Initial

2026-01-08 11:08:17 +01:00
commit fe882dc444
311 changed files with 511562 additions and 0 deletions
--- a/Spinner/POUs/Peripherie/KUKA/DUTs/eSpinnerKUKAMoveType.TcTLEO
+++ b/Spinner/POUs/Peripherie/KUKA/DUTs/eSpinnerKUKAMoveType.TcTLEO
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
+  <EnumerationTextList Name="eSpinnerKUKAMoveType" Id="{80a44484-0cbf-4b9e-afa6-9431fd8ad2c6}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE eSpinnerKUKAMoveType :
+(
+	NoMoveType := 0,
+	MovePosition,
+	MovePositionWithCorrection,
+	MovePreposition,
+	MovePrepositionWithCorrection,
+	MoveNozzlePosition,
+	MoveNozzleTestPositionWithCorrection
+);
+END_TYPE
+]]></Declaration>
+    <XmlArchive>
+      <Data>
+        <o xml:space="preserve" t="TextListEnumerationTextListObject">
+          <l n="TextList" t="ArrayList" cet="TextListRow">
+            <o>
+              <v n="TextID">"NoMoveType"</v>
+              <v n="TextDefault">"0"</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v>No Move</v>
+              </l>
+            </o>
+            <o>
+              <v n="TextID">"MovePosition"</v>
+              <v n="TextDefault">""</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v>Move Direct Position</v>
+              </l>
+            </o>
+            <o>
+              <v n="TextID">"MovePositionWithCorrection"</v>
+              <v n="TextDefault">""</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v>Move Direct Position With Correction</v>
+              </l>
+            </o>
+            <o>
+              <v n="TextID">"MovePreposition"</v>
+              <v n="TextDefault">""</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v>Move Predefined Position</v>
+              </l>
+            </o>
+            <o>
+              <v n="TextID">"MovePrepositionWithCorrection"</v>
+              <v n="TextDefault">""</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v>Move Predefined Position With Correction</v>
+              </l>
+            </o>
+            <o>
+              <v n="TextID">"MoveNozzlePosition"</v>
+              <v n="TextDefault">""</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v>Move Nozzle Test Position</v>
+              </l>
+            </o>
+            <o>
+              <v n="TextID">"MoveNozzleTestPositionWithCorrection"</v>
+              <v n="TextDefault">""</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v>Move Nozzle Test Position With Correction</v>
+              </l>
+            </o>
+            <o>
+              <v n="TextID">""</v>
+              <v n="TextDefault">""</v>
+              <l n="LanguageTexts" t="ArrayList" cet="String">
+                <v></v>
+              </l>
+            </o>
+          </l>
+          <l n="Languages" t="ArrayList" cet="String">
+            <v>en</v>
+          </l>
+          <v n="GuidInit">{bacb1960-6b36-4e2e-a112-56dd5b24cfa8}</v>
+          <v n="GuidReInit">{8f9c7e24-ce9f-4f40-a976-2ee2cf2748d8}</v>
+          <v n="GuidExitX">{99aed97d-ad35-4ff4-9bf6-659376fc6ddf}</v>
+        </o>
+      </Data>
+      <TypeList>
+        <Type n="ArrayList">System.Collections.ArrayList</Type>
+        <Type n="Guid">System.Guid</Type>
+        <Type n="String">System.String</Type>
+        <Type n="TextListEnumerationTextListObject">{4b60233c-f940-4beb-b331-82133b520151}</Type>
