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{"payload":{"meta":{"Graph":{"@Type":"81297157","@Value":{"Guid":"(Guid)1d91697c-d80e-40b0-b34c-19df7438c511","ParentGuid":"(Guid)00000000-0000-0000-0000-000000000000","Name":"(string)Jogging","Properties":{"@Type":"2c41fa04:IDictionary","@Value":{}},"TypeGuid":"(Guid)6f9dac99-8de1-4efc-8465-68ac443b7d08","EmbeddedTypeGuids":{"@Type":"[Guid]","@Value":["(Guid)a9ed5b7e-75c5-4651-af16-d2c27e98cb94","(Guid)3b83b776-fb25-43b8-99f2-3c507c9143fc"]}}},"TypeInfos":{"2c41fa04":"{2c41fa04-1834-41c1-816e-303c7aa2c05b}","81297157":"{81297157-7ec9-45ce-845e-84cab2b88ade}","Guid":"System.Guid","string":"System.String"}},"object":{"Graph":{"@Type":"6f9dac99","@Value":{"SpecialFunc":{"@Type":"0db3d7bb:Enum","@Value":"None"},"Implementation":{"@Type":"3b83b776","@Value":{"TextDocument":{"@Type":"f3878285","@Value":{"TextBlobForSerialisation":"(string)// przypisanie z HMI progów prędkości\n\nVEL_LOW := Manip_GVL.Jog_min;\nVEL_HIGH := Manip_GVL.Jog_max;\n\n// wykrycie wciśnięcia przycisku \nrtrigJ00(CLK := Manip_GVL.AXIS[0].JOG[0]);\nrtrigJ01(CLK := Manip_GVL.AXIS[0].JOG[1]);\nrtrigJ10(CLK := Manip_GVL.AXIS[1].JOG[0]);\nrtrigJ11(CLK := Manip_GVL.AXIS[1].JOG[1]);\nrtrigJ20(CLK := Manip_GVL.AXIS[2].JOG[0]);\nrtrigJ21(CLK := Manip_GVL.AXIS[2].JOG[1]);\nrtrigJ30(CLK := Manip_GVL.AXIS[3].JOG[0]);\nrtrigJ31(CLK := Manip_GVL.AXIS[3].JOG[1]);\nrtrigJ40(CLK := Manip_GVL.AXIS[4].JOG[0]);\nrtrigJ41(CLK := Manip_GVL.AXIS[4].JOG[1]);\nrtrigJ50(CLK := Manip_GVL.AXIS[5].JOG[0]);\nrtrigJ51(CLK := Manip_GVL.AXIS[5].JOG[1]);\n\t\t\t\t\t\t\t\n// definiowanie timerów \t\ntimerJ00(IN:= Manip_GVL.AXIS[0].JOG[0], PT := T#3S);\ntimerJ01(IN:= Manip_GVL.AXIS[0].JOG[1], PT := T#3S);\ntimerJ10(IN:= Manip_GVL.AXIS[1].JOG[0], PT := T#3S);\ntimerJ11(IN:= Manip_GVL.AXIS[1].JOG[1], PT := T#3S);\ntimerJ20(IN:= Manip_GVL.AXIS[2].JOG[0], PT := T#3S);\ntimerJ21(IN:= Manip_GVL.AXIS[2].JOG[1], PT := T#3S);\ntimerJ30(IN:= Manip_GVL.AXIS[3].JOG[0], PT := T#3S);\ntimerJ31(IN:= Manip_GVL.AXIS[3].JOG[1], PT := T#3S);\ntimerJ40(IN:= Manip_GVL.AXIS[4].JOG[0], PT := T#3S);\ntimerJ41(IN:= Manip_GVL.AXIS[4].JOG[1], PT := T#3S);\ntimerJ50(IN:= Manip_GVL.AXIS[5].JOG[0], PT := T#3S);\ntimerJ51(IN:= Manip_GVL.AXIS[5].JOG[1], PT := T#3S);\n\n// przy wciśnięciu konkretnego przycisku przechodzę do konkretnego kroku\nIF rtrigJ00.Q  THEN \n\tcase_jog_0 := 10;\nEND_IF\nIF rtrigJ01.Q  THEN \n\tcase_jog_0 := 1000;\nEND_IF\nIF