Merge branch 'feature/documentation_update' into develop

Author: pswift066

Documentation/docs/CodeReference/Objects/Mover.md

@@ -12,7 +12,7 @@ Many of the motion related commands are chainable as noted below. This allows a
 
 ```javascript
 // chained motion command that sets velocity, acceleration and a destination in one line
-Mover[1].SetVelcotiy(1000).SetAcceleration(10e3).MoveToStation(Station[2]);
+Mover[1].SetVelocity(1000).SetAcceleration(1e3).MoveToStation(Station[2]);
 ```
 
 ## Setup & Execution
@@ -23,19 +23,14 @@ It is recommended, but not required, to declare Movers as an array.
 Mover			: ARRAY [1..GVL.NUM_MOVERS] OF Mover;
 ```
 
-Movers must also be added to the Mediator object. By default, this is handled already in the MAIN.Initialize ACTION.
+Movers must also be added to the Mediator object. By default, this is handled automatically.
 
 ```javascript
 // Example implementation
 Mediator.AddMover( Mover[1] );
 ```
 
 
-!!! note
-
-    Prior to 1.4.0, it was necessary to cyclically call two methods: *Mover.Cyclic()* and *Mover.CyclicTrack()*. This process is now handled implicitly by the Mediator object, along with all other Objective cyclic calls.
-
-
 ## Methods
 
 ### ActivateTrack
@@ -44,8 +39,9 @@ Mediator.AddMover( Mover[1] );
 
 > Updates the mover's logical track.
 
-This method is used with track management to change the track that the mover is assigned to. Two conditions should be considered when changing tracks.
-- A mover will stop immediately when ActivateTrack is called. It's recommended to only change tracks when the mover is in a stopped position.
+This method is used with track management to change the track that the mover is assigned to. Two conditions should be considered when changing tracks:
+
+- A mover will stop immediately when ActivateTrack is called. It's recommended to only change tracks when the mover is in standstill
 - A mover's position can change when calling ActivateTrack. This will happen if the zero point for the current track and new track are different.
 
 A track change takes several PLC and NC scans. Issuing a motion command while this change is in progress will cause the mover to throw an error. To check if the track change is complete monitor the `Mover.IsTrackReady` property.
@@ -201,13 +197,13 @@ To determine what type of movement ReissueCommand() will repeat, see Mover prope
 ```javascript
 // Issue a primary command
 IF xInitialCommand THEN
-	Mover[1].SetVelocity( 500 );
+	Mover[1].MotionParameters.Velocity	:= 500;	// mm/s
 	Mover[1].MoveToPosition( 1000 );
 	xInitialCommand		:= FALSE;
 
 // Reissue the primary command, but with a new velocity parameter
 ELSIF xUpdateCommand THEN
-	Mover[1].SetVelocity( 750 );
+	Mover[1].MotionParemeters.Velocity	:= 750; // mm/s
 	Mover[1].ReissueCommand();
 	xUpdateCommand		:= FALSE;
 END_IF
@@ -223,11 +219,6 @@ END_IF
 
 The mover's error properties will be cleared, and if and Axis error continues to exist after the reset, the error properties will continue to reflect this.
 
-```javascript
-// mover has an error
-IF Mover[1].Error THEN
-	Mover[1]
-```
 
 ### SetAcceleration
 
@@ -244,6 +235,9 @@ IF xCommandHighAccel THEN
 END_IF
 ```
 
+!!! note "Notice"
+	This method implicitly calls .ReissueCommand() in the background in order for the updated dynamics to take effect immediately. If this is not the intent, consider modifying the *Mover[x].MotionParameters* property instead.
+
 
 ### SetDeceleration
 
@@ -259,7 +253,8 @@ IF xCommandLowDecel THEN
 	xCommandLowDecel	:= FALSE;
 END_IF
 ```
-
+!!! note "Notice"
+	This method implicitly calls .ReissueCommand() in the background in order for the updated dynamics to take effect immediately. If this is not the intent, consider modifying the *Mover[x].MotionParameters* property instead.
 