+        <Type n="TextListRow">{53da1be7-ad25-47c3-b0e8-e26286dad2e0}</Type>
+      </TypeList>
+    </XmlArchive>
+  </EnumerationTextList>
+</TcPlcObject>
--- a/Spinner/POUs/Peripherie/KUKA/DUTs/sNozzleCalibrationConfig.TcDUT
+++ b/Spinner/POUs/Peripherie/KUKA/DUTs/sNozzleCalibrationConfig.TcDUT
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.13">
+  <DUT Name="sNozzleCalibrationConfig" Id="{61c7112e-90a5-4b55-b14e-19cade2dc0bc}">
+    <Declaration><![CDATA[TYPE sNozzleCalibrationConfig :
+STRUCT
+	CalibrationPosition	:	sPosition;
+	ReferencePosition	:	sPoint;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/Spinner/POUs/Peripherie/KUKA/DUTs/sPosition.TcDUT
+++ b/Spinner/POUs/Peripherie/KUKA/DUTs/sPosition.TcDUT
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
+  <DUT Name="sPosition" Id="{ba18163e-1273-4daf-9207-13d420a9e96b}">
+    <Declaration><![CDATA[TYPE sPosition :
+STRUCT
+	Position	:	sPosition_6Axis;
+	Nozzle		:	USINT(1..6) := 1;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/Spinner/POUs/Peripherie/KUKA/DUTs/sRobotPrePosition.TcDUT
+++ b/Spinner/POUs/Peripherie/KUKA/DUTs/sRobotPrePosition.TcDUT
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
+  <DUT Name="sRobotPrePosition" Id="{c47e8a17-f5d4-4f35-8b95-71b36ea07688}">
+    <Declaration><![CDATA[TYPE sRobotPrePosition :
+STRUCT
+	PrePosition	:	ARRAY[0..MaxNumberOfSizes] OF sPosition;
+END_STRUCT
+END_TYPE]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/Spinner/POUs/Peripherie/KUKA/Spinner_KUKA_FB.TcPOU
+++ b/Spinner/POUs/Peripherie/KUKA/Spinner_KUKA_FB.TcPOU
@@ -0,0 +1,870 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
+  <POU Name="Spinner_KUKA_FB" Id="{b7de581d-7536-439f-99c3-faee33285c23}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK Spinner_KUKA_FB EXTENDS Peripherie_FB
+VAR_INPUT
+	Config							:	REFERENCE TO sSpinnerRobotConfig;
+	
+	
+	rOutProgrammNumber				:	USINT;
+	
+	bOut_DRIVES_OFF					:	BOOL;
+	bOut_DRIVES_ON					:	BOOL;
+	bOut_MOVE_ENABLE				:	BOOL;
+	bOut_EXT_START					:	BOOL;
+	bOut_CONF_MESS					:	BOOL;
+	bOut_PGBO_VALID					:	BOOL;
+	bOut_PGBO_PARITY				:	BOOL;
+	
+	
+	bOut_Jog_A_P					:	BOOL;
+	bOut_Jog_A_N					:	BOOL;
+	
+	bOut_Jog_B_P					:	BOOL;
+	bOut_Jog_B_N					:	BOOL;
+	
+	bOut_Jog_C_P					:	BOOL;
+	bOut_Jog_C_N					:	BOOL;
+	
+	bOut_EndOfCycle					:	BOOL;
+	
+	bOutStartPos					:	BOOL;
+	
+	bOutJobAcknowledgement			:	BOOL;
+	
+	rOutXCord						:	LREAL;
+	rOutYCord						:	lreal;
+	rOutZCord						:	lreal;
+	rOutACord						:	lreal;
+	rOutBCord						:	lreal;
+	rOutCCord						:	LREAL;
+	
+	rOutOverride					:	LREAL;
+	
+	rOutTargetSpeed					:	LREAL := 10;
+	
+	EndofCyle						:	BOOL;
+	
+	
+	sTargetPosition					:	sPosition;
+	
+
+	
+	rOutNozzleNumber				:	USINT(0..6) := 0;
+	
+	
+	bIn_PERI_RDY				AT	%I*		:	BOOL;
+	bIn_USER_SAF							:	BOOL;
+	bIn_ROB_STOPPED							:	BOOL;
+	bIn_STOPMESS							:	BOOL;
+	bIn_PGNO_REG							:	BOOL;
+	bIn_APPL_RUN							:	BOOL;
+	bIn_T1						AT	%I*		:	BOOL;
+	bIn_T2						AT	%I*		:	BOOL;
+	bIn_EXT						AT	%I*		:	BOOL;
+	bInI_O_ACTCONF							:	BOOL;
+	bInPrimaryHomePosition					:	BOOL;
+	bIn_PRO_ACT								:	BOOL;
+	
+	bInProgramReady							:	BOOL;
+	
+	bInGoToAutoMode							:	BOOL;
+	
+	bInStartPos								:	BOOL;
+	
+	bOutInitialPosition						:	BOOL;
+	
+	bInChangeProgram						:	BOOL;
+	rInTargetProgram						:	USINT;
+	
+	
+	ExternalModeErrorIndex					:	INT;
+	HomePositionErrorIndex					:	INT;
+	
