Template motioncontrol - Manual - TIA2ST - A CLI tool to import TIA Portal project data into a SIMATIC AX project. - TIA2ST - Convert parts of TIA Portal projects to ST code,tool

This template creates ST code that provides symbolic access to all technology objects of your TIA Portal project incl. interfaces for OOP (e.g. itfSpeedAxis) if you are using the Siemens.Simatic.S71500.MotionControl library.

Expand to view the motioncontrol template and the resulting ST code

**Example:** Imagine your TIA Portal project contains three technology objects: ![TIA portal](../assets/tia2ax-tia-project.png) Then the import would result in code similar to ...

NAMESPACE TiaProject.Motioncontrol_TIAX
    CLASS PLC_1
        VAR PUBLIC
            SpeedAxis_1 : itfSpeedAxis;
            PositioningAxis_1 : itfPosAxis;
            SynchronousAxis_1 : itfSyncAxisAdvanced;
        END_VAR   

        METHOD PUBLIC Initialize : Bool
           ...
        END_METHOD
    END_CLASS
END_NAMESPACE

This adapter class can be easily integrated in your application program:

USING Siemens.Simatic.S71500.MotionControl;
USING TiaProject.Motioncontrol_TIAX; // import generated namespace

CLASS MyMotionApplication
    VAR
        plc_1_tos : PLC_1; // instantiate generated class containing TOs
    END_VAR

    METHOD Setup : BOOL
        Setup := plc_1_tos.Initialize(); // attach all TOs
    END_METHOD

    METHOD ActivateAxes
        // access TOs
        plc_1_tos.SpeedAxis_1.PowerOn(); 
        plc_1_tos.PositioningAxis_1.PowerOn();
        plc_1_tos.SynchronousAxis_1.PowerOn();
    END_METHOD
END_CLASS

The content of the template is:

{{#partials}}
    TO_SpeedAxis : SpeedAxis
    TO_PositioningAxis : PosAxis
    TO_SynchronousAxis : SyncAxis{{#IsTechnologyCPU}}Advanced{{/IsTechnologyCPU}}
    TO_Cam : Cam
    TO_Cam_10k : Cam
    TO_ExternalEncoder : ExtEncoder

    TO_SpeedAxis+ref : SpeedAxis
    TO_PositioningAxis+ref : PositioningAxis
    TO_SynchronousAxis+ref : SynchronousAxis
    TO_ExternalEncoder+ref : ExternalEncoder
    TO_OutputCam+ref : OutputCam
    TO_CamTrack+ref : CamTrack
    TO_MeasuringInput+ref : MeasuringInput
    TO_Cam+ref : Cam
    TO_Cam_10k+ref : Cam_10k
    TO_Kinematics+ref : Kinematics
    TO_LeadingAxisProxy+ref : LeadingAxisProxy
    TO_Interpreter+ref : Interpreter

    TO_SpeedAxis+itf : itfSpeedAxis
    TO_PositioningAxis+itf : itfPosAxis
    TO_SynchronousAxis+itf : itfSyncAxis{{#IsTechnologyCPU}}Advanced{{/IsTechnologyCPU}}
    TO_Cam+itf : itfCamBase
    TO_Cam_10k+itf : itfCamBase
    TO_ExternalEncoder+itf : itfExtEncoder

    // prepend underscore if the name do not already start with a underscore.
    PrivateName: {{^Name.IsMatch(^_)}}_{{/Name.IsMatch(^_)}}{{Name}}
{{/partials}}

USING Siemens.Simatic.S71500.MotionControl;
USING Siemens.Simatic.S71500.MotionControl.Native;

NAMESPACE TiaProject.{{Name}}
    {{#PLCs}}
    {{#Is1500}}
    /// {{Name}}
    /// {{TypeName}}
    /// OrderNumber:{{OrderNumber}}
    /// FwVersion:{{FirmwareVersion}}
    /// Author: {{Author}}
    /// InstallationDate: {{InstallationDate}}
    CLASS {{Name}}
    {{#Software.TechnologicalObjectGroup}}
        VAR PRIVATE
            // DB Numbers
            {{#AllTechnologicalObjects}}
            {{>PrivateName}}DbNumber : DB_ANY := UINT#{{Number}};
            {{/AllTechnologicalObjects}}
            // Instances to attach
            {{#AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}}
            {{>PrivateName}}Instance : {{>*Type}};
            {{/AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}}
        END_VAR
        VAR PUBLIC
            // Initialize state
            IsInitialized : BOOL;
            // References
            {{#AllTechnologicalObjects}}
            {{Name}}Reference : REF_TO {{Type}};
            {{/AllTechnologicalObjects}}
            // Interfaces
            {{#AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}}
            {{Name}} : {{>*Type+itf}};
            {{/AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}}
        END_VAR
        /// To initialize all technological objects it must be called once.
        /// After initialization they can be used via reference or interface.
        /// Returns TRUE if initialization of all objects and references is completed successfully. Otherwise FALSE.
        /// The state of initialization can also be checked later by the tag "IsInitialized".
        METHOD PUBLIC Initialize : BOOL
            // Check state of initialization
            IF NOT IsInitialized THEN
                // Initialize references
                {{#AllTechnologicalObjects.ExceptType(TO_InterpreterMapping|TO_InterpreterProgram)}}
                {{Name}}Reference := As{{>*Type+ref}}Ref({{>PrivateName}}DbNumber);
                {{/AllTechnologicalObjects.ExceptType(TO_InterpreterMapping|TO_InterpreterProgram)}}

                IF (TRUE {{#AllTechnologicalObjects.ExceptType(TO_InterpreterMapping|TO_InterpreterProgram)}}
                 AND NOT ({{Name}}Reference = NULL){{/AllTechnologicalObjects.ExceptType(TO_InterpreterMapping|TO_InterpreterProgram)}}
                 {{#AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}}AND {{>PrivateName}}Instance.Attach({{>PrivateName}}DbNumber)
                 {{/AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}})
                THEN
                    {{#AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}}
                    {{Name}} := {{>PrivateName}}Instance;
                    {{/AllTechnologicalObjects.OfType(TO_SpeedAxis|TO_PositioningAxis|TO_SynchronousAxis|TO_Cam|TO_Cam_10k|TO_ExternalEncoder)}}
                    IsInitialized := TRUE;
                ELSE
                    IsInitialized := FALSE;
                END_IF;
            ELSE
                Initialize := IsInitialized;
            END_IF;
        END_METHOD
    END_CLASS
    {{/Software.TechnologicalObjectGroup}}
    {{/Is1500}}
    {{/PLCs}}
END_NAMESPACE