acc,dcc,jerk,homing

[kuh0005]

Description

Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. List any dependencies that are required for this change.

Fixes # (issue)

Type of change

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• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update
• Third party dependency update
• Third party dependency addition

How Has This Been Tested?

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• Test A
• Test B

Test Configuration:

• simatix-ax version (apax.yml):
• ix version:
• PLC Target system:
• PLC Firmware version:
• OS System:
• Other relevant hardware:

Checklist:

• My code follows the style guidelines of this project
• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation
• My changes generate no new warnings
• I have added tests that prove my fix is effective or that my feature works
• New and existing unit tests pass locally with my changes
• Any dependent changes have been merged and published in downstream modules

[Copilot]

Pull request overview

Adjusts scaling behavior in AxoCmmtAs for rotary vs. linear axes, focusing on acceleration/deceleration/jerk scaling and homing axis-zero offset writes.

Changes:

• Updates rotary scaling constants for acceleration, deceleration, and jerk by applying a +3 exponent offset.
• Makes PNU 11734 (axis zero point offset) write scaling conditional on AxisType during homing.
• Adds inline markers (//Rotary, //Linear) to separate the scaling branches.

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[Copilot]

If AxisType is not #Rotary or #Linear here (e.g., #Undefined / #Error), ValueWriteLINT is left unchanged and the write still proceeds, which can accidentally write a stale value to PNU 11734. Add an ELSE that aborts the write and transitions to an error state (with a Messenger message), or set a safe default and explicitly handle unsupported axis types.

Suggested change

	Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000000.0);
	Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000000.0);
	ELSE
	Parametrization.Inputs.Enable := FALSE;
	Messenger.Activate( UINT#1456, eAxoMessageCategory#Error);
	MC_HomeErrorID := DINT#1456;
	State := UINT#59;

[Copilot]

For consistency with nearby expressions (e.g., (TO_INT(PNU_11725) + 3)), consider adding spaces around the + 3 in these _exp[...] indices to improve readability.

[Copilot]

The _exp lookup table is declared as ARRAY[-10..10], but these new indices use TO_INT(PNU_11726) + 3. If the drive ever returns PNU_11726 > 7 (or < -13), this will index out of bounds. Consider clamping/validating the index (and failing fast with a clear Messenger error) or expanding _exp to safely cover the expected parameter range.

[Copilot]

Same potential out-of-bounds issue as above: _exp[TO_INT(PNU_11727)+3] assumes PNU_11727 stays within a range that keeps the computed index inside -10..10. Please add a guard/clamp (or adjust _exp bounds) so an unexpected drive value can't cause an invalid array access.

Suggested change

	ScalingConstantRequiredJerk := _exp[TO_INT(PNU_11727)+3];
	ScalingConstantRequiredJerk := _exp[MAX(-10, MIN(10, TO_INT(PNU_11727) + 3))];