+	bOutProcessProgramIsStarted				:	BOOL;
+	
+	
+	MoveType								:	eSpinnerKUKAMoveType;
+	rInTargetPredefinedPosition				:	INT;
+	rInTargetPredefinedPositionSize			:	INT	:=	1;
+	ProcessType								:	eSpinnerRecipeProcessType;
+END_VAR
+VAR_OUTPUT
+	bInJobDone								:	BOOL;
+	bInPosReady								:	BOOL;
+	
+	bInInitialPosition						:	BOOL;
+	
+	rInProgrammNumber						:	USINT;
+	
+	bInProcessPositionStart					:	BOOL;
+	bInProcessPositionStop					:	BOOL;
+	
+	bOutInProcessPosition					:	BOOL;
+	
+	rInXCord								:	LREAL;
+	rInYCord								:	LREAL;
+	rInZCord								:	LREAL;
+	rInACord								:	LREAL;
+	rInBCord								:	LREAL;
+	rInCCord								:	LREAL;
+END_VAR
+VAR
+	RobotOutData			AT	%Q*	:	ARRAY [0..3] OF  DINT;
+	
+	OutXCord				AT	%Q*	:	DINT;
+	OutYCord				AT	%Q*	:	DINT;
+	OutZCord				AT	%Q*	:	DINT;
+	OutACord				AT	%Q*	:	DINT;
+	OutBCord				AT	%Q*	:	DINT;
+	OutCCord				AT	%Q*	:	DINT;
+	
+	OutTargetSpeed			AT	%Q*	:	DINT;
+	OutOverride				AT	%Q*	:	DINT;
+	
+	RobotInData				AT	%I*	:	ARRAY [0..3] OF  DINT;
+	InXCord					AT	%I*	:	DINT;
+	InYCord					AT	%I*	:	DINT;
+	InZCord					AT	%I*	:	DINT;
+	InACord					AT	%I*	:	DINT;
+	InBCord					AT	%I*	:	DINT;
+	InCCord					AT	%I*	:	DINT;
+	
+	
+//	rIn_Axis6						AT	%I*	:	DINT;
+	bOutAutoDone							:	BOOL;
+	
+	i, ParityCounter	:	SINT;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[IF iStationStatus.Soll.Stop THEN
+	bOutAutoDone 				:= 	FALSE;
+	bOut_DRIVES_OFF				:=	FALSE;
+	bOut_DRIVES_ON				:=	FALSE;
+	bOut_MOVE_ENABLE			:=	FALSE;
+	bOut_EXT_START				:=	FALSE;
+	bOut_CONF_MESS				:=	FALSE;
+	bOut_PGBO_VALID				:=	FALSE;
+	
+	bOutStartPos				:=	FALSE;
+	bOut_EndOfCycle				:=	FALSE;
+	bInGoToAutoMode				:=	FALSE;
+	bInStartPos					:=	FALSE;
+	
+	bInProcessPositionStart		:=	FALSE;
+	bOutInProcessPosition		:=	FALSE;
+	INIT();
+	StartPos();
+	RETURN;
+END_IF
+
+
+IO();
+MAIN();
+ErrorHandling();]]></ST>
+    </Implementation>
+    <Method Name="ChangeProgram" Id="{d62769ec-84f1-4164-b932-589cedea8876}">
+      <Declaration><![CDATA[METHOD ChangeProgram : BOOL
+VAR_INPUT
+	In		:	USINT;
+	Stop	:	BOOL := FALSE;
+END_VAR
+VAR_INST
+	Step	:	INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF Stop THEN
+	Step := 0;
+	RETURN;
+END_IF
+CASE Step OF
+	0:
+		rOutProgrammNumber := In;
+		IF rInProgrammNumber = In THEN
+			Step := 10;
+		ELSE
+			Step := 50;
+		END_IF
+	10:
+		IF bIn_PGNO_REG THEN
+			Step := 20;
+		ELSE
+			Step := 90;
+		END_IF
+	20:
+		bOut_PGBO_VALID := TRUE;
+		IF NOT bIn_PGNO_REG THEN
+			bOut_PGBO_VALID := FALSE;
+			Step := 10;
+		END_IF
+	50:
+		IF bIn_PGNO_REG THEN
+			Step := 10;
+		ELSE
+			Step := Step +1;
+		END_IF
+	51:
+		bOut_EndOfCycle := TRUE;
+		IF bIn_PGNO_REG THEN
+			bOut_EndOfCycle := FALSE;
+			Step := 20;
+		END_IF
+	90:
+		IF bInProgramReady THEN	
+			Step := 95;
+		END_IF
+	95:
+//		IF bInJobDone OR bInError THEN
+//			rOutJobType := 99;
+//		ELSE
+//			rOutJobType := 0;
+			Step := 100;
+//		END_IF
+	100:
+		ChangeProgram := TRUE;
+		Step := 0;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="INIT" Id="{27828ab4-3b04-4d85-b156-9f8bd96454de}">
+      <Declaration><![CDATA[METHOD INIT : BOOL
+VAR_INPUT
+END_VAR
+VAR_INST
+	Step : INT;
+	Timer	:	TON;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF iStationStatus.Soll.Stop THEN
+	Step := 0;
+	RETURN;
+END_IF
+
+IF Error THEN
+	RETURN;
+END_IF
+
+IF SpinnerNoRobotInit THEN
+	INIT	:=	TRUE;
+	RETURN;
+END_IF
