122 lines
2.0 KiB
Plaintext
122 lines
2.0 KiB
Plaintext
&ACCESS RVO
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&REL 1
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&COMMENT BrkTst-main task
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&PARAM EDITMASK = *
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&PARAM DISKPATH = TP/BrakeTest
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DEF BRAKETESTREQ(AxesBitMask: IN)
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;BRAKETESTREQ
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;fold {h}
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INT Idx, Key, AxesBitMask
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BOOL Test_Ende
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BOOL BraketestForce
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BraketestForce=false
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IF gBraketestForce THEN
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BraketestForce=true
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ENDIF
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gBraketestForce=false
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ON_ERROR_PROCEED
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AxesBitMask=AxesBitMask*1
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IF ($ERR.Number<>0) THEN
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AxesBitMask=-1
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ERR_CLEAR($ERR)
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ELSE
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ERR_RAISE($ERR)
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ENDIF
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IF Varstate("$pro_ip.si01.name[]")==#declared THEN ;program selected
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MsgDialog(Key, "DlgPeformManuallyBrakeTest", brakeTestMdbName[], , "Cancel", "GoToPark", "BTman",,,,,FALSE)
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SWITCH Key ;dialogue answer
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CASE 5
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BraketestForce=TRUE
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CASE 6
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BrakeTestStart()
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BraketestError()
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CASE 7
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Return
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DEFAULT
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Return
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ENDSWITCH
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ELSE ;cyclic call
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IF NOT($BRAKETEST_REQ_INT) AND NOT(BraketestForce) THEN
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Return
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ENDIF
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ENDIF
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Test_Ende=false
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RobotBrkState=#BT_UNTESTED
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BrakeTestStart()
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BAS (#INITMOV,0 )
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repeat
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PTP $AXIS_ACT
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RobotBrkState = Test_BRAKE(AxesBitMask, BraketestForce)
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SWITCH RobotBrkState
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CASE #BT_WARNING,#BT_EXCESSIVE, #BT_MAXUNKNOWN, #BT_READY
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CountResultUnknown = 0
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Test_Ende = TRUE
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CASE #BT_ERROR
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BraketestError()
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CASE #BT_UNKNOWN
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Test_Ende = BraketestUnknown()
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CASE #BT_UNTESTED
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Test_Ende = TRUE
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ENDSWITCH
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until Test_Ende
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BrakeTestBack()
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END
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DEF BraketestError()
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INT Key
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Key = 0
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MsgDialog(Key, "BT_BRAKE_ERROR", brakeTestMdbName[]," ", "GoToPark",,,,,,,FALSE)
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BrakeTestPark()
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WAIT FOR TRUE
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repeat
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MsgNotify("ParkPositionReached", brakeTestMdbName[])
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halt
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until false
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END
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DEFFCT BOOL BraketestUnknown()
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INT Key
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Key=0
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CountResultUnknown = CountResultUnknown + 1
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IF (CountResultUnknown >= MaxCountResultUnknown) THEN
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MsgDialog(Key, "BT_BRAKE_UNKNOWN", brakeTestMdbName[]," ", "TryAgain", "Cancel",,,,,,FALSE)
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IF Key==7 then
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Return FALSE
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ELSE
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Return TRUE
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ENDIF
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ELSE
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Return TRUE
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ENDIF
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ENDFCT
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;endfold |
