Initial

PLC/9 Robot/POUs/KUKA/sConfigKUKA.TcDUT

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+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.13">
+  <DUT Name="sConfigKUKA" Id="{9f003c15-5e04-4639-bd83-944a7103d2ee}">
+    <Declaration><![CDATA[TYPE sConfigKUKA :
+STRUCT
+	StationsGetJob			:	ARRAY[FirstCassette..LastRelaxStation]		OF	USINT;
+	StationsPutJob			:	ARRAY[FirstCassette..LastRelaxStation]		OF	USINT;
+	StationsMTRJob			:	ARRAY[FirstCassette..LastRelaxStation]		OF	USINT;
+	StationsCoordinate		:	ARRAY[FirstCassette..LastRelaxStation] 		OF	ARRAY[0..2] OF LREAL;
+	TrayTeachPositions		:	ARRAY [1..MaxNumberOfSizes] 				OF	ARRAY[1..MaxNumberOfSubstratesPerTray] OF sPoint;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/9 Robot/POUs/KUKA/sStationsTrayScan.TcDUT

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+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
+  <DUT Name="sStationsTrayScan" Id="{56dee3d3-54f7-472b-9226-086bd125d193}">
+    <Declaration><![CDATA[TYPE sStationsTrayScan :
+STRUCT
+	MaxNumber			:	SINT;
+	SizeName			:	STRING;
+	Thickness			:	LREAL;
+	HeightAtTray		:	LREAL;
+	GripperSize			:	USINT(1..3) := 1;
+	PositionAtHVHot		:	ARRAY[0..1] OF LREAL;
+	PositionAtHVCold	:	ARRAY[0..1] OF LREAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/9 Robot/POUs/KUKA/sSubstrateInformation.TcDUT

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+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.13">
+  <DUT Name="sSubstrateInformation" Id="{481f4221-b035-4507-ad02-6da1ed17a4f9}">
+    <Declaration><![CDATA[TYPE sSubstrateInformation :
+STRUCT
+	MaxNumber			:	SINT;
+	SizeName			