+
+CASE Step OF
+	0:
+		bOut_MOVE_ENABLE			:=	FALSE;
+		bOut_DRIVES_OFF				:=	FALSE;
+		bOut_DRIVES_ON				:=	FALSE;
+		bOut_EXT_START				:=	FALSE;
+		bOUT_CONF_MESS				:=	FALSE;
+		
+		bOutAutoDone 				:=	FALSE;
+		
+		Timer(IN := TRUE, PT := T#1S);
+		IF Timer.Q THEN
+			Timer(IN := FALSE, PT := T#1S);
+			Step := 10;
+		END_IF
+	10:
+		IF bIn_EXT THEN
+			Step := 15;
+		ELSE
+			error_index 	:=	AlarmSend(iStation, ExternalModeErrorIndex, TRUE, eReportType.Info, sAvailableResponse.Cancel, FALSE);
+			Error			:=	TRUE;
+		END_IF
+	15:
+		IF bInPrimaryHomePosition THEN
+			Step := 20;
+		ELSE
+			error_index 	:=	AlarmSend(iStation, HomePositionErrorIndex, TRUE, eReportType.Info, sAvailableResponse.Cancel, FALSE);
+			Error			:=	TRUE;
+		END_IF
+	20:
+		bOut_MOVE_ENABLE	:=	TRUE;
+		bOut_DRIVES_OFF		:=	TRUE;
+		Step := Step +1;
+	21:
+		IF bIn_ROB_STOPPED THEN
+			Step := 30;
+		END_IF
+	30:
+		IF bIn_PERI_RDY THEN
+			Step := 40;
+		ELSE
+			bOut_DRIVES_ON	:=	TRUE;
+			Step := Step +1;
+		END_IF
+	31:
+		IF bIn_PERI_RDY THEN
+			bOut_DRIVES_ON := FALSE;
+			Step := 40; 
+		END_IF
+	40:
+		IF bInI_O_ACTCONF THEN
+			Step := 50;
+		END_IF
+	50:
+		IF bIn_STOPMESS THEN
+			bOUT_CONF_MESS := TRUE;
+			Step := Step +1;
+		ELSE
+			Step := 60;
+		END_IF
+	51:
+		Timer(IN := TRUE, PT := T#1S);
+		IF Timer.Q THEN
+			Timer(IN := FALSE, PT := T#3S);
+			Step := 0;
+		END_IF
+		IF NOT bIn_STOPMESS THEN
+			Timer(IN := FALSE, PT := T#3S);
+			bOUT_CONF_MESS	:=	FALSE;
+			Step := 60;
+		END_IF
+	60:
+		IF bIn_PRO_ACT THEN
+			Step := 100;
+		ELSE
+			bOut_EXT_START	:= TRUE;
+			Step := Step +1;
+		END_IF
+	61:
+		IF bIn_PRO_ACT THEN 
+			Step := 100;
+		END_IF
+	100:
+		Step 	:=	0;
+		bOutAutoDone	:=	TRUE;
+		bInGoToAutoMode	:=	FALSE;
+		INIT			:=	TRUE;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="Initialization" Id="{42e45945-4235-4a49-bad5-9d465706b12b}">
+      <Declaration><![CDATA[METHOD Initialization : BOOL
+VAR_INPUT
+	iStation	:	INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[PeripherieInitialization(iStation);
+
+iMediaArray[eSpinnerMedienNamen.GoToAuto].ServiceName[0]							:=		'Auto Mode$NStart';
+iMediaArray[eSpinnerMedienNamen.GoToAuto].bReferenceControl							REF=	bInGoToAutoMode;
+
+
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].ServiceName[0]			:=		'Program$NStart';
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].bReferenceControl		REF=	bInProcessPositionStart;
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].InputAvailable			:=		TRUE;
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].NoErrorInput				:=		TRUE;
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].bReferenceResetControl	:=		bInProcessPositionStop;
+
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].ServiceName[0]			:=		'Program$NStop';
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].bReferenceControl			REF=	bInProcessPositionStop;
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].InputAvailable			:=		TRUE;
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].NoErrorInput				:=		TRUE;
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].bReferenceResetControl	:=		bInProcessPositionStart;
+
+iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].ServiceName[0]						:=		'Move$NStart';
+iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].bReferenceControl					REF=	bInStartPos;
+iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].InputAvailable						:=		TRUE;
+
+
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="IO" Id="{73f1e15d-7020-416a-8945-167e995069c2}">
+      <Declaration><![CDATA[METHOD IO : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[MEMMOVE(ADR(RobotOutData[0]), ADR(rOutProgrammNumber), 1);
+
+ParityCounter := 0;
+FOR i := 0 TO 7 DO
+	IF GETBIT32(rOutProgrammNumber, i) THEN
+		ParityCounter := ParityCounter +1;
+	END_IF
+END_FOR
+
+bOut_PGBO_PARITY := ParityCounter.0;
+
+RobotOutData[0].8	:= bOut_DRIVES_OFF;
+RobotOutData[0].9	:= bOut_DRIVES_ON;
+RobotOutData[0].10	:= bOut_MOVE_ENABLE;
+RobotOutData[0].11	:= bOut_EXT_START;
+RobotOutData[0].12	:= bOut_CONF_MESS;
+RobotOutData[0].13	:= bOut_PGBO_VALID;
+RobotOutData[0].14 	:= bOut_PGBO_PARITY;
+
+RobotOutData[0].30 	:= bOutStartPos;
+
+RobotOutData[1].2	:=	bOutInitialPosition;
+RobotOutData[1].25	:=	bOut_EndOfCycle;
+
+RobotOutData[3].0	:=	bOut_Jog_A_P;
+RobotOutData[3].1	:=	bOut_Jog_A_N;          
+RobotOutData[3].2	:=	bOut_Jog_B_P;
+RobotOutData[3].3	:=	bOut_Jog_B_N;
+RobotOutData[3].4	:=	bOut_Jog_C_P;
+RobotOutData[3].5	:=	bOut_Jog_C_N;
+
+MEMMOVE(ADR(RobotOutData[2]), ADR(rOutNozzleNumber), 1);
+RobotOutData[2].8 	:=	bOutJobAcknowledgement;
+
+bInJobDone := RobotInData[2].8;
+bInPosReady := RobotInData[1].1;
+
+MEMMOVE(ADR(rInProgrammNumber), ADR(RobotInData[0]), 1);
+bIn_USER_SAF					:=	RobotInData[0].9;
+bIn_ROB_STOPPED					:=	RobotInData[0].10;
+bIn_STOPMESS					:=	RobotInData[0].11;
+bIn_PGNO_REG					:=	RobotInData[0].12;
+bIn_APPL_RUN					:=	RobotInData[0].13;
+bInI_O_ACTCONF					:=	RobotInData[0].17;
+bInPrimaryHomePosition			:=	RobotInData[0].22;
+bInInitialPosition				:=	RobotInData[1].2;
+bIn_PRO_ACT						:=	RobotInData[1].6;
+bInProgramReady					:=	RobotInData[1].26;
+
+
+OutXCord						:=	LREAL_TO_DINT(rOutXCord*1000);
+OutYCord						:=	LREAL_TO_DINT(rOutYCord*1000);
+OutZCord						:=	LREAL_TO_DINT(rOutZCord*1000);
+OutACord						:=	LREAL_TO_DINT(rOutACord*1000);
+OutBCord						:=	LREAL_TO_DINT(rOutBCord*1000);
+OutCCord						:=	LREAL_TO_DINT(rOutCCord*1000);
+OutTargetSpeed					:=	LREAL_TO_DINT(rOutTargetSpeed*1000);
+OutOverride						:=	LREAL_TO_DINT(rOutOverride*1000);
+	
+rInXCord						:=	DINT_TO_LREAL(InXCord)/1000;
+rInYCord						:=	DINT_TO_LREAL(InYCord)/1000;
+rInZCord						:=	DINT_TO_LREAL(InZCord)/1000;
+rInACord						:=	DINT_TO_LREAL(InACord)/1000;
+rInBCord						:=	DINT_TO_LREAL(InBCord)/1000;
+rInCCord						:=	DINT_TO_LREAL(InCCord)/1000;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="MAIN" Id="{68d29e6f-6c80-4cef-a27c-643e5194b3cb}">
+      <Declaration><![CDATA[METHOD MAIN : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF bIn_T1 THEN
+	bOut_MOVE_ENABLE 		:=	TRUE;
+	bOut_DRIVES_ON			:=	FALSE;
+	bOut_PGBO_VALID			:=	FALSE;
+	bOut_EXT_START			:=	FALSE;
+	
+	bOutInProcessPosition	:=	FALSE;
+	bInStartPos				:=	FALSE;
+	
+	ProcessProgramStart();
+	ProcessProgramStop();
+	StartPos();
+END_IF
+
+IF bInGoToAutoMode THEN
+	INIT();
+END_IF
+
+IF bInStartPos THEN
+	IF StartPos() THEN
+		bInStartPos				:=	FALSE;
+	END_IF
+END_IF
+
+IF bInChangeProgram THEN
+	IF ChangeProgram(rInTargetProgram) THEN
+		bInChangeProgram := FALSE;
+	END_IF
+END_IF
+
+IF bInProcessPositionStart THEN
+	IF ProcessProgramStart() THEN
+		bInProcessPositionStart	:=	FALSE;
+		bOutInProcessPosition	:=	TRUE;
+	END_IF
+END_IF
+
+IF bInProcessPositionStop THEN
