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acc,dcc,jerk,homing #1121

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17 changes: 11 additions & 6 deletions src/components.festo.drives/ctrl/src/AxoCmmtAs/AxoCmmtAs.st
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Original file line number Diff line number Diff line change
Expand Up @@ -795,29 +795,29 @@ NAMESPACE AXOpen.Components.Festo.Drives
_scalingReadState := UINT#28;
END_IF;
END_IF;

//Rotary
IF _scalingReadState = UINT#27 THEN
ScalingConstantRequiredPosition := _exp[-1*(TO_INT(PNU_11724) )]; // TODO verify scaling with Automation Suite
ScalingConstantActualPosition := LREAL#1.0/ScalingConstantRequiredPosition; // TODO verify scaling with Automation Suite

ScalingConstantRequiredVelocity := _exp[-1*(TO_INT(PNU_11725) )]; // TODO verify scaling with Automation Suite
ScalingConstantActualVelocity := PNU_12345 * _exp[(TO_INT(PNU_11725) + 3)] / LREAL#1073741824.0; // 16#4000 0000 ~~ 1073741824 // TODO verify scaling with Automation Suite

ScalingConstantRequiredAcceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)] / PNU_810; // 16#4000 ~~ 16384
ScalingConstantRequiredAcceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)+3] / PNU_810; // 16#4000 ~~ 16384
ScalingConstantActualAcceleration := LREAL#1.0 / ScalingConstantRequiredAcceleration;

ScalingConstantRequiredDeceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)] / PNU_811; // 16#4000 ~~ 16384
ScalingConstantRequiredDeceleration := LREAL#16384.0 * _exp[TO_INT(PNU_11726)+3] / PNU_811; // 16#4000 ~~ 16384
Comment on lines +806 to +809
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Copilot AI Apr 30, 2026

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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.

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ScalingConstantActualDeceleration := LREAL#1.0 / ScalingConstantRequiredDeceleration;
Comment on lines +806 to 810
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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.

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ScalingConstantRequiredTorque := 1;
ScalingConstantActualTorque := PNU_11122 / 16384; // 16#4000 ~~ 16384

ScalingConstantRequiredJerk := _exp[TO_INT(PNU_11727)];
ScalingConstantRequiredJerk := _exp[TO_INT(PNU_11727)+3];
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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))];

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ScalingConstantActualJerk := LREAL#1.0 / ScalingConstantRequiredJerk;

_scalingReadState := UINT#29;
END_IF;

//Linear
IF _scalingReadState = UINT#28 THEN
ScalingConstantRequiredPosition := _exp[-1*(TO_INT(PNU_11724) + 3)];
ScalingConstantActualPosition := LREAL#1.0/ScalingConstantRequiredPosition;
Expand Down Expand Up @@ -1722,7 +1722,12 @@ NAMESPACE AXOpen.Components.Festo.Drives
Parametrization.Inputs.Subindex := 0;
Parametrization.Inputs.AxisNo := BYTE#1;
Parametrization.Inputs.HardwareId := _AxisReference^.HWIDs.HW_ModuleAccessPoint;
Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000000.0);
IF AxisType = eAxoDriveAxisType#Rotary THEN
Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000.0);
ELSIF AxisType = eAxoDriveAxisType#Linear THEN
Parametrization.Inputs.ValueWriteLINT := TO_LINT(Position * -10000000.0);
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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;

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END_IF;

IF Parametrization.Outputs.Done AND NOT Parametrization.Outputs.Error THEN
State := UINT#48;
END_IF;
Expand Down
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