rtrigJ10.Q  THEN \n\tcase_jog_1 := 10;\nEND_IF\nIF rtrigJ11.Q  THEN \n\tcase_jog_1 := 1000;\nEND_IF\nIF rtrigJ20.Q  THEN \n\tcase_jog_2 := 10;\nEND_IF\nIF rtrigJ21.Q  THEN \n\tcase_jog_2 := 1000;\nEND_IF\nIF rtrigJ30.Q  THEN \n\tcase_jog_3 := 10;\nEND_IF\nIF rtrigJ31.Q  THEN \n\tcase_jog_3 := 1000;\nEND_IF\nIF rtrigJ40.Q  THEN \n\tcase_jog_4 := 10;\nEND_IF\nIF rtrigJ41.Q  THEN \n\tcase_jog_4 := 1000;\nEND_IF\nIF rtrigJ50.Q  THEN \n\tcase_jog_5 := 10;\nEND_IF\nIF rtrigJ51.Q  THEN \n\tcase_jog_5 := 1000;\nEND_IF\n\nManip_GVL.Jtc.jog.refSystem := 0;\n\n\n\nCASE case_jog_0 OF\n\t0:\n\t\t// jeśli nie mam wciśniętego przycisku to ustawiam prędkość równą zero\n\t\tManip_GVL.Jtc.jog.setVelZero[0] := TRUE;\n\t\tManip_GVL.Jtc.jog.vel[0] := 0.0;\n\t10:\n\t\t// sprawdzam czy mam wciśnięty przycisk\n\t\tIF NOT Manip_GVL.AXIS[0].JOG[0] THEN\n\t\t\tcase_jog_0 := 0;\n\t\tELSE\n\t\t\t// kasuję flagę zerowania prędkości\n\t\t\tManip_GVL.Jtc.jog.setVelZero[0] := FALSE;\n\t\t\t// przypisuje prędkość z HMI\n\t\t\tManip_GVL.Jtc.jog.vel[0] := -1.0*VEL_LOW;\n\t\t\t\n\t\t\t// po upłuwie trzech sekund przypisuje drugi próg prędkości\n\t\t\t\tIF timerJ00.Q THEN\n\t\t\t\t\tManip_GVL.Jtc.jog.vel[0] := -1.0*VEL_HIGH;\n\t\t\t\tEND_IF\n\t\t\t\t\n\t\tEND_IF\n\t\t\n\t\n\t1000:\n\t\t// Sprawdzam czy mam wciśnięty przycisk ruchu w drugą stronę\n\t\tIF NOT Manip_GVL.AXIS[0].JOG[1] THEN\n\t\t\t// nie mam wciśniętego przycisku\n\t\t\t\t\tcase_jog_0 := 0;\n\t\t\tELSE\n\t\t\t// mam wciśnięty przycisk, kasuję flagę zerowania prędkości\n\t\t\t\tManip_GVL.Jtc.jog.setVelZero[0] := FALSE;\n\t\t\t\tManip_GVL.Jtc.jog.vel[0] := VEL_LOW;\n\t\t\t\t\tIF timerJ01.Q THEN\n\t\t\t\t\t\tManip_GVL.Jtc.jog.vel[0] := VEL_HIGH;\n\t\t\t\t\tEND_IF\n\t\t\t\t\t\n\t\t\tEND_IF\n\t\t\nEND_CASE\n\nCASE case_jog_1 OF\n\t0:\n\t\tManip_GVL.Jtc.jog.setVelZero[1] := TRUE;\n\t\tManip_GVL.Jtc.jog.vel[1] := 0.0;\n\t10:\n\t\tIF NOT Manip_GVL.AXIS[1].JOG[0] THEN\n\t\t\tcase_jog_1 := 0;\n\t\tELSE\n\t\t\tManip_GVL.Jtc.jog.setVelZero[1] := FALSE;\n\t\t\tManip_GVL.Jtc.jog.vel[1] := -1.0*VEL_LOW;\n\t\t\t\tIF timerJ10.Q THEN\n\t\t\t\t\tManip_GVL.Jtc.jog.vel[1] := -1.0*VEL_HIGH;\n\t\t\t\tEND_IF\n\t\t\t\t\n\t\tEND_IF\n\t\t\n\t\n\t1000:\n\t\tIF NOT Manip_GVL.AXIS[1].JOG[1] THEN\n\t\t\t\tcase_jog_1 := 0;\n\t\t\tELSE\n\t\t\t\tManip_GVL.Jtc.jog.setVelZero[1] := FALSE;\n\t\t\t\tManip_GVL.Jtc.jog.vel[1] := VEL_LOW;\n\t\t\t\t\tIF timerJ11.Q