+	IF ProcessProgramStop() THEN
+		bInProcessPositionStop	:=	FALSE;
+		bOutInProcessPosition	:=	FALSE;
+	END_IF
+END_IF
+
+
+iMediaArray[eSpinnerMedienNamen.GoToAuto].Invisible := (bIn_PRO_ACT AND bIn_PERI_RDY) OR bIn_T1 OR bIn_T2;
+
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].Invisible	:=	bOutInProcessPosition OR NOT (bIn_PRO_ACT AND bIn_PERI_RDY);
+
+
+iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible	:=	FALSE;
+IF NOT bOutInProcessPosition THEN
+	iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible	:=	TRUE;
+END_IF
+
+IF	ABS(rInXCord) > 10 THEN
+	iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible	:=	TRUE;
+END_IF
+
+IF	ABS(rInYCord) > 10 THEN
+	iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible	:=	TRUE;
+END_IF
+
+
+IF	ABS(rInZCord) > 60 THEN
+	iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible	:=	TRUE;
+END_IF
+
+iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].Invisible 				:=	NOT bOutInProcessPosition;
+
+
+CASE MoveType OF
+	eSpinnerKUKAMoveType.NoMoveType:
+		iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].Invisible	:=	TRUE;
+	eSpinnerKUKAMoveType.MoveNozzlePosition:
+		IF rOutNozzleNumber = 0 THEN
+			iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].Invisible	:=	TRUE;
+		END_IF
+END_CASE
+
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="MoveNozzleTestPosition" Id="{c4e47cbd-d9b5-48f4-b4c0-e1aad8255b4c}">
+      <Declaration><![CDATA[METHOD MoveNozzleTestPosition : BOOL
+VAR_INPUT
+END_VAR
+VAR_INST
+	Step	:	INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF iStationStatus.Soll.Stop THEN
+	Step := 0;
+	bInProcessPositionMove	:=	FALSE;
+	RETURN;
+END_IF
+
+CASE Step OF
+	0:
+			rOutXCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.X * 1000);
+			rOutYCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.Y * 1000);
+			rOutZCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.Z * 1000);
+	
+			rOutACord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.A * 1000);
+			rOutBCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.B * 1000);
+			rOutCCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.C * 1000);
+
+		rOutNozzleNumber	:=	rInTargetTestPosition;
+		
+		rOutTargetSpeed	:=	LREAL_TO_DINT(rInServiceTargetSpeed*1000);
+		IF NOT bStartPos THEN
+			bStartPos := TRUE;
+			Step := 10;
+		END_IF
+	10:
+		IF NOT bStartPos THEN
+			Step := 20;
+		END_IF
+	20:
+		bInProcessPositionMove	:=	FALSE;
+		MoveNozzleTestPosition	:=	TRUE;
+		Step :=	0;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="ProcessProgramMove" Id="{ad686a99-8e85-4563-a057-6802952e64cb}">
+      <Declaration><![CDATA[METHOD ProcessProgramMove : BOOL
+VAR_INPUT
+END_VAR
+VAR_INST
+	Step	:	INT;
+	Size	:	INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF iStationStatus.Soll.Stop THEN
+	Step := 0;
+	RETURN;
+END_IF
+
+CASE Step OF
+	0:
+		Size 				:=	rInServieTargetSize;
+		rOutXCord 			:=	LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].X * 1000);
+		rOutYCord 			:=	LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].Y * 1000);
+		rOutZCord 			:=	LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].Z * 1000);
+		rOutACord 			:=	LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].A * 1000);
+		rOutBCord 			:=	LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].B * 1000);
+		rOutCCord 			:=	LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].C * 1000);
