0 THEN winchIndications := TractionWinch; ELSE winchIndications := winch; END_IF END_IF IF _keepAlive() THEN // only run on tick from keepalive pLength.value^ := FLOAT_TO_DINT(winch.Length * 10) ; // show with one desimal tension := FLOAT_TO_UINT(SEL(useLoadcellTension, ABS(winch.Tension), loadcell_tension) / 10); // pick one pTension.value^ := tension ; // show as ton with two desimals pSpeed.value^ := FLOAT_TO_UINT(ABS(winch.Velocity) * 60); // show as m/min... dummy:= FLOAT_TO_INT( loadcell_tension); // ********** HBC LINE 4 HPU AND VALVE****************** IF HPU.OpState = p7type.P6OpState.RUN THEN IF DeckHydValveActive THEN line4 := 20; // text: HPU RUN VALVE ACTIVE from message_line4.txt ELSE // running, but no valve open line4 := 21; // text: HPU RUN VALVE CLOSED from message_line4.txt END_IF //line4 := 17; // text: HPU RUN from message_line4.txt ELSE line4 := 18; // text: HPU STOP from message_line4.txt END_IF IF HPU.OpState = P6OpState.NOTAVAILABLE THEN line4 := 19; // text: HPU ERROR from message_line4.txt END_IF // NOTAVAILABLE := -1, // STOPPED := 0, // PAUSING := 1, // PREPARE := 2, // RUN := 3 // ********** HBC LINE 2 WINCH INDICATIONS ****************** dummy := winchIndications.OpState; CASE winchIndications.OpState OF p7type.P6OpState.RUN: line2 := 2; // RUN p7type.P6OpState.STOPPED: line2 := 1; // stop ELSE line2 := 6; // '-' (dash) END_CASE IF TractionWinch <> 0 THEN IF TractionWinch.ManMode = WinchManualModes.MANUAL_TORQUE THEN line2 := 3; // Manual torque END_IF END_IF // for CTD winch IF winch.ManMode = WinchManualModes.MANUAL_TORQUE THEN line2 := 3; // Manual torque END_IF IF SdrOpStatus = P6OpState.PREPARE THEN line2 := 13; // SWC STARTING.... END_IF IF SdrOpStatus = P6OpState.PAUSING THEN line2 := 14; // SWC parking.... END_IF // CASE winchIndications.ManMode OF // p7type.WinchManualModes.NORMAL: // line2 := 2; // RUN // p7type.WinchManualModes.MANUAL_TORQUE: // line2 := 3; // man torque // p7type.WinchManualModes.CONSTANT_TORQUE: // line2 := 4; // CONST TORQUE // END_CASE // // overwrites the previous if necessary // CASE winchIndications.Mode OF // p7type.WinchModes.IDLE: // line2 := 1; // STOP // p7type.WinchModes.SLAVE: // line2 := 5; // AUTO // p7type.WinchModes.AUTO: // maybe this instead? // line2 := 5; // AUTO // p7type.WinchModes.MANUAL: // // line2 := 2; // RUN // p7type.WinchModes.TORQUE: // // line2 := 4; // CT // END_CASE // ********** HBC LINE 3 DC and HPU status ****************** line3 := 0; CASE AFE.OpState OF p7type.P6OpState.RUN: line3 := 16; // DC OK p7type.P6OpState.STOPPED: line3 := 17; // DC OFF p7type.P6OpState.NOTAVAILABLE: line3 := 18; // DC Error END_CASE IF line3 > 15 AND line3 < 19 THEN IF brakeHPU.PressureOK THEN line3 := line3 + 3; ELSE line3 := line3 + 6; END_IF END_IF IF AFE.OpState = P6OpState.PREPARE THEN line3 := 17; END_IF // // // // copy line numbers to PDO IO_Out.rxpdo1[0] := 1; // message 1 winch name IO_Out.rxpdo1[1] := INT_TO_BYTE(line2); // message 2 winch state IO_Out.rxpdo1[2] := INT_TO_BYTE(line3); // message 3 INFO 1 IO_Out.rxpdo1[3] := INT_TO_BYTE(line4); // message 4 INFO 2 // add alarm and estop bits to correct bit location alarm_estop := SHL(BOOL_TO_INT(alarm.AlarmWarning) , 4); // bitl 5/6 alarm_estop := alarm_estop + SHL(BOOL_TO_INT(alarm.AlarmCritical) , 4); // bitl 5/6 //alarm_estop := alarm_estop + SHL(BOOL_TO_INT(alarm.AlarmCritical) , 5); // bitl 5/6 Need both bits on alarm_estop := alarm_estop + SHL(BOOL_TO_INT(EmergencyStop.Activated) , 6); //bit 6/7 //dummy := SEL(winch.ManMode = WinchManualModes.CONSTANT_TORQUE,0,1); {warning disable C0139} // Code with no effect winch.ManMode; winch.Mode; winchIndications.ManMode; winchIndications.Mode ; // lines to show IO_Out.rxpdo2[0] := INT_TO_BYTE( e_line1_4.LINE1 + e_line1_4.LINE2 + e_line1_4.LINE3 + e_line1_4.LINE4) ; // line 1 +2 + winch display IO_Out.rxpdo2[1] := INT_TO_BYTE( e_line5_8.LINE5 + e_line5_8.LINE6 + alarm_estop) ; // line line 5 + 6 alarm and estop IO_Out.rxpdo2[2] := SEL(winchIndications.Mode = WinchModes.TORQUE,0,1); // show line 8 (bottom Green *TensionControlActivated") // add up desimal points IO_Out.rxpdo2[4] := INT_TO_BYTE( e_DP.L_0 + e_DP.S_ + e_DP.T_00); // length 1 decimal, tension 2 desimals END_IF ]]>