 ### SetDirection
 
@@ -269,8 +264,8 @@ END_IF
 
 > Updates the Mover's internal Motion Parameter for Direction and immediately reissues any currently executing motion blocks so that the parameter update takes effect immediately
 
-!!! Caution
-	This method should only be used with care, and an understanding that a mover enroute can immediately reverse course and execute a motion command in the opposite direction when this method is called.
+!!! warning "Caution"
+	This method implicitly calls .ReissueCommand() in the background in order for the updated dynamics to take effect immediately. If this is not the intent, consider modifying the *Mover[x].MotionParameters* property instead. This method should only be used with care, and an understanding that a mover enroute can immediately reverse course and execute a motion command in the opposite direction when this method is called.
 
 ```javascript
 // For supported directions, see Infosys
@@ -288,7 +283,7 @@ END_IF
 
 > Sets the collision avoidance gap for the specified mover in mm. This takes effect immediately.
 
-!!! Caution
+!!! warning "Caution"
 	This method can cause unexpected motion. If setting a larger gap for a mover that currently has movers within the new gap distance (on either side of the mover). Each affected mover will immediately attempt to adjust for the new gap which may result in movers moving forwards or backwards.
 
 When increasing the gap between movers it's recommended to do this one mover at a time only when the space in front of the mover is clear for at least the new gap distance. This can be accomplished with either a PositionTrigger or Zone.
@@ -334,10 +329,12 @@ Mover[1].SetGapMode( mcGapControlModeStandard );
 
 ```javascript
 IF xUpdateJerk THEN
-	Mover[1].UpdateJerk( 1e5 );
+	Mover[1].SetJerk( 1e5 );
 	xUpdateJerk		:= FALSE;
 END_IF
 ```
+!!! note "Notice"
+	This method implicitly calls .ReissueCommand() in the background in order for the updated dynamics to take effect immediately. If this is not the intent, consider modifying the *Mover[x].MotionParameters* property instead.
 
 
 ### SetVelocity
@@ -354,6 +351,9 @@ IF xCommandSlowMode THEN
 	xCommandSlowMode 	:= FALSE;
 END_IF
 ```
+!!! note "Notice"
+	This method implicitly calls .ReissueCommand() in the background in order for the updated dynamics to take effect immediately. If this is not the intent, consider modifying the *Mover[x].MotionParameters* property instead.
+
 
 ### SyncToAxis
 
@@ -555,7 +555,7 @@ It is recommended that all evaluations are nested inside IF checks for .IsSynced
 > Defines a structure containing the dynamics settings for the Mover. Any new motion commands issued will utilize these values.
 
 !!! Note
-	Despite listing this value as a Property here in the documentation, MotionParameters are actually defined as a regular Input to the Mover object. This allows component access to the members of the STRUCT, which is not possible for Properties.*
+	Despite listing this value as a Property here in the documentation, MotionParameters are actually defined as a regular Input to the Mover object. This allows component access to the members of the STRUCT, which is not possible for Properties.
 
 ```javascript
 STRUCT
@@ -569,7 +569,9 @@ STRUCT
 END_STRUCT
 ```
 
-It is also possible to alter motion paramaters with mover methods such as `.SetVelocity()` or `.SetAcceleration()` and others.
+Modifying a mover's Motion Parameters will not affect the current dynamics of a mover enroute. Updated dynamics properties will only take effect when the next motion command is issued.
+
+It is also possible to alter motion paramaters with mover methods such as `.SetVelocity()`, `.SetAcceleration()` and others. These methods implicitly call .ReissueCommand() and therefore take effect immediately.
 
 ### .NextMover
 
@@ -642,7 +644,7 @@ END_IF;
 > Returns information provided by MC_ReadTrackPositions for use with track management.
 
 !!! Note
-	Despite listing this value as a Property here in the documentation, TrackInfo is actually defined as a regular Output from the Mover object. This allows component access to the members of the STRUCT, which is not possible for Properties.*
+	Despite listing this value as a Property here in the documentation, TrackInfo is actually defined as a regular Output from the Mover object. This allows component access to the members of the STRUCT, which is not possible for Properties.
 
 | Member | Type | Description |
 |---|---|---|
@@ -652,12 +654,3 @@ END_IF;
 | PartPosition | LREAL | Position of the mover measured from the zero point of the part the mover is physically on|
 
 
-## Extra Examples
-
-Below are simple examples of different operations utilizing the Mover object:
-
-```javascript
-// Mover: ARRAY [1..GVL.NUM_MOVERS] OF Mover
-Mover[1].SetVelocity( 2500 );
-Mover[1].MoveToPosition( 1200 );
-```

Documentation/docs/CodeReference/Objects/MoverList.md

@@ -3,7 +3,7 @@
 
 > The Mover List object provides a way to group Movers together and issue commands to every Mover in the list. Alternatively, commands can be sent to individual movers within the list based on their geographic proximity to a track position.
 