+		rOutNozzleNumber	:=	Config.PrePosition[rInTargetPrePosition].PrePosition[Size].Tool;
+		rOutTargetSpeed		:=	LREAL_TO_DINT(rInServiceTargetSpeed*1000);
+		
+		IF NOT bStartPos THEN
+			bStartPos := TRUE;
+			Step := 10;
+		END_IF
+	10:
+		IF NOT bStartPos THEN
+			Step := 20;
+		END_IF
+	20:
+		ProcessProgramMove	:=	TRUE;
+		Step :=	0;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="ProcessProgramStart" Id="{ee1c82ed-2606-46ce-a1aa-efe14750f8c3}">
+      <Declaration><![CDATA[METHOD ProcessProgramStart : BOOL
+VAR_INST
+	Step	:	int;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF SpinnerNoRobotInit THEN
+	Step := 0;
+	ProcessProgramStart := TRUE;
+	RETURN;
+END_IF
+
+IF iStationStatus.Soll.Stop OR bIn_T1 THEN
+	Step := 0;
+	RETURN;
+END_IF
+
+
+IF bOutInProcessPosition THEN
+	RETURN;
+END_IF
+
+IF bIn_T1 THEN
+	Step 					:=	0;
+	bInProcessPositionStart	:=	FALSE;
+	bInStartPos				:=	FALSE;
+	bOutInProcessPosition	:=	FALSE;
+	RETURN;
+END_IF
+
+CASE Step OF
+	0:
+		rOutProgrammNumber := 1;
+		bOutStartPos	:=	FALSE;
+		Step := 10;
+	10:	
+		IF bIn_PGNO_REG THEN
+			Step := 20;
+		ELSE
+			Step := 30;
+		END_IF
+	20:
+		bOut_PGBO_VALID := TRUE;
+		IF NOT bIn_PGNO_REG THEN
+			bOut_PGBO_VALID := FALSE;
+			Step := 10;
+		END_IF
+	30:
+		CASE iStation OF
+			FirstSpinner:
+				IF rInXCord <> 100.545 THEN
+					RETURN;
+				END_IF
+				
+				IF rInYCord <> 41.407 THEN
+					RETURN;
+				END_IF
+				
+				IF rInZCord <> 46.312 THEN
+					RETURN;
+				END_IF
+				
+				IF rInACord <> 24.945 THEN
+					RETURN;
+				END_IF
+				
+				IF rInBCord <> -1.029 THEN
+					RETURN;
+				END_IF
+				
+				IF rInCCord <> 0.146 THEN
+					RETURN;
+				END_IF
+			LastSpinner:
+				IF rInXCord <> 100.545 THEN
+					RETURN;
+				END_IF
+				
+				IF rInYCord <> 41.407 THEN
+					RETURN;
+				END_IF
+				
+				IF rInZCord <> 46.312 THEN
+					RETURN;
+				END_IF
+				
+				IF rInACord <> 24.945 THEN
+					RETURN;
+				END_IF
+				
+				IF rInBCord <> -1.029 THEN
+					RETURN;
+				END_IF
+				
+				IF rInCCord <> 0.146 THEN
+					RETURN;
+				END_IF
+		END_CASE
+		
+		Step := 40;
+	40:
+		bOutStartPos := FALSE;
+		IF bInPosReady THEN
+			Step := 50;
+		END_IF
+	50:
+		ProcessProgramStart 	:=	TRUE;
+		Step := 0;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="ProcessProgramStop" Id="{5672c6cc-102b-4413-af57-80d69ab271eb}">
+      <Declaration><![CDATA[METHOD ProcessProgramStop : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF SpinnerNoRobotInit THEN
+	ProcessProgramStop := TRUE;
+	RETURN;
+END_IF
+
+bOut_EndOfCycle := TRUE;
+IF bIn_PGNO_REG THEN
+	bOut_EndOfCycle 		:=	FALSE;
+	ProcessProgramStop		:=	TRUE;
+END_IF
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="StartPos" Id="{3e7fdc5d-8bcc-4484-ae9e-ecf58febe9c6}">
+      <Declaration><![CDATA[METHOD StartPos : BOOL
+VAR_INPUT
+END_VAR
+VAR_INST
+	Step	:	INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF iStationStatus.Soll.Stop OR bIn_T1 THEN
+	Step := 0;
+	RETURN;
+END_IF
+
+IF SpinnerNoRobotInit THEN
+	StartPos 		:=	TRUE;
+	RETURN;
+END_IF
+
+
+IF bIn_T1 THEN
+	Step 					:=	0;
+	bInProcessPositionStart	:=	FALSE;
+	bInStartPos				:=	FALSE;
+	bOutInProcessPosition	:=	FALSE;
+	RETURN;
+END_IF
+
+CASE Step OF
+	0:
+		CASE MoveType OF
+			eSpinnerKUKAMoveType.NoMoveType:
+				StartPos 		:=	TRUE;
+				Step 			:=	0;
+				RETURN;
