ECS & user control
Sends commands
Monitors status
Routines
ECS trajectory
ECS drive commands
...
Comm_ECS Az_Status, general, motors, position
Mode control
Sets operating mode based on inputs from ECS and Local
Sequence control
Takes signals from ECS and Mode Control.
Controls modes of operation, start / stop of equipment
Routines
Az Ready
Azimuth ready conditions (link)
...
Enclosure Azimuth output control (link)
Speed and position control
Position - encoders
Control_position - controls motion profile for PTP, Tracking, Remote jog,
Control_speed - controls speed for jog modes and speed output of Control_position
Control_loop - conditions speed commands from Control_speed
Equipment control
Equipment operates on signals from Control routine
Routines
Drives_infeed
Drives_read, _write
Drives_motors, _contactors, temperature, _fans
Drive_constants
Brakes
Brake_modules
Diagnostics
Hardware status
Cabinet alarms - I/O diagnostics
Circuit breakers - status
Communication
ECS - receive commands, send status, diagnostics
HMI - interface to HMI pendant
Shared tags - send, receive operating data, diagnostics
End_stops
New routine to replace coherence sensors
Installed and running in PLC.
Not debugged or tested. Not connected to external logic
Overspeed_safety
Installed but not active
Siren
Limits
Limits_Bypass
HMI
Signals to Pendant HMI
Test and debug
TM54F - active I/O, no logic or control
Stop Timing
Position_Sim
Obsolete
Drives_master
Drives_load_sharing
Position, WCS_Encoder