-Many of the methods and properties below are are based on corresponding methods available and documented in the [Mover](./Mover.md) object.
+Many of the methods and properties below are group commands based on corresponding methods available and documented in the singular [Mover](./Mover.md) object.
 
 ## Setup & Execution
 
@@ -114,7 +114,7 @@ Filtering a mover list by station can be helpful when workings with several move
 
 > Returns a reference to a singular mover from the Mover List, based on it's geographic location relative to a fixed track position.
 
-**Index** specifies the number of movers that should lie between the selection and the Position input. Therefore Index = 0 would be the closest mover to the input position (in a given direction), Index = 1 would be the second closest, Index = 2 would be the third closest, etc.
+**Index** specifies the number of movers that should lie between the selection and the Position input. Therefore Index = 1 would be the closest mover to the input position (in a given direction), Index = 2 would be the second closest, Index = 3 would be the third closest, etc.
 
 **Position** specifies the target around which mover proximity should be considered.
 
@@ -125,13 +125,13 @@ Filtering a mover list by station can be helpful when workings with several move
 // Which is the first closest mover to position 900
 // And which has a position less than 900
 // Then sends it to a station
-MoverListA.GetMoverByLocation( 0, 900, MC_Positive_Direction ).MoveToStation( Station[3] );
+MoverListA.GetMoverByLocation( 1, 900, MC_Positive_Direction ).MoveToStation( Station[3] );
 
 // Select a mover in the MoverList
 // Which is the third closest mover to position 2000
 // And which has a position greater than 3000
 // Then sets its acceleration
-MoverListA.GetMoverByLocation( 2, 3000, MC_Negative_Direction ).SetAcceleration( 1E4 );
+MoverListA.GetMoverByLocation( 3, 3000, MC_Negative_Direction ).SetAcceleration( 1E4 );
 
 ```
 ### Halt All
@@ -140,11 +140,11 @@ MoverListA.GetMoverByLocation( 2, 3000, MC_Negative_Direction ).SetAcceleration(
 
 > Calls the Halt() method for all movers in the list.
 
-### LogicalCompliment
+### LogicalComplement
 
-*LogicalCompliment()*
+*LogicalComplement()*
 
-> Returns the logical compliment of the current MoverList. Thus the returned list will list all movers not in the current MoverList.
+> Returns the logical complement of the current MoverList. Thus the returned list will list all movers not in the current MoverList.
 
 ```javascript
 // System contains: M1, M2, M3, M4, M5
@@ -235,6 +235,9 @@ MoverListA.MoveAllVelocity( 300 );
 MoverListA.SetAllAcceleration( 1E3 );
 ```
 
+!!! note
+	This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.
+
 
 ### SetAllDeceleration
 
@@ -246,6 +249,9 @@ MoverListA.SetAllAcceleration( 1E3 );
 MoverListA.SetAllDeceleration( 15000 );
 ```
 
+!!! note
+	This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.
+
 
 ### SetAllDirection
 
@@ -257,6 +263,8 @@ MoverListA.SetAllDeceleration( 15000 );
 MoverListA.SetAllDirection( mcDirectionPositive );
 ```
 
+!!! note
+	This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.
 
 ### SetAllGap
 
@@ -268,16 +276,22 @@ MoverListA.SetAllDirection( mcDirectionPositive );
 MoverListA.Gap( 65.0 );
 ```
 
+!!! note
+	This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.
+
 ### SetAllGapMode
 
 *SetAllGapMode( Mode : Tc3_Mc3Definitions.MC_GAP_CONTROL_MODE )*
 
 > Sets the gap mode for every mover in the list
 
 ```javascript
-MoverListA.Gap( 65.0 );
+MoverListA.SetAllGapMode( mcGapControlModeStandard );
 ```
 