THEN\n\t\t\t\t\t\tManip_GVL.Jtc.jog.vel[1] := VEL_HIGH;\n\t\t\t\t\tEND_IF\n\t\t\t\t\t\n\t\t\tEND_IF\n\t\t\nEND_CASE\n\n\nCASE case_jog_2 OF\n\t0:\n\t\tManip_GVL.Jtc.jog.setVelZero[2] := TRUE;\n\t\tManip_GVL.Jtc.jog.vel[2] := 0.0;\n\t10:\n\t\n\t\tIF NOT Manip_GVL.AXIS[2].JOG[0] THEN\n\t\t\tcase_jog_2 := 0;\n\t\tELSE\n\t\t\tManip_GVL.Jtc.jog.setVelZero[2] := FALSE;\n\t\t\tManip_GVL.Jtc.jog.vel[2] := -1.0*VEL_LOW;\n\t\t\t\tIF timerJ20.Q THEN\n\t\t\t\t\tManip_GVL.Jtc.jog.vel[2] := -1.0*VEL_HIGH;\n\t\t\t\tEND_IF\n\t\t\t\t\n\t\tEND_IF\n\t\t\n\t\n\t1000:\n\t\tIF NOT Manip_GVL.AXIS[2].JOG[1] THEN\n\t\t\t\tcase_jog_2 := 0;\n\t\tELSE\n\t\t\t\t\n\t\t\tManip_GVL.Jtc.jog.setVelZero[2] := FALSE;\n\t\t\t\tManip_GVL.Jtc.jog.vel[2] := VEL_LOW;\n\t\t\t\t\tIF timerJ21.Q THEN\n\t\t\t\t\t\tManip_GVL.Jtc.jog.vel[2] := VEL_HIGH;\n\t\t\t\t\tEND_IF\n\t\t\t\t\t\n\t\tEND_IF\n\t\t\nEND_CASE\n\n\nCASE case_jog_3 OF\n\t0:\n\t\tManip_GVL.Jtc.jog.setVelZero[3] := TRUE;\n\t\tManip_GVL.Jtc.jog.vel[3] := 0.0;\n\t10:\n\t\n\t\tIF NOT Manip_GVL.AXIS[3].JOG[0] THEN\n\t\t\tcase_jog_3 := 0;\n\t\tELSE\n\t\t\tManip_GVL.Jtc.jog.setVelZero[3] := FALSE;\n\t\t\tManip_GVL.Jtc.jog.vel[3] := -1.0*VEL_LOW;\n\t\t\t\tIF timerJ30.Q THEN\n\t\t\t\t\tManip_GVL.Jtc.jog.vel[3] := -1.0*VEL_HIGH;\n\t\t\t\tEND_IF\n\t\t\t\t\n\t\tEND_IF\n\t\t\n\t\n\t1000:\n\t\tIF NOT Manip_GVL.AXIS[3].JOG[1] THEN\n\t\t\t\tcase_jog_3 := 0;\n\t\tELSE\n\t\t\t\t\n\t\t\tManip_GVL.Jtc.jog.setVelZero[3] := FALSE;\n\t\t\t\tManip_GVL.Jtc.jog.vel[3] := VEL_LOW;\n\t\t\t\t\tIF timerJ31.Q THEN\n\t\t\t\t\t\tManip_GVL.Jtc.jog.vel[3] := VEL_HIGH;\n\t\t\t\t\tEND_IF\n\t\t\t\t\t\n\t\tEND_IF\n\t\t\nEND_CASE\n\n\n\nCASE case_jog_4 OF\n\t0:\n\t\tManip_GVL.Jtc.jog.setVelZero[4] := TRUE;\n\t\tManip_GVL.Jtc.jog.vel[4] := 0.0;\n\t10:\n\t\n\t\tIF NOT Manip_GVL.AXIS[4].JOG[0] THEN\n\t\t\tcase_jog_4 := 0;\n\t\tELSE\n\t\t\tManip_GVL.Jtc.jog.setVelZero[4] := FALSE;\n\t\t\tManip_GVL.Jtc.jog.vel[4] := -1.0 * VEL_LOW;\n\t\t\t\tIF timerJ40.Q THEN\n\t\t\t\t\tManip_GVL.Jtc.jog.vel[4] := -1.0 *VEL_HIGH;\n\t\t\t\tEND_IF\n\t\t\t\t\n\t\tEND_IF\n\t\t\n\t\n\t1000:\n\t\tIF NOT Manip_GVL.AXIS[4].JOG[1] THEN\n\t\t\t\tcase_jog_4 := 0;\n\t\tELSE\n\t\t\t\t\n\t\t\tManip_GVL.Jtc.jog.setVelZero[4] := FALSE;\n\t\t\t\tManip_GVL.Jtc.jog.vel[4] := VEL_LOW;\n\t\t\t\t\tIF timerJ41.Q THEN\n\t\t\t\t\t\tManip_GVL.Jtc.jog.vel[4] := VEL_HIGH;\n\t\t\t\t\tEND_IF\n\t\t\t\t\t\n\t\tEND_IF\n\t\t\nEND_CASE\n\n\n\n\nCASE case_jog_5 OF\n\t0:\n\t\tManip_GVL.Jtc.jog.setVelZero[5] := TRUE;\n\t\tManip_GVL.Jtc.jog.vel[5] := 