add further states to actuatoir state

simatic-ax · Dec 18, 2024 · f2cf6dc · f2cf6dc
1 parent 090397d
commit f2cf6dc
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Showing 2 changed files with 8 additions and 5 deletions.
diff --git a/src/Actuator/ActuatorStates.st b/src/Actuator/ActuatorStates.st
@@ -1,5 +1,5 @@
 NAMESPACE Simatic.Ax.axftcmlib
     TYPE
-        ActuatorState : (InHomePosition, MoveToWorkPosition, InWorkPosition, MoveToHomePosition) := InHomePosition;
+        ActuatorState : (InHomePosition, MoveToWorkPosition, InWorkPosition, MoveToHomePosition, Error, Undefined) := Undefined;
     END_TYPE
 END_NAMESPACE
diff --git a/src/Actuator/TimeBasedActuator.st b/src/Actuator/TimeBasedActuator.st
@@ -11,7 +11,7 @@ NAMESPACE Simatic.Ax.axftcmlib
             OnDuration : TIME;
         END_VAR
         VAR
-            _tonOnDuration : OnDelay;
+            _tonOffDuration : OffDelay;
             _state : ActuatorState;
         END_VAR
 
@@ -24,19 +24,22 @@ NAMESPACE Simatic.Ax.axftcmlib
                 THIS.SetError(WORD#16#8101);
                 RETURN;
             END_IF;
-            _tonOnDuration(signal := Q_ToWorkPosition.IsOn(), Duration := OnDuration);
             CASE _state OF
+                // If undefined, go initial state:
+                ActuatorState#Undefined:
+                    _state := ActuatorState#InHomePosition;
                 // Switch all outputs off, when actuator is idle in home position
                 ActuatorState#InHomePosition:
                     Q_ToWorkPosition.SetOff();
-
                 // Received the command GoToWorkPosition switch on ToWorkPosition
                 ActuatorState#MoveToWorkPosition:
                     Q_ToWorkPosition.SetOn();
                     _state := ActuatorState#InWorkPosition;
                 // After Timeout switch off "ToWorkPosition"
                 ActuatorState#InWorkPosition:
-                    IF (_tonOnDuration.output) THEN
+                    _tonOffDuration(signal := TRUE, Duration := OnDuration);
+                    IF (_tonOffDuration.output) THEN
+                        _tonOffDuration(signal := FALSE);
                         _state := ActuatorState#MoveToHomePosition;
                         Q_ToWorkPosition.SetOff();
                     END_IF;