Restructuring DS402 support. Added MCS2ChanParameters ST and additional FBs to support cleaner and extra operations aside from FB_motionStage & ST_MotionStage

lcls-twincat-motion/Library/DUTs/DS402/E_MoveDoneCause.TcDUT

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_MoveDoneCause" Id="{f11d0b8d-a319-4919-8ad2-0dfa2b932888}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_MoveDoneCause :
+(
+    Unknown := 0,           // Default/uncategorized
+    MoveDone,               // Absolute move completed
+    StepMoveDone,           // Step/JOG move completed
+    HomeDone,               // Homing completed
+    CalibrationDone,        // Calibration completed
+    ResetDone,              // Reset command completed
+    HaltDone,               // Manual halt completed
+    AbortedHome,            // Home aborted
+    AbortedStepMove,        // Step move aborted
+    AbortedCalibration,     // Calibration aborted
+    Referenced,             // Axis became referenced
+    Calibrated              // Axis became calibrated
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

lcls-twincat-motion/Library/DUTs/DS402/E_StartupState.TcDUT

@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_StartupState" Id="{a438f9d9-85e4-4a52-b694-851762491b8a}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_StartupState :
+(
+    STARTUP_IDLE:=0,
+    STARTUP_CLEAR,
+    STARTUP_RESET_FAULT,
+    STARTUP_SHUTDOWN,
+    STARTUP_SWITCH_ON,
+    STARTUP_ENABLE_OP
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

lcls-twincat-motion/Library/DUTs/DS402/ST_ChannelState.TcDUT

@@ -0,0 +1,142 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_ChannelState" Id="{57a8c6a5-d804-4041-a922-2988413bdf86}">
+    <Declaration><![CDATA[TYPE ST_ChannelState :
+STRUCT
+    {attribute 'pytmc' := '
+        pv: nChannelStateRaw
+        io: i
+        field: DESC Channel state raw
+    '}
+    nChannelStateRaw  : DWORD;
+
+    {attribute 'pytmc' := '
+        pv: bActivelyMoving
+        io: i
+        field: DESC Actively moving
+    '}
+    bActivelyMoving         : BOOL;
+    {attribute 'pytmc' := '
+        pv: bClosedLoopActive
+        io: i
+        field: DESC Closed loop active
+    '}
+    bClosedLoopActive       : BOOL;
+    {attribute 'pytmc' := '
+        pv: bCalibrating
+        io: i
+        field: DESC Calibrating
+    '}
+    bCalibrating            : BOOL;
+    {attribute 'pytmc' := '
+        pv: bReferencing
+        io: i
+        field: DESC Referencing
+    '}
+    bReferencing            : BOOL;
+    {attribute 'pytmc' := '
+        pv: bMoveDelayed
+        io: i
+        field: DESC Move delayed
+    '}
+    bMoveDelayed            : BOOL;
+    {attribute 'pytmc' := '
+        pv: bSensorPresent
+        io: i
+        field: DESC Sensor present
+    '}
+    bSensorPresent          : BOOL;
+    {attribute 'pytmc' := '
+        pv: bIsCalibrated
+        io: i
+        field: DESC Is calibrated
+    '}
+    bIsCalibrated           : BOOL;
+    {attribute 'pytmc' := '
+        pv: bIsReferenced
+        io: i
+        field: DESC Is referenced
+    '}
+    bIsReferenced           : BOOL;
+    {attribute 'pytmc' := '
+        pv: bEndStopReached
+        io: i
+        field: DESC End stop reached
+    '}
+    bEndStopReached         : BOOL;
+    {attribute 'pytmc' := '
+        pv: bRangeLimitReached
+        io: i
+        field: DESC Range limit reached
+    '}
+    bRangeLimitReached      : BOOL;
+    {attribute 'pytmc' := '
+        pv: bFollowingLimitReached
+        io: i
+        field: DESC Following limit reached
+    '}
+    bFollowingLimitReached  : BOOL;
+    {attribute 'pytmc' := '
+        pv: bMovementFailed
+        io: i
+        field: DESC Movement failed
+    '}
+    bMovementFailed         : BOOL;
+    {attribute 'pytmc' := '
+        pv: bIsStreaming
+        io: i
+        field: DESC Is streaming
+    '}
+    bIsStreaming            : BOOL;
+    {attribute 'pytmc' := '
+        pv: bPositionerOverload
+        io: i
+        field: DESC Positioner overload
+    '}
+    bPositionerOverload     : BOOL;
+    {attribute 'pytmc' := '
+        pv: bOverTemperature
+        io: i
+        field: DESC Over temperature
+    '}
+    bOverTemperature        : BOOL;
+    {attribute 'pytmc' := '
+        pv: bReferenceMark
+        io: i
+        field: DESC Reference mark
+    '}
+    bReferenceMark          : BOOL;
+    {attribute 'pytmc' := '
+        pv: bIsPhased
+        io: i
+        field: DESC Is phased
+    '}
+    bIsPhased               : BOOL;
+    {attribute 'pytmc' := '
+        pv: bPositionerFault
+        io: i
+        field: DESC Positioner fault
+    '}
+    bPositionerFault        : BOOL;
+    {attribute 'pytmc' := '
+        pv: bAmplifierEnabled
+        io: i
+        field: DESC Amplifier enabled
+    '}
+    bAmplifierEnabled       : BOOL;
+    {attribute 'pytmc' := '
+        pv: bInPosition
+        io: i
+        field: DESC In position
+    '}
+    bInPosition             : BOOL;
+    {attribute 'pytmc' := '
+        pv: bBrakeEnabled
+        io: i
+        field: DESC Brake enabled
+    '}
+    bBrakeEnabled           : BOOL;
+END_STRUCT
+END_TYPE]]></Declaration>
+  </DUT>
+</TcPlcObject>

lcls-twincat-motion/Library/DUTs/DS402/ST_DS402Drive.TcDUT

@@ -4,16 +4,16 @@
     <Declaration><![CDATA[TYPE ST_DS402Drive:
 STRUCT
     (* Global variables for the TPDO data from the drive. Each one is linked to the respective TPDO channel. *)
-    stDS402DriveStatus 		AT %I*	: 	ST_DS402DriveStatus;
+    stDriveStatus 			AT %I*	: 	ST_DS402DriveStatus;
     nModeOfOperationDisplay AT %I*	: 	SINT;
     //nActualPosition 		AT %I*	: 	DINT;
     (*CSP drive mode*)
     nFollowingError 		AT %I*	: 	DINT;
     (* Global variables for the RPDO data to the drive. Each one is linked to the respective RPDO channel. *)
     // connected to I/O Task 'Control Word'
-    nDS402DriveControl		AT %Q*	:	UINT;
+    nDriveControl			AT %Q*	:	UINT;
     // Connected to NC task Ctrl 1 and Ctrl 2
-    nDS402DriveControlNC	AT %I*	:	UINT;
+    nDriveControlNC			AT %I*	:	UINT;
     nTargetPosition 		AT %Q* 	: 	DINT;
     nModeOfOperation 		AT %Q* 	: 	SINT;
     nModeOfOperationNC 		AT %I* 	: 	SINT;