a25593a9c6
Group all 69 projects into category subfolders under src/ and tests/ so the Rider Solution Explorer mirrors the module structure. Folders: Core, Server, Drivers (with a nested Driver CLIs subfolder), Client, Tooling. - Move every project folder on disk with git mv (history preserved as renames). - Recompute relative paths in 57 .csproj files: cross-category ProjectReferences, the lib/ HintPath+None refs in Driver.Historian.Wonderware, and the external mxaccessgw refs in Driver.Galaxy and its test project. - Rebuild ZB.MOM.WW.OtOpcUa.slnx with nested solution folders. - Re-prefix project paths in functional scripts (e2e, compliance, smoke SQL, integration, install). Build green (0 errors); unit tests pass. Docs left for a separate pass. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
55 lines
1.8 KiB
XML
55 lines
1.8 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
|
|
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.0">
|
|
<POU Name="FB_AxisSim" Id="{5b3e4e46-5ace-4e6c-a0dc-d55113a89212}" SpecialFunc="None">
|
|
<Declaration><![CDATA[FUNCTION_BLOCK FB_AxisSim
|
|
VAR_INPUT
|
|
Enable : BOOL;
|
|
END_VAR
|
|
VAR_IN_OUT
|
|
Axis : ST_Axis;
|
|
END_VAR
|
|
VAR
|
|
tick : UDINT;
|
|
END_VAR
|
|
]]></Declaration>
|
|
<Implementation>
|
|
<ST><![CDATA[IF NOT Enable THEN
|
|
Axis.State := E_AxisState.Idle;
|
|
RETURN;
|
|
END_IF
|
|
|
|
tick := tick + 1;
|
|
|
|
// Ramp position + derive velocity so a subscription sees LREAL churn.
|
|
Axis.PositionMm := Axis.PositionMm + 0.5;
|
|
Axis.VelocityMps := 0.5 * SIN(UDINT_TO_LREAL(tick) * 0.05);
|
|
Axis.Accel := LREAL_TO_REAL(0.1 * COS(UDINT_TO_LREAL(tick) * 0.05));
|
|
Axis.State := E_AxisState.Moving;
|
|
|
|
// Motor block — keep values sane but moving.
|
|
Axis.Motor.Current := 2.5 + LREAL_TO_REAL(0.5 * SIN(UDINT_TO_LREAL(tick) * 0.1));
|
|
Axis.Motor.Voltage := 24.0;
|
|
Axis.Motor.Temperature:= 35.0 + 5.0 * SIN(UDINT_TO_LREAL(tick) * 0.01);
|
|
Axis.Motor.Rpm := 1500 + LREAL_TO_DINT(200.0 * SIN(UDINT_TO_LREAL(tick) * 0.05));
|
|
Axis.Motor.Running := TRUE;
|
|
|
|
// Encoder
|
|
Axis.Encoder.RawCounts := Axis.Encoder.RawCounts + 12;
|
|
Axis.Encoder.PositionMm := Axis.PositionMm;
|
|
Axis.Encoder.VelocityMmPerS := Axis.VelocityMps;
|
|
Axis.Encoder.Homed := TRUE;
|
|
|
|
// Travel log — rolling window of last 8 positions.
|
|
Axis.TravelLog[1] := Axis.TravelLog[2];
|
|
Axis.TravelLog[2] := Axis.TravelLog[3];
|
|
Axis.TravelLog[3] := Axis.TravelLog[4];
|
|
Axis.TravelLog[4] := Axis.TravelLog[5];
|
|
Axis.TravelLog[5] := Axis.TravelLog[6];
|
|
Axis.TravelLog[6] := Axis.TravelLog[7];
|
|
Axis.TravelLog[7] := Axis.TravelLog[8];
|
|
Axis.TravelLog[8] := Axis.PositionMm;
|
|
]]></ST>
|
|
</Implementation>
|
|
</POU>
|
|
</TcPlcObject>
|