57 lines
1.5 KiB
Markdown
57 lines
1.5 KiB
Markdown
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```
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#Pulse := #"Pulse In" AND NOT #Aux.ONs;
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#Aux.ONs := #"Pulse In";
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#ElapsedRuntime_s := RUNTIME(#Aux.TimeRecorded);
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#"Delta Time" := LREAL_TO_REAL(#ElapsedRuntime_s);
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IF #"Delta Time" = 0 OR #"Delta Time" > 1 THEN
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RETURN;
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END_IF;
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#Aux."Time Average Step" := #Aux."Time Average Step" + #"Delta Time";
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IF #Aux.FIFO[0] > #"Delta Time" THEN
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#Aux.FIFO[0] := #Aux.FIFO[0] - #"Delta Time";
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END_IF;
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IF #Aux.FIFO[1] > #"Delta Time" THEN
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#Aux.FIFO[1] := #Aux.FIFO[1] - #"Delta Time";
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END_IF;
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#"Pulse Out" := FALSE;
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IF #Aux.FIFO[0] <> 0 AND #Aux.FIFO[0] <= #"Delta Time" THEN
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#"Pulse Out" := TRUE;
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#Aux.FIFO[0] := 0;
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END_IF;
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IF #Aux.FIFO[1] <> 0 AND #Aux.FIFO[1] <= #"Delta Time" THEN
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#"Pulse Out" := TRUE;
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#Aux.FIFO[1] := 0;
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END_IF;
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IF #Pulse THEN
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// Load the FIFO with pulses
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#"Offset time" := FRAC(#"Ofsset in mm" / #"Step mm") * #"Average Step time";
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IF #"Offset time" < #"Delta Time" THEN
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#"Pulse Out" := TRUE;
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ELSE
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#Aux.FIFO[#Aux."Pos on FIFO"] := #"Offset time";
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#Aux."Pos on FIFO" := (#Aux."Pos on FIFO" + 1) MOD 2;
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END_IF;
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IF #"Auto Calc Step Time" OR #"Fix Step Time" = 0 THEN
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// Calculate the #"Average Step time"
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#Aux.Count := #Aux.Count + 1;
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IF #Aux.Count >= #"Num Pulses" THEN
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#Aux.Count := 0;
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#"Average Step time" := (#Aux."Time Average Step" / #"Num Pulses") * 0.5 + #"Average Step time" * 0.5;
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#Aux."Time Average Step" := 0;
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END_IF;
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ELSE
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#"Average Step time" := #"Fix Step Time";
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END_IF;
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END_IF;
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```
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