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Merge pull request #192 from ZLLentz/api_cull_pvs
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API: remove many unused PVs that scale with motor/state counts
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@ZLLentz
ZLLentz authored Aug 28, 2023
2 parents 0988e54 + 23e8ec7 commit 6be2039
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Showing 2 changed files with 0 additions and 217 deletions.
184 changes: 0 additions & 184 deletions lcls-twincat-motion/Library/DUTs/ST_MotionStage.TcDUT
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Original file line number Diff line number Diff line change
Expand Up @@ -9,40 +9,12 @@ STRUCT
// PLC Axis Reference
Axis: AXIS_REF;
// NC Forward Limit Switch: TRUE if ok to move
{attribute 'pytmc' := '
pv: PLC:bLimitForwardEnable
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC FALSE if forward limit hit
'}
bLimitForwardEnable AT %I*: BOOL;
// NC Backward Limit Switch: TRUE if ok to move
{attribute 'pytmc' := '
pv: PLC:bLimitBackwardEnable
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC FALSE if reverse limit hit
'}
bLimitBackwardEnable AT %I*: BOOL;
// NO Home Switch: TRUE if at home
{attribute 'pytmc' := '
pv: PLC:bHome
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if at homing switch
'}
bHome AT %I*: BOOL;
// NC Brake Output: TRUE to release brake
{attribute 'pytmc' := '
pv: PLC:bBrakeRelease
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if brake released
'}
bBrakeRelease AT %Q*: BOOL;
// NC STO Input: TRUE if ok to move
{attribute 'pytmc' := '
Expand All @@ -64,49 +36,14 @@ STRUCT
(* Psuedo-hardware *)
// Forward enable EPS summary
{attribute 'pytmc' := '
pv: PLC:bAllForwardEnable
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC Summary of axis permission to move forward
'}
bAllForwardEnable: BOOL:=FALSE;
// Backward enable EPS summary
{attribute 'pytmc' := '
pv: PLC:bAllBackwardEnable
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC Summary of axis permission to move backward
'}
bAllBackwardEnable: BOOL:=FALSE;
// Enable EPS summary encapsulating emergency stop button and any additional motion preventive hardware
{attribute 'pytmc' := '
pv: PLC:bAllEnable
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC Summary of axis permission to have power
'}
bAllEnable: BOOL:=FALSE;
// Forward virtual gantry limit switch
{attribute 'pytmc' := '
pv: PLC:bGantryForwardEnable
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if gantry ok to move forward
'}
bGantryForwardEnable: BOOL:=FALSE;
// Backward virtual gantry limit switch
{attribute 'pytmc' := '
pv: PLC:bGantryBackwardEnable
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if gantry ok to move backward
'}
bGantryBackwardEnable: BOOL:=FALSE;
// Encoder count summary, if linked above
{attribute 'pytmc' := '
Expand Down Expand Up @@ -139,50 +76,16 @@ STRUCT
(* Settings *)
// Name to use for log messages, fast faults, etc.
{attribute 'pytmc' := '
pv: PLC:sName
io: i
field: DESC PLC program name
'}
sName: STRING;
// If TRUE, we want to enable the motor independently of PMPS or other safety systems.
{attribute 'pytmc' := '
pv: PLC:bPowerSelf
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC FALSE if axis is in PMPS
'}
bPowerSelf: BOOL:=FALSE;
// Determines when we automatically enable the motor
{attribute 'pytmc' := '
pv: PLC:nEnableMode
io: i
field: DESC Describes when the axis will automatically get power
'}
nEnableMode: E_StageEnableMode:=E_StageEnableMode.DURING_MOTION;
// Determines when we automatically disengage the brake
{attribute 'pytmc' := '
pv: PLC:nBrakeMode
io: i
field: DESC Describes when the brake will be released
'}
nBrakeMode: E_StageBrakeMode:=E_StageBrakeMode.IF_ENABLED;
// Determines our encoder homing strategy
{attribute 'pytmc' := '
pv: PLC:nHomingMode
io: i
field: DESC Describes our homing strategy
'}
nHomingMode: E_EpicsHomeCmd:=E_EpicsHomeCmd.NONE;
// Set true to activate gantry EPS
{attribute 'pytmc' := '
pv: PLC:bGantryAxis
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if gantry EPS active
'}
bGantryAxis: BOOL:=FALSE;
// Set to gantry difference tolerance
Expand All @@ -193,13 +96,6 @@ STRUCT
(* Commands *)
// Used internally to request enables
{attribute 'pytmc' := '
pv: PLC:bEnable
io: io
field: ZNAM FALSE
field: ONAM TRUE
field: DESC Used internally to request enables
'}
bEnable: BOOL;
// Used internally to reset errors and other state
{attribute 'pytmc' := '
Expand All @@ -211,13 +107,6 @@ STRUCT
'}
bReset: BOOL;
// Used internally and by the IOC to start or stop a move
{attribute 'pytmc' := '
pv: PLC:bExecute
io: io
field: ZNAM FALSE
field: ONAM TRUE
field: DESC Used internally and by the IOC to start or stop
'}