0.0;\n\t10:\n\t\n\t\tIF NOT Manip_GVL.AXIS[5].JOG[0] THEN\n\t\t\tcase_jog_5 := 0;\n\t\tELSE\n\t\t\tManip_GVL.Jtc.jog.setVelZero[5] := FALSE;\n\t\t\tManip_GVL.Jtc.jog.vel[5] := -1.0*VEL_LOW;\n\t\t\t\tIF timerJ50.Q THEN\n\t\t\t\t\tManip_GVL.Jtc.jog.vel[5] := -1.0*VEL_HIGH;\n\t\t\t\tEND_IF\n\t\t\t\t\n\t\tEND_IF\n\t\t\n\t\n\t1000:\n\t\tIF NOT Manip_GVL.AXIS[5].JOG[1] THEN\n\t\t\t\tcase_jog_5 := 0;\n\t\tELSE\n\t\t\t\t\n\t\t\tManip_GVL.Jtc.jog.setVelZero[5] := FALSE;\n\t\t\t\tManip_GVL.Jtc.jog.vel[5] := VEL_LOW;\n\t\t\t\t\tIF timerJ51.Q THEN\n\t\t\t\t\t\tManip_GVL.Jtc.jog.vel[5] := VEL_HIGH;\n\t\t\t\t\tEND_IF\n\t\t\t\t\t\n\t\tEND_IF\n\t\t\nEND_CASE","LineInfoPersistence":"(string)1d91697c-d80e-40b0-b34c-19df7438c511_Impl_LineIds"}}}},"Interface":{"@Type":"a9ed5b7e","@Value":{"TextDocument":{"@Type":"f3878285","@Value":{"TextBlobForSerialisation":"(string)FUNCTION_BLOCK Jogging\nVAR_INPUT\n \nEND_VAR\nVAR_OUTPUT\nEND_VAR\nVAR\n\t\n\trtrigJ00 : R_TRIG;\n\trtrigJ01 : R_TRIG;\n\trtrigJ10 : R_TRIG;\n\trtrigJ11 : R_TRIG;\n\trtrigJ20 : R_TRIG;\n\trtrigJ21 : R_TRIG;\n\trtrigJ30 : R_TRIG;\n\trtrigJ31 : R_TRIG;\n\trtrigJ40 : R_TRIG;\n\trtrigJ41 : R_TRIG;\n\trtrigJ50 : R_TRIG;\n\trtrigJ51 : R_TRIG;\n\t\n\ttimerJ00 : TON;\n\ttimerJ01 : TON;\n\ttimerJ10 : TON;\n\ttimerJ11 : TON;\n\ttimerJ20 : TON;\n\ttimerJ21 : TON;\n\ttimerJ30 : TON;\n\ttimerJ31 : TON;\n\ttimerJ40 : TON;\n\ttimerJ41 : TON;\n\ttimerJ50 : TON;\n\ttimerJ51 : TON;\n\t\n\n\tcase_jog_0 : INT := 0;\n\tcase_jog_1 : INT := 0;\n\tcase_jog_2 : INT := 0;\n\tcase_jog_3 : INT := 0;\n\tcase_jog_4 : INT := 0;\n\tcase_jog_5 : INT := 0;\n\t\n\t\n\tVEL_LOW : REAL := 2.0;\n\tVEL_HIGH : REAL := 10.0;\n\t\nEND_VAR\n","LineInfoPersistence":"(string)1d91697c-d80e-40b0-b34c-19df7438c511_Decl_LineIds"}}}},"UniqueIdGenerator":"(string)394","POULevel":{"@Type":"8e575c5b:Enum","@Value":"Standard"},"ChildObjectGuids":{"@Type":"ArrayList:IList","@Value":[]},"AddAttributeSubsequent":"(bool)False"}},"TypeInfos":{"0db3d7bb":"{0db3d7bb-cde0-4416-9a7b-ce49a0124323}","3b83b776":"{3b83b776-fb25-43b8-99f2-3c507c9143fc}","6f9dac99":"{6f9dac99-8de1-4efc-8465-68ac443b7d08}","8e575c5b":"{8e575c5b-1d37-49c6-941b-5c0ec7874787}","a9ed5b7e":"{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}","ArrayList":"System.Collections.ArrayList","bool":"System.Boolean","f3878285":"{f3878285-8e4f-490b-bb1b-9acbb7eb04db}","string":"System.String"}}},"FormatVersion":"1.0"}