+!!! note
+	This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.
+
 ### SetAllJerk
 
 *SetAllJerk( DesiredJerk : LREAL )*
@@ -288,6 +302,9 @@ MoverListA.Gap( 65.0 );
 MoverListA.SetAllJerk( 1e5 );
 ```
 
+!!! note
+	This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.
+
 
 ### SetAllVelocity
 
@@ -299,6 +316,8 @@ MoverListA.SetAllJerk( 1e5 );
 MoverListA.SetAllVelocity( 2000 );
 ```
 
+!!! note
+	This method causes new motion commands to be issued for the dynamics to take effect immediately- potentially triggering a large number of motion commands to execute on the same scan. See the individual Mover command and consider the ramifications for your application.
 
 ### UnregisterAll
 

Documentation/docs/CodeReference/Objects/Objective.md

@@ -1,6 +1,6 @@
 # Objectives
 
-*Objective* is an umbrella term used by the project, that includes the following objects:
+*Objective* is an ABSTRACT base class used by the project, whose child objects include the following:
 
 - [Stations](Station.md)
 - [Zones](Zone.md)

Documentation/docs/CodeReference/Objects/Station.md

@@ -17,7 +17,7 @@ Station[1].Position		:= 250;
 Station[2].Position		:= 500;
 Station[3].Position		:= 750;
 ```
-Stations must also be added to the Mediator object. By default, this is handled in the MAIN.Initialize ACTION.
+Stations must also be added to the Mediator object. By default, this is handled automatically.
 
 ```javascript
 // Example implementation
@@ -34,14 +34,14 @@ Mover[2].MoveToStation( Station[3] );
 Station[3].RegisterMover( Mover[2] );		// unnecessary
 ```
 
-Stations also automatically *unregister* movers that have been redirected with another move command, even if that command's destination is the same as the Station.
+Stations also automatically *unregister* movers that have been redirected with another move command, even if that command's destination is the same location as the Station.
 
 ```javascript
 Mover[2].MoveToStation( Station[3] );
 Mover[2].MoveToPosition( Station[3].Position );
 ```
 
-Here, the Station will not report *MoverInPosition*.
+Here, the Station will not report *MoverInPosition* when it arrives because the original command is interrupted by one where the *CurrentMoveType* is not `MOVETYPE_STATION`.
 
 
 ## Methods
@@ -90,6 +90,14 @@ When no mover is present in the Station, .CurrentMover is an invalid reference.
 
 It is recommended that all evaluations are nested inside IF checks for [.MoverInPosition](#moverinposition).
 
+### .Description
+
+*STRING*
+
+> A text description of the station that is passed to the visualization tools. It's also visible within within the TwinCAT debugging tools for easier identification of stations.
+
+This value can be changed at runtime and will update on the visualization. This offers the opportunity to put dynamic data on the XTS visualization such as a station part count.
+
 ### .GroupSize
 
 *DINT*
@@ -115,7 +123,6 @@ This value is only used to help calculate throughput `.Statistics` on the mover
 !!! Note
 	This property is part of [Objective](./Objective.md#trackedmovercount) but is frequently used with stations and can be accessed as part of the Station object.
 
-
 ### .Position
 
 *LREAL*
@@ -146,12 +153,22 @@ This value is also used to place a marker on the visualization tools representin
 | ThrottledThreshold		| LREAL |  A high throttled threshold (Blocked to Empty ratio) indicates a potential bottleneck station	|
 | ProcessedMoverCount		| UDINT |  Total number of movers processed by this station |
 
-#### .Track
+### .Track
 
 *REFERENCE TO Track*
 
 > Track that the station is assigned to when using track management. See the [Track](Track.md) object.
 
+### .TrackId
+
+*DINT*
+
+> The numeric id of the track that this station is assigned to.
+
+This value is read-only. Use the method `.SetTrack()` to set the station's assigned track.
+
+
+
 
 ## Extra Examples
 
@@ -175,6 +192,6 @@ FOR i := 0 TO Station[0].TrackedMoverCount-1 DO
 	targetMover^.MoveToStation( Station[1] );
 END_FOR
 ```
-# Station Labeling In Viewing Tools
+### Station Labeling In Viewing Tools
 
 See [Visualization](../../GettingStarted/Visualization.md)