Added DomeComeError

BMK10k/BMK10kRuntime/POUs/DomeControl.TcPOU

@@ -3,7 +3,7 @@
   <POU Name="DomeControl" Id="{0e02434d-920e-4c0f-81fc-5ff7d5573875}" SpecialFunc="None">
     <Declaration><![CDATA[PROGRAM DomeControl
 VAR
-	DomeAxis: FB_Axis;
+	DomeAxis: FB_ModuloAxis;
 	fbWriteReq: ADSWRITE := ( NETID := '5.66.134.133.1.1', PORT := 851, TMOUT := DEFAULT_ADS_TIMEOUT );
 	fbReadReq: ADSREAD := ( NETID := '5.66.134.133.1.1', PORT := 851, TMOUT := DEFAULT_ADS_TIMEOUT );
 	DomeLog: FB_Eventlog;
@@ -14,8 +14,10 @@ VAR
 	DomeState:	WORD := 0;
 	ReadCycle:	BOOL;
 	Azimuth_set,
-	Azimuth_current: LREAL;
+	Azimuth_current,
+	Azimuth_old: LREAL;
 	move_azimuth, stop_azimuth: BOOL;
+	DomeCommError: TON;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -34,16 +36,15 @@ END_IF
 *)
 
 DomeAxis(bPowerEnable := TRUE,
-		bEnable_Positive	:= Azimuth_current < 360.0,
-		bEnable_Negative	:= Azimuth_current >= 0.0, 
-		bMoveAbsExec	:= ABS(Azimuth_set - Azimuth_current) > 1.0, //ConvertEnvironment.WindSpeed > 15.0,
-		fMoveAbsPos 	:= Azimuth_set,
-		fMoveAbsVelo	:= 3.0,
-		bStop			:= stop_azimuth,
+		bMoveModExec	:= (Azimuth_set <> Azimuth_old) OR move_azimuth, //ConvertEnvironment.WindSpeed > 15.0,
+		fMoveModPos 	:= Azimuth_set,
+		fMoveModVelo	:= 3.0,
+		bHalt			:= stop_azimuth,
 		fActPos 		=> Azimuth_current,
 		stAxis			:= GVL_Dome.DomeAxisRef);
 
-	
+Azimuth_old := Azimuth_set;
+stop_azimuth := FALSE;
 IF ReadCycle THEN
 	IF NOT bBusy THEN
 		
@@ -95,7 +96,9 @@ ELSE // WriteCycle
 		
 END_IF
 
-DomeLog(Trigger := bError, 
+DomeCommError(IN := bError, PT := T#30S);
+
+DomeLog(Trigger := DomeCommError.Q, 
 	Level := ADSLOG_MSGTYPE_ERROR, 
 	OnMessage := 'Dome communication error', 
 	OffMessage := 'Dome communiaction re-established',
@@ -112,11 +115,13 @@ DomeLog(Trigger := bError,
       <LineId Id="312" Count="1" />
       <LineId Id="289" Count="0" />
       <LineId Id="365" Count="0" />
-      <LineId Id="291" Count="3" />
+      <LineId Id="291" Count="0" />
+      <LineId Id="294" Count="0" />
       <LineId Id="296" Count="2" />
       <LineId Id="307" Count="0" />
       <LineId Id="305" Count="0" />
       <LineId Id="329" Count="1" />
+      <LineId Id="385" Count="0" />
       <LineId Id="189" Count="0" />
       <LineId Id="192" Count="4" />
       <LineId Id="269" Count="0" />
@@ -141,6 +146,8 @@ DomeLog(Trigger := bError,
       <LineId Id="237" Count="1" />
       <LineId Id="236" Count="0" />
       <LineId Id="191" Count="0" />
+      <LineId Id="405" Count="0" />
+      <LineId Id="404" Count="0" />
       <LineId Id="275" Count="0" />
       <LineId Id="154" Count="0" />
       <LineId Id="346" Count="3" />