Merge pull request #126 from KaushikMalapati/IM1K3-VETO

Veto IM1K3 when MR1K3 is OUT
pcdshub · Feb 19, 2025 · 9278ccc · 9278ccc
2 parents 9a83b37 + 9367f89
commit 9278ccc
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diff --git a/plc-kfe-motion.sln b/plc-kfe-motion.sln
@@ -33,22 +33,22 @@ Global
 		{63CBF008-0762-41FB-908E-CCE4E38CC038}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
 		{63CBF008-0762-41FB-908E-CCE4E38CC038}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
 		{63CBF008-0762-41FB-908E-CCE4E38CC038}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
-		{4CB52DF2-BB08-42C8-8F14-671947063F6D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
+		{4B72BB13-08B4-4AB1-86B6-277D50D421AD}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE

diff --git a/plc-kfe-motion/_Config/IO/Device 1 (EtherCAT).xti b/plc-kfe-motion/_Config/IO/Device 1 (EtherCAT).xti
@@ -1,7 +1,7 @@
-<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmItem" TcSmVersion="1.0" TcVersion="3.1.4022.30" ClassName="CDevEtherCATDef" SubType="111">
-	<Device Id="1" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="172.21.92.58.2.1" RemoteName="Device 1 (EtherCAT)">
-		<Name>Device 1 (EtherCAT)</Name>
+<?xml version="1.0"?>
+<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.35" ClassName="CDevEtherCATDef" SubType="111">
+	<Device Id="1" DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="172.21.92.58.2.1" RemoteName="Device 1 (EtherCAT)" InfoImageId="2">
+		<Name>__FILENAME__</Name>
 		<AddressInfo>
 			<Ccat>
 				<Address>-268435456</Address>

diff --git a/plc-kfe-motion/_Config/PLC/kfe_motion.xti b/plc-kfe-motion/_Config/PLC/kfe_motion.xti
@@ -8431,6 +8431,10 @@ External Setpoint Generation:
 					<Name>GVL.fbFastFaultOutput2.q_xFastFaultOut</Name>
 					<Type>BOOL</Type>
 				</Var>
+				<Var>
+					<Name>GVL.fbFastFaultOutput3.q_xFastFaultOut</Name>
+					<Type>BOOL</Type>
+				</Var>
 				<Var>
 					<Name>GVL.rCurTrans</Name>
 					<Type GUID="{6D319B26-4590-2152-3DE7-3BA9B629CA65}">ARRAY [1..16] OF ST_PMPS_Attenuator_IO</Type>

diff --git a/plc-kfe-motion/kfe_motion/GVLs/GVL.TcGVL b/plc-kfe-motion/kfe_motion/GVLs/GVL.TcGVL
@@ -7,12 +7,16 @@ VAR_GLOBAL
     fbArbiter: FB_Arbiter(1);
     {attribute 'pytmc' := 'pv: PLC:KFE:MOTION:ARB:02'}
     fbArbiter2: FB_Arbiter(2);
+    {attribute 'pytmc' := 'pv: PLC:KFE:MOTION:ARB:03'}
+    fbArbiter3: FB_Arbiter(3);
     {attribute 'pytmc' := 'pv: PLC:KFE:MOTION:FFO:01'}
     {attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 1^Output'}
     fbFastFaultOutput1: FB_HardwareFFOutput := (bAutoReset := TRUE, i_sNetID:='172.21.92.73.1.1');
     {attribute 'pytmc' := 'pv: PLC:KFE:MOTION:FFO:02'}
     {attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 2^Output'}
     fbFastFaultOutput2: FB_HardwareFFOutput := (bAutoReset := TRUE, i_sNetID:='172.21.92.73.1.1');
+    {attribute 'pytmc' := 'pv: PLC:KFE:MOTION:FFO:03'}
+    fbFastFaultOutput3: FB_HardwareFFOutput := (bAutoReset := TRUE, i_sNetID:='172.21.92.73.1.1');
 
