Initial

PLC/6 Aligner/POUs/ALIGNER_IO_FB.TcPOU

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+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
+  <POU Name="ALIGNER_IO_FB" Id="{617e5ee2-ae00-42c0-8de6-a2292df23fc7}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK ALIGNER_IO_FB EXTENDS Station_GENERAL_IO_FB
+VAR_OUTPUT
+	rInDiameter				:	LREAL; 	//mm
+	rInRoundness			:	LREAL;	//mm
+	
+	rInX_Coordinates		:	LREAL;	//mm
+	rInY_Coordinates		:	LREAL;	//mm
+END_VAR
+VAR
+	KeyenceSensor	AT	%I*	:	ARRAY[0..3] OF UDINT;
+END_VAR
+VAR CONSTANT
+END_VAR
+VAR_INPUT
+	ChuckVacuum				:	PneumaticCylinder_FB;
+END_VAR
+
+
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[//LedCylinder();
+ChuckVacuum();
+ChuckVacuum.bInDown	:=	NOT ChuckVacuum.bInUp;
+rInDiameter	:=	KeyenceSensor[0];
+rInDiameter	:=	rInDiameter*2;
+rInDiameter	:=	rInDiameter /1000;
+
+
+rInRoundness	:=	KeyenceSensor[1];
+rInRoundness	:=	rInRoundness/1000;
+
+
+rInX_Coordinates	:=	UDINT_TO_DINT(KeyenceSensor[2]);
+rInX_Coordinates	:=	rInX_Coordinates /1000;
+
+
+rInY_Coordinates	:=	UDINT_TO_DINT(KeyenceSensor[3]);
+rInY_Coordinates	:=	rInY_Coordinates /1000;
+
+IF ROBOT_MAIN.TargetStation = iStation THEN
+	CASE CMD[RobotStation] OF
+		GetCMD:
+			IF ROBOT_MAIN.RobotControl.bInPartOnSucker[ROBOT_MAIN.TargetPuddle] THEN
+				ChuckVacuum.Down(TRUE);
+			END_IF
+		PutCMD:
+			IF NOT ROBOT_MAIN.RobotControl.bInPartOnSucker[ROBOT_MAIN.TargetPuddle] THEN
+				ChuckVacuum.Up(TRUE);
+			END_IF
+		ChangeCMD:
+			IF SpinnerVacOff THEN
+				ChuckVacuum.Down(TRUE);
+			END_IF
+			
+			IF SpinnerVacOn THEN
+				ChuckVacuum.Up(TRUE);
+			END_IF
+	END_CASE
+END_IF]]></ST>
+    </Implementation>
+    <Method Name="Initialization" Id="{a871eb65-cceb-4b85-87c8-1d7073b58215}">
+      <Declaration><![CDATA[METHOD Initialization
+VAR_INPUT
+	iStation		:	INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[InitializationExt(iStation);
+
+ChuckVacuum.Initialization(
+	iStation,
+	eAlignerMedienNamen.ChuckVacuumOn,
+	eAlignerMedienNamen.ChuckVacuumOff,
+	SPINNER_ErrorNr.eChuckVacuumOn,
+	Peripherie_GVL.ServiceNameChuckVacuumOn,
+	Peripherie_GVL.ServiceNameChuckVacuumOff
+	);]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>