bExecute: BOOL;
// Used by the IOC to disable an axis
{attribute 'pytmc' := '
Expand All @@ -231,11 +120,6 @@ STRUCT
(* Shortcut Commands *)
// Start a move to fPosition with fVelocity
{attribute 'pytmc' := '
pv: PLC:bMoveCmd
io: io
field: DESC Start a move
'}
bMoveCmd: BOOL;
// Start the homing routine
{attribute 'pytmc' := '
Expand All @@ -247,46 +131,16 @@ STRUCT
(* Command Args *)
// Used internally and by the IOC to pick what kind of move to do
{attribute 'pytmc' := '
pv: PLC:nCommand
io: io
field: DESC Used internally and by the IOC to pick move type
'}
nCommand: INT;
// Used internally and by the IOC to pass additional data to some commands
{attribute 'pytmc' := '
pv: PLC:nCmdData
io: io
field: DESC Used internally and by the IOC to pass extra args
'}
nCmdData: INT;
// Used internally and by the IOC to pick a destination for the move
{attribute 'pytmc' := '
pv: PLC:fPosition
io: io
field: DESC Used internally and by the IOC as the set position
'}
fPosition: LREAL;
// Used internally and by the IOC to pick a move velocity
{attribute 'pytmc' := '
pv: PLC:fVelocity
io: io
field: DESC Used internally and by the IOC to set velocity
'}
fVelocity: LREAL;
// Used internally and by the IOC to pick a move acceleration
{attribute 'pytmc' := '
pv: PLC:fAcceleration
io: io
field: DESC Used internally and by the IOC to set acceleration
'}
fAcceleration: LREAL;
// Used internally and by the IOC to pick a move deceleration
{attribute 'pytmc' := '
pv: PLC:fDeceleration
io: io
field: DESC Used internally and by the IOC to set deceleration
'}
fDeceleration: LREAL;
// Used internally and by the IOC to pick a home position
{attribute 'pytmc' := '
Expand All @@ -298,56 +152,18 @@ STRUCT
(* Info *)
// Unique ID assigned to each axis in the NC
{attribute 'pytmc' := '
pv: PLC:nMotionAxisID
io: i
field: DESC Unique ID assigned to each axis in the NC
'}
nMotionAxisID: UDINT:=0;
(* Returns *)
// TRUE if done enabling
{attribute 'pytmc' := '
pv: PLC:bEnableDone
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if done enabling
'}
bEnableDone: BOOL;
// TRUE if in the middle of a command
{attribute 'pytmc' := '
pv: PLC:bBusy
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if in the middle of a command
'}
bBusy: BOOL;
// TRUE if we've done a command and it has finished
{attribute 'pytmc' := '
pv: PLC:bDone
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if command finished successfully
'}
bDone: BOOL;
// TRUE if the motor has been homed, or does not need to be homed
{attribute 'pytmc' := '
pv: PLC:bHomed
io: i
field: DESC TRUE if the motor has been homed
'}
bHomed: BOOL;
// TRUE if we have safety permission to move
{attribute 'pytmc' := '
pv: PLC:bSafetyReady
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if safe to start a move
'}
bSafetyReady: BOOL;
// TRUE if we're in an error state
{attribute 'pytmc' := '
Expand Down
33 changes: 0 additions & 33 deletions lcls-twincat-motion/Library/DUTs/ST_PositionState.TcDUT
View file
Original file line number Diff line number Diff line change
Expand Up @@ -28,12 +28,6 @@ STRUCT
nEncoderCount: UDINT;
// Maximum allowable deviation from fPosition while at the state
{attribute 'pytmc' := '
pv: DELTA
io: io
field: DRVL 0.0
field: DESC Max deviation from position at this state
'}
fDelta: LREAL;
// Speed at which to move to this state
Expand All @@ -45,19 +39,9 @@ STRUCT
fVelocity: LREAL;
// (optional) Acceleration to use for moves to this state
{attribute 'pytmc' := '
pv: ACCL
io: io
field: DESC Acceleration to use for moves to this state
'}
fAccel: LREAL;
// (optional) Deceleration to use for moves to this state
{attribute 'pytmc' := '
pv: DCCL
io: io
field: DESC Deceleration to use for moves to this state
'}
fDecel: LREAL;
// Safety parameter. This must be set to TRUE by the PLC program to allow moves to this state. This is expected to change as conditions change.
Expand All @@ -71,23 +55,9 @@ STRUCT
bMoveOk: BOOL;
// Signifies to FB_PositionStateLock that this state should be immutable
{attribute 'pytmc' := '
pv: LOCKED
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if state is immutable
'}
bLocked: BOOL;
// Set this to TRUE when you make your state. This defaults to FALSE so that uninitialized states can never be moved to
{attribute 'pytmc' := '
pv: VALID
io: i
field: ZNAM FALSE
field: ONAM TRUE
field: DESC TRUE if this is a real state
'}
bValid: BOOL;
// Set this to TRUE when you want to use the raw encoder counts to define the state
Expand All @@ -97,9 +67,6 @@ STRUCT
bUpdated: BOOL;
// We give this a state name and it is used to load parameters from the pmps database.
{attribute 'pytmc' := '
pv:
'}
stPMPS: ST_DbStateParams;
END_STRUCT
END_TYPE]]></Declaration>
Expand Down

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