     {attribute 'pytmc' := 'pv: PLC:KFE:MOTION:PMPS:ReqTrans'}
     rReqTrans AT %I*		: ARRAY [1..PMPS_GVL.AUX_ATTENUATORS] OF ST_PMPS_Attenuator_IO;

diff --git a/plc-kfe-motion/kfe_motion/POUs/PRG_3_PMPS_POST.TcPOU b/plc-kfe-motion/kfe_motion/POUs/PRG_3_PMPS_POST.TcPOU
@@ -5,14 +5,19 @@
 VAR
     fbArbiterIO: FB_SubSysToArbiter_IO;
     fb_vetoArbiter: FB_VetoArbiter;
-    bM1K1_Veto_IN: BOOL;
+    ff3_ff2_link: FB_FastFault := (i_xAutoReset := TRUE, i_DevName := 'FF3 to FF2 Link', i_Desc := 'This is virtual FF3 fault, Please check the Group 3 faulting device ', i_TypeCode := 16#9999);
 
+    bM1K1_Veto_IN: BOOL;
+    bM1K3_Veto_OUT: BOOL;
 END_VAR
 ]]></Declaration>
     <Implementation>
       <ST><![CDATA[// create MR1K1 as veto for K4 lines
 bM1K1_Veto_IN := NOT PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_OUT]
                 AND PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_IN];
+// create MR1K3 as veto for IM1K3
+bM1K3_Veto_OUT := NOT PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K3_IN]
+                 AND PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K3_OUT];
 
 
 
@@ -22,16 +27,26 @@ fb_vetoArbiter(bVeto:=bM1K1_Veto_IN,
                 HigherAuthority := GVL.fbArbiter,
                 LowerAuthority := GVL.fbArbiter2,
                 FFO := GVL.fbFastFaultOutput2);
-
+fb_vetoArbiter(bVeto:=(bM1K1_Veto_IN OR bM1K3_VETO_OUT),
+                HigherAuthority := GVL.fbArbiter,
+                LowerAuthority := GVL.fbArbiter3,
+                FFO := GVL.fbFastFaultOutput2);
 
 
 GVL.fbFastFaultOutput1.Execute();
 
 GVL.fbFastFaultOutput2.Execute(i_xVeto:=bM1K1_Veto_IN);
+
+GVL.fbFastFaultOutput3.Execute(i_xVeto:=(bM1K1_Veto_IN OR bM1K3_Veto_OUT));
+
 fbArbiterIO(
     Arbiter:=GVL.fbArbiter,
     fbFFHWO:=GVL.fbFastFaultOutput1);
 
+ff3_ff2_link(
+    io_fbFFHWO := GVL.fbFastFaultOutput2,
+    i_xOK := GVL.fbFastFaultOutput3.q_xFastFaultOut);
+
 ]]></ST>
     </Implementation>
   </POU>

diff --git a/plc-kfe-motion/kfe_motion/POUs/PRG_IM1K3_PPM.TcPOU b/plc-kfe-motion/kfe_motion/POUs/PRG_IM1K3_PPM.TcPOU
@@ -23,6 +23,7 @@ VAR
         bMoveOk := TRUE,
         bValid := TRUE
     );
+
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -35,8 +36,8 @@ fbStateSetup(stPositionState:=fbIM1K3.stYag1, fPosition:=-72.2, sPmpsState:='IM1
 fbStateSetup(stPositionState:=fbIM1K3.stYag2, fPosition:=-98.21, sPmpsState:='IM1K3:PPM-YAG2');
 
 fbIM1K3(
-    fbFFHWO := GVL.fbFastFaultOutput2,
-    fbArbiter := GVL.fbArbiter2,
+    fbFFHWO := GVL.fbFastFaultOutput3,
+    fbArbiter := GVL.fbArbiter3,
     stYStage := Main.M4,
     sDeviceName := 'IM1K3:PPM',
     sTransitionKey := 'IM1K3:PPM-TRANSITION',