IF hIecTask = SysTypes.RTS_INVALID_HANDLE THEN
RETURN;
END_IF
CASE eState OF
StepperControl_STATE.INIT:
//Set IO-Pins
IF eControlType = StepperControlType.DIRECT THEN
IF iA > 0 THEN
GVL.GPIO.aeType[iA] := GPIOType.O;
END_IF
IF iA_ > 0 THEN
GVL.GPIO.aeType[iA_] := GPIOType.O;
IF iB > 0 THEN
GVL.GPIO.aeType[iB] := GPIOType.O;
IF iB_ > 0 THEN
GVL.GPIO.aeType[iB_] := GPIOType.O;
GVL.GPIO.SetType();
ELSE
IF iPuls > 0 THEN
GVL.GPIO.aeType[iPuls] := GPIOType.O;
IF iDir > 0 THEN
GVL.GPIO.aeType[iDir] := GPIOType.O;
IF iDisable > 0 THEN
GVL.GPIO.aeType[iDisable] := GPIOType.O;
IF iEnable > 0 THEN
GVL.GPIO.aeType[iEnable] := GPIOType.O;
xHalfStep := FALSE;
gvl.GPIO.SetPulsDir(i := iDir, on := xDir);
END_IF
//Get Task-Handle
SysTask.SysTaskGetCurrent(ADR(hTask));
IF hTask <> SysTypes.RTS_INVALID_HANDLE THEN
eState := StepperControl_STATE.OPERATION;
t := LTIME();
StepperControl_STATE.OPERATION:
// measure time since last call
tAlt := t;
tCycle := t - tAlt;
IF lrFreq <> 0 THEN
IF lrMaxFreq > 0 THEN
{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}
VAR_INPUT
eControlType:StepperControlType;//control type : direct (A, A_,B, B_) or puls/dir
iA, iA_, iB, iB_ : INT := -1; //GPIO pins for direct control
iDisable, iEnable: INT :=-1; //GPIO pins for power control
xHalfStep: BOOL; //Motor takes half steps not full steps if True
END_VAR
tCycle: LTIME;
VAR
eState: StepperControl_STATE := StepperControl_STATE.INIT;
dwCounterStep: DWORD;
hTask: SysTypes.RTS_IEC_HANDLE := SysTypes.RTS_INVALID_HANDLE;
//current Byte of the Array
//GPIO-Assignments
xPuls ,xDir : BOOL := TRUE;
t: LTIME;
stSleepUs: SYSTIME;
//step time
//set time for the task and last value
udiSetTimeSum: UDINT;
lrLastFreq: LREAL;
pApp : POINTER TO APPLICATION;
sTaskName: STRING := 'Task_StepperControl';
uiInstance : UINT;
uiInstanceCounter: UINT;
udiResult: RTS_IEC_RESULT;
xStep: BOOL;
2056
{8e575c5b-1d37-49c6-941b-5c0ec7874787}
ChildObjectGuids
AddAttributeSubsequent