+			eSpinnerKUKAMoveType.MovePosition:
+				;
+			eSpinnerKUKAMoveType.MovePreposition:
+				sTargetPosition		:=	Config.PrePosition[rInTargetPredefinedPosition][ProcessType].PrePosition[rInTargetPredefinedPositionSize];
+				
+				rOutXCord 			:=	sTargetPosition.X;
+				rOutYCord 			:=	sTargetPosition.Y;
+				rOutZCord 			:=	sTargetPosition.Z;
+				rOutACord 			:=	sTargetPosition.A;
+				rOutBCord 			:=	sTargetPosition.B;
+				rOutCCord 			:=	sTargetPosition.C;
+				rOutNozzleNumber	:=	sTargetPosition.Tool;
+			eSpinnerKUKAMoveType.MovePrepositionWithCorrection:
+				sTargetPosition		:=	Config.PrePosition[rInTargetPredefinedPosition][ProcessType].PrePosition[rInTargetPredefinedPositionSize];
+				
+				rOutXCord 			:=	sTargetPosition.X;
+				rOutYCord 			:=	sTargetPosition.Y;
+				rOutZCord 			:=	sTargetPosition.Z;
+				rOutACord 			:=	sTargetPosition.A;
+				rOutBCord 			:=	sTargetPosition.B;
+				rOutCCord 			:=	sTargetPosition.C;
+				rOutNozzleNumber	:=	sTargetPosition.Tool;
+				
+				IF rOutNozzleNumber > 0 THEN
+					rOutACord := rOutACord - rNozzleCalibration[rOutNozzleNumber].Y;
+					rOutCCord := rOutCCord - rNozzleCalibration[rOutNozzleNumber].X;
+				END_IF
+			eSpinnerKUKAMoveType.MoveNozzlePosition:
+				sTargetPosition		:=	Config.NozzleCalibration[rOutNozzleNumber].CalibrationPosition;
+				
+				rOutXCord 			:=	sTargetPosition.X;
+				rOutYCord 			:=	sTargetPosition.Y;
+				rOutZCord 			:=	sTargetPosition.Z;
+				rOutACord 			:=	sTargetPosition.A;
+				rOutBCord 			:=	sTargetPosition.B;
+				rOutCCord 			:=	sTargetPosition.C;
+			eSpinnerKUKAMoveType.MovePositionWithCorrection:
+				IF rOutNozzleNumber > 0 THEN
+					rOutACord := rOutACord - rNozzleCalibration[rOutNozzleNumber].Y;
+					rOutCCord := rOutCCord - rNozzleCalibration[rOutNozzleNumber].X;
+				END_IF
+			eSpinnerKUKAMoveType.MoveNozzleTestPositionWithCorrection:
+				sTargetPosition		:=	Config.NozzleCalibration[rOutNozzleNumber].CalibrationPosition;
+				
+				rOutXCord 			:=	sTargetPosition.X;
+				rOutYCord 			:=	sTargetPosition.Y;
+				rOutZCord 			:=	sTargetPosition.Z;
+				rOutACord 			:=	sTargetPosition.A;
+				rOutBCord 			:=	sTargetPosition.B;
+				rOutCCord 			:=	sTargetPosition.C;
+				
+				IF rOutNozzleNumber > 0 THEN
+					rOutACord := rOutACord - rNozzleCalibration[rOutNozzleNumber].Y;
+					rOutCCord := rOutCCord - rNozzleCalibration[rOutNozzleNumber].X;
+				END_IF
+		END_CASE
+		
+		bOutStartPos := FALSE;
+		IF bInPosReady THEN
+			Step := 10;
+		END_IF
+	10:
+		bOutStartPos := TRUE;
+		IF NOT bInPosReady THEN
+			bOutStartPos	:=	FALSE;
+			Step := 20;
+		END_IF
+	20:
+		IF bInJobDone THEN
+			bOutJobAcknowledgement := TRUE;
+			Step := Step +1;
+		END_IF
+	21:
+		IF NOT bInJobDone THEN
+			bOutJobAcknowledgement := FALSE;
+			bOutStartPos := FALSE;
+			Step := 30;
+		END_IF
+	30:
+		StartPos 		:=	TRUE;
+		Step 			:=	0;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
--- a/Spinner/POUs/Peripherie/KUKA/VISUs/VISU_SPINNER_CONFIG_ROBOT_NOZZLE_POSITION.TcVIS
+++ b/Spinner/POUs/Peripherie/KUKA/VISUs/VISU_SPINNER_CONFIG_ROBOT_NOZZLE_POSITION.TcVIS
--- a/Spinner/POUs/Peripherie/KUKA/VISUs/VISU_SPINNER_KUKA_SERVICE.TcVIS
+++ b/Spinner/POUs/Peripherie/KUKA/VISUs/VISU_SPINNER_KUKA_SERVICE.TcVIS
--- a/Spinner/POUs/Peripherie/KUKA/VISUs/VISU_SPINNER_NOZZLE_CALIBRATION.TcVIS
+++ b/Spinner/POUs/Peripherie/KUKA/VISUs/VISU_SPINNER_NOZZLE_CALIBRATION.TcVIS