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[NEW-FEATURE] TcoPneumatics: Add suspend methods that drop outputs only when not at end positions #38

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Merged
peterbarancek merged 2 commits into from
Sep 30, 2025
Merged

[NEW-FEATURE] TcoPneumatics: Add suspend methods that drop outputs only when not at end positions #38

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ecd41ee
Create draft PR for #37
github-actions[bot] Sep 29, 2025
ea2b540
* suspend method keep signal on if alredy in position
peterbarancek Sep 29, 2025
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21 changes: 10 additions & 11 deletions src/TcoPneumatics/src/XaeTcoPneumatics/TcoPneumatics/POUs/Cylinders/TcoCylinder.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -240,18 +240,17 @@ VAR_INPUT
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[
_refillTimer(In:=inoToHomePos XOR inoToWorkPos ,Pt:=T#49D);
_refillTimer(In:=inoToHomePos XOR inoToWorkPos ,Pt:=T#49D);

_config.TimeToRefill:=inRefillTime;

IF _refillTimer.ET>T#0MS
AND _refillTimer.ET<_config.TimeToRefill
AND _config.TimeToRefill<>T#0S THEN
AND _config.TimeToRefill<>T#0S
AND (_moveHomeDefault.Busy or _moveWorkDefault.Busy) THEN
_toHomePos := TRUE;
_toWorkPos := TRUE;
END_IF;


SUPER^(inoAtHomePos := inoAtHomePos, inoAtWorkPos := inoAtWorkPos, inoToHomePos := inoToHomePos, inoToWorkPos := inoToWorkPos);
]]></ST>
</Implementation>
Expand Down Expand Up @@ -318,12 +317,12 @@ END_VAR]]></Declaration>
END_IF
_suspendedHome:=_suspendedHomeCounter>0;

IF (_toHomePos OR _moveHomeDefault.Busy) AND inoDisableCondition THEN
IF (_toHomePos OR _moveHomeDefault.Busy )AND NOT _atHomePos AND inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ' , _signalInfo.SymbolPath));
_toHomePos := FALSE;
IF(__ISVALIDREF(THIS^.inoToHomePos)) THEN THIS^.inoToHomePos := FALSE; END_IF;

END_IF]]></ST>
</Implementation>
</Method>
Expand All @@ -340,7 +339,7 @@ END_VAR
END_IF
_suspendedHome:=_suspendedHomeCounter>0;

IF (_toHomePos OR _moveHomeDefault.Busy) AND inDisableCondition THEN
IF (_toHomePos OR _moveHomeDefault.Busy)AND NOT _atHomePos AND inDisableCondition THEN
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ' , inMessage));
_toHomePos := FALSE;
IF(__ISVALIDREF(THIS^.inoToHomePos)) THEN THIS^.inoToHomePos := FALSE; END_IF;
Expand Down Expand Up @@ -381,7 +380,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedHome:=_suspendedHomeCounter>0;

IF (_toHomePos OR _moveHomeDefault.Busy) AND not inoDisableCondition THEN
IF (_toHomePos OR _moveHomeDefault.Busy)AND NOT _atHomePos AND not inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to NOT#> : ' , _signalInfo.SymbolPath));
_toHomePos := FALSE;
Expand Down Expand Up @@ -423,7 +422,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedWork:=_suspendedWorkCounter>0;

IF (_toWorkPos OR _moveWorkDefault.Busy) AND inoDisableCondition THEN
IF (_toWorkPos OR _moveWorkDefault.Busy)AND NOT _atWorkPos AND inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ' , _signalInfo.SymbolPath));
_toWorkPos := FALSE;
Expand All @@ -445,7 +444,7 @@ END_VAR
END_IF
_suspendedWork:=_suspendedWorkCounter>0;

IF (_toWorkPos OR _moveWorkDefault.Busy) AND inDisableCondition THEN
IF (_toWorkPos OR _moveWorkDefault.Busy)AND NOT _atWorkPos AND inDisableCondition THEN
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ', inMessage));
_toWorkPos := FALSE;
IF (__ISVALIDREF(THIS^.inoToWorkPos)) THEN
Expand Down Expand Up @@ -488,7 +487,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedWork:=_suspendedWorkCounter>0;

IF (_toWorkPos OR _moveWorkDefault.Busy) AND not inoDisableCondition THEN
IF (_toWorkPos OR _moveWorkDefault.Busy) AND NOT _atWorkPos AND NOT inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to NOT#> : ', _signalInfo.SymbolPath));
_toWorkPos := FALSE;
Expand Down
12 changes: 6 additions & 6 deletions src/TcoPneumatics/src/XaeTcoPneumatics/TcoPneumatics/POUs/Cylinders/TcoDoubleCylinder.TcPOU
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Original file line number Diff line number Diff line change
Expand Up @@ -315,7 +315,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedHome:=_suspendedHomeCounter>0;

IF (_toHomePos OR _moveHomeDefault.Busy) AND inoDisableCondition THEN
IF (_toHomePos OR _moveHomeDefault.Busy)AND NOT _atHomePos AND inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ' , _signalInfo.SymbolPath));
_toHomePos := FALSE;
Expand All @@ -337,7 +337,7 @@ END_VAR
_suspendedHomeCounter:=_suspendedHomeCounter+1;
END_IF
_suspendedHome:=_suspendedHomeCounter>0;
IF (_toHomePos OR _moveHomeDefault.Busy) AND inDisableCondition THEN
IF (_toHomePos OR _moveHomeDefault.Busy)AND NOT _atHomePos AND inDisableCondition THEN
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ', inMessage));
_toHomePos := FALSE;

Expand Down Expand Up @@ -381,7 +381,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedHome:=_suspendedHomeCounter>0;

IF (_toHomePos OR _moveHomeDefault.Busy) AND NOT inoDisableCondition THEN
IF (_toHomePos OR _moveHomeDefault.Busy)AND NOT _atHomePos AND NOT inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to NOT#> : ', _signalInfo.SymbolPath));
_toHomePos := FALSE;
Expand Down Expand Up @@ -426,7 +426,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedWork:=_suspendedWorkCounter>0;

IF (_toWorkPos OR _moveWorkDefault.Busy) AND inoDisableCondition THEN
IF (_toWorkPos OR _moveWorkDefault.Busy) AND NOT _atWorkPos AND inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ', _signalInfo.SymbolPath));
_toWorkPos := FALSE;
Expand Down Expand Up @@ -454,7 +454,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedWork:=_suspendedWorkCounter>0;

IF (_toWorkPos OR _moveWorkDefault.Busy) AND inDisableCondition THEN
IF (_toWorkPos OR _moveWorkDefault.Busy)AND NOT _atWorkPos AND inDisableCondition THEN
Messenger.Warning(CONCAT('<#Movement suspended due to#> : ', inMessage));
_toWorkPos := FALSE;

Expand Down Expand Up @@ -498,7 +498,7 @@ END_VAR]]></Declaration>
END_IF
_suspendedWork:=_suspendedWorkCounter>0;

IF (_toWorkPos OR _moveWorkDefault.Busy) AND NOT inoDisableCondition THEN
IF (_toWorkPos OR _moveWorkDefault.Busy)AND NOT _atWorkPos AND NOT inoDisableCondition THEN
_signalInfo.GetSignalInfo(SIZEOF(inoDisableCondition), ADR(inoDisableCondition));
Messenger.Warning(CONCAT('<#Movement suspended due to NOT#> : ', _signalInfo.SymbolPath));
_toWorkPos := FALSE;
Expand Down