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979 bug iv3 do not change job #998

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Merged
PTKu merged 10 commits into from
Jan 27, 2026
Merged

979 bug iv3 do not change job #998

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ce1d2ec
make a space in _progress
Jan 26, 2026
73415c0
due to issue simulation
Jan 26, 2026
91c2a96
restore change program task when number has been chnaged
Jan 26, 2026
abb9d31
wip
Jan 27, 2026
3fab6c3
Merge remote-tracking branch 'origin/dev' into 979-bug-iv3-do-not-cha…
Jan 27, 2026
81bf0f3
Merge remote-tracking branch 'origin/dev' into 979-bug-iv3-do-not-cha…
Jan 27, 2026
99d14c0
tested on hw
Jan 27, 2026
d41b234
do not equal programs when prograchange task is interrupted
Jan 27, 2026
cd34b21
Merge remote-tracking branch 'origin/dev' into 979-bug-iv3-do-not-cha…
Jan 27, 2026
057e419
revert read only attribute
Jan 27, 2026
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88 changes: 76 additions & 12 deletions src/components.keyence.vision/ctrl/src/Axo_IV3/Axo_IV3.st
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Original file line number Diff line number Diff line change
Expand Up @@ -6234,8 +6234,51 @@ NAMESPACE AXOpen.Components.Keyence.Vision
Status.Error.Id := UINT#510;
END_IF;
END_IF;
// ChangeProgramTask running: setting the program number.
IF _progress = 311 THEN
// ChangeProgramTask running: if 'ProgramSwitchingResponse' signal is true finish previous change.
IF _progress = 311 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#511, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#511;
END_IF;

IF Inputs.CommandStatusBits.ProgramSwitchingResponse THEN
THIS.CallTimers(FALSE);
_progress := 312; // ACK PREVIOUS CHANGE
ELSE
THIS.CallTimers(FALSE);
_progress := 314; // Continue to change program
END_IF;
END_IF;
// evaluated before 312 => +1 plc cycle
// ChangeProgramTask running: wait for falling edge ProgramSwitchingResponse
IF _progress = 313 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#513;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := FALSE;
IF NOT Inputs.CommandStatusBits.BUSY THEN
THIS.CallTimers(FALSE);
_progress := 311; // +1 plc cycle to check ProgramSwitchingResponse
END_IF;
END_IF;
// ChangeProgramTask running: wait for program numbers to be equal.
IF _progress = 312 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#513;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := TRUE;
IF TRUE THEN
THIS.CallTimers(FALSE);
_progress := 313; //+1 plc cycle to wait for falling edge
END_IF;
END_IF;

// ChangeProgramTask running: setting the new program number.
IF _progress = 314 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#511, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#511;
Expand All @@ -6244,42 +6287,58 @@ NAMESPACE AXOpen.Components.Keyence.Vision
Outputs.CommandControl.ProgramNo := _programNumber;
IF Outputs.CommandControl.ProgramNo = Inputs.DeviceStatusWords.CurrentProgramNo THEN
THIS.CallTimers(FALSE);
_progress := 314;
_progress := 317;
ELSE
THIS.CallTimers(FALSE);
_progress := 312;
_progress := 315;
END_IF;
END_IF;
// ChangeProgramTask running: waiting for the raising of the 'ProgramSwitchingResponse' signal.
IF _progress = 312 THEN
IF _progress = 315 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#512, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#512;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := TRUE;
Outputs.CommandControl.ProgramSwitchingRequest := TRUE;

IF Inputs.CommandStatusBits.ProgramSwitchingResponse THEN
THIS.CallTimers(FALSE);
_progress := 313;
_progress := 316;
END_IF;
END_IF;
// ChangeProgramTask running: waiting for the falling of the 'ProgramSwitchingResponse' signal.
IF _progress = 313 THEN
IF _progress = 316 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#513;
END_IF;

Outputs.CommandControl.ProgramSwitchingRequest := FALSE;
Outputs.CommandControl.ProgramSwitchingRequest := FALSE;

IF NOT Inputs.CommandStatusBits.ProgramSwitchingResponse THEN
THIS.CallTimers(FALSE);
_progress := 314;
_progress := 317;
END_IF;
END_IF;

// ChangeProgramTask running: waiting for equals program change.
IF _progress = 317 THEN
IF _infoTimer.output THEN
TaskMessenger.Activate( UINT#513, eAxoMessageCategory#Warning);
Status.Error.Id := UINT#513;
END_IF;

IF (_programNumber = Inputs.DeviceStatusWords.CurrentProgramNo)
AND (Outputs.CommandControl.ProgramNo = Inputs.DeviceStatusWords.CurrentProgramNo)
THEN
THIS.CallTimers(FALSE);
_progress := 318;
END_IF;
END_IF;

// ChangeProgramTask finished.
IF _progress = 314 THEN
IF _progress = 318 THEN
ChangeProgramTask.DoneWhen(TRUE);
_progress := 0;
END_IF;
Expand Down Expand Up @@ -6351,14 +6410,19 @@ NAMESPACE AXOpen.Components.Keyence.Vision
VAR_INPUT
inProgramNumber : UINT;
END_VAR

// different program loaded in HW - restore task to be able to run it again
IF ( inProgramNumber <> Inputs.DeviceStatusWords.CurrentProgramNo ) && ChangeProgramTask.IsDone() THEN
ChangeProgramTask.Restore();
END_IF;

_programNumber := inProgramNumber;
ChangeProgram := ChangeProgramTask.Invoke(THIS);
END_METHOD

METHOD PROTECTED OVERRIDE ManualControl
THIS._isManuallyControllable := true;
_programNumber := RequiredProgramNumber;

END_METHOD

///<summary>
Expand Down
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