previous program switching
IF _progress = 313 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#513;
TaskMessenger.Activate( UINT#514, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#514;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := FALSE;
Expand All @@ -6263,80 +6268,79 @@ NAMESPACE AXOpen.Components.Keyence.Vision
_progress := 311; // +1 plc cycle to check ProgramSwitchingResponse
END_IF;
END_IF;
// ChangeProgramTask running: wait for program numbers to be equal.

// ChangeProgramTask running: set [program switching request] to 1 due to interupted by previous program switching
IF _progress = 312 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#513;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := TRUE;
Outputs.CommandControl.ProgramNo := UINT#0; // Reset program number
IF TRUE THEN
THIS.CallTimers(FALSE);
_progress := 313; //+1 plc cycle to wait for falling edge
END_IF;
END_IF;

// ChangeProgramTask running: setting the new program number.
// ChangeProgramTask running: set 'ProgramSwitchingRequest' and wait for 'ProgramSwitchingResponse' signal.
IF _progress = 314 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#511, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#511;
END_IF;

Outputs.CommandControl.ProgramNo := _programNumber;
IF Outputs.CommandControl.ProgramNo = Inputs.DeviceStatusWords.CurrentProgramNo THEN
THIS.CallTimers(FALSE);
_progress := 317;
ELSE
THIS.CallTimers(FALSE);
_progress := 315;
END_IF;
END_IF;
// ChangeProgramTask running: waiting for the raising of the 'ProgramSwitchingResponse' signal.
IF _progress = 315 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#512, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#512;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := TRUE;

Outputs.CommandControl.ProgramNo := _programNumber;
Outputs.CommandControl.ProgramSwitchingRequest := TRUE;

IF Inputs.CommandStatusBits.ProgramSwitchingResponse THEN
THIS.CallTimers(FALSE);
_progress := 316;
_progress := 315;
END_IF;
END_IF;
// ChangeProgramTask running: waiting for the falling of the 'ProgramSwitchingResponse' signal.
IF _progress = 316 THEN

// ChangeProgramTask running: waiting for the falling of the 'ProgramSwitchingResponse' signal, when 'ProgramSwitchingRequest' is reset.
IF _progress = 315 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#513;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := FALSE;
Outputs.CommandControl.ProgramNo := UINT#0; // Reset program number , accoding documentation

IF NOT Inputs.CommandStatusBits.ProgramSwitchingResponse THEN
THIS.CallTimers(FALSE);
_progress := 317;
_progress := 316;
END_IF;
END_IF;

// ChangeProgramTask running: waiting for equals program change.

// ChangeProgramTask running: validate that program is selected successfully and other control signals are right,
IF _progress = 317 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#513;
TaskMessenger.Activate( UINT#514, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#514;
END_IF;

IF (_programNumber = Inputs.DeviceStatusWords.CurrentProgramNo)
AND (Outputs.CommandControl.ProgramNo = Inputs.DeviceStatusWords.CurrentProgramNo)
IF NOT Inputs.CommandStatusBits.ProgramSwitchingResponse
AND NOT Inputs.CommandStatusBits.BUSY
AND ( Inputs.DeviceStatusWords.CurrentProgramNo = _programNumber)
THEN
THIS.CallTimers(FALSE);
_progress := 318;
END_IF;
END_IF;

// ChangeProgramTask running: validate that program is selected successfully,
IF _progress = 316 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#515, eAxoMessageCategory#Potential);
Status.Error.Id := UINT#515;
END_IF;

IF (_programNumber = Inputs.DeviceStatusWords.CurrentProgramNo) THEN
THIS.CallTimers(FALSE);
_progress := 317; //+1 plc cycle to check the status after program change
END_IF;
END_IF;

// ChangeProgramTask finished.
IF _progress = 318 THEN
ChangeProgramTask.DoneWhen(TRUE);
Expand All @@ -6363,7 +6367,7 @@ NAMESPACE AXOpen.Components.Keyence.Vision
Messenger.ActivateOnCondition(ULINT#10010,ChangeProgramTask.HasError(), eAxoMessageCategory#Error);
Messenger.ActivateOnCondition(ULINT#10011,ChangeProgramTask.IsAborted(), eAxoMessageCategory#Info);
Messenger.ActivateOnCondition(ULINT#112,ChangeProgramTask.RestoreTriggered() , eAxoMessageCategory#Info);
IF ChangeProgramTask.RestoreTriggered() AND _progress >= 310 AND _progress <= 319 THEN
IF ChangeProgramTask.RestoreTriggered() AND _progress >= 310 AND _progress <= 329 THEN
Status.Action.Id := UINT#112;
_progress := 0;
END_IF;
Expand Down
7 changes: 6 additions & 1 deletion src/components.keyence.vision/src/AXOpen.Components.Keyence.Vision/Axo_IV3/Axo_IV3.cs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
using AXOpen.Messaging.Static;
using AXOpen.Messaging.Static;
using AXSharp.Connector;
using Microsoft.AspNetCore.Http;
using System;
Expand Down Expand Up @@ -882,6 +882,9 @@ private void InitializeTaskMessenger()
new KeyValuePair<ulong, AxoMessengerTextItem>(511, new AxoMessengerTextItem("Waiting for the signal/variable `Inputs.DeviceStatusWords.CurrentProgramNo` to be equal to `Outputs.CommandControl.ProgramNo`" ,"Check the status of the `Inputs.DeviceStatusWords.CurrentProgramNo` signal/variable.")),
new KeyValuePair<ulong, AxoMessengerTextItem>(512, new AxoMessengerTextItem("Waiting for the signal/variable `Inputs.CommandStatusBits.ProgramSwitchingResponse` to be set!" ,"Check the status of the `Inputs.CommandStatusBits.ProgramSwitchingResponse` signal/variable.")),
new KeyValuePair<ulong, AxoMessengerTextItem>(513, new AxoMessengerTextItem("Waiting for the signal/variable `Inputs.CommandStatusBits.ProgramSwitchingResponse` to be reseted!" ,"Check the status of the `Inputs.CommandStatusBits.ProgramSwitchingResponse` signal/variable.")),
new KeyValuePair<ulong, AxoMessengerTextItem>(514, new AxoMessengerTextItem("Waiting for the signal/variable `Inputs.CommandStatusBits.BUSY` to be reseted!" ,"Check the status of the `Inputs.CommandStatusBits.BUSY` signal/variable.")),
new KeyValuePair<ulong, AxoMessengerTextItem>(515, new AxoMessengerTextItem("Waiting for the signal/variable `Inputs.DeviceStatusWords.CurrentProgramNo` to be equal to `Outputs.CommandControl.ProgramNo`!" ,"Check the status of the `Inputs.DeviceStatusWords.CurrentProgramNo` signal/variable")),


};

Expand Down Expand Up @@ -973,6 +976,8 @@ public string ErrorDescription
errorDescriptionDict.Add(511, "Waiting for the signal/variable `Inputs.DeviceStatusWords.CurrentProgramNo` to be equal to `Outputs.CommandControl.ProgramNo`" );
errorDescriptionDict.Add(512, "Waiting for the signal/variable `Inputs.CommandStatusBits.ProgramSwitchingResponse` to be set!" );
errorDescriptionDict.Add(513, "Waiting for the signal/variable `Inputs.CommandStatusBits.ProgramSwitchingResponse` to be reseted!" );
errorDescriptionDict.Add(514, "Waiting for the signal/variable `Inputs.CommandStatusBits.BUSY` to be reseted!");
errorDescriptionDict.Add(515, "Waiting for the signal/variable `Inputs.DeviceStatusWords.CurrentProgramNo` to be equal to `Outputs.CommandControl.ProgramNo`!");
// General alarms
errorDescriptionDict.Add(700, "Input variable `parent` has NULL reference in `Run` method!" );
errorDescriptionDict.Add(701, "Input variable `Config.HWIDs.HwID_Device` has invalid value in `Run` method!" );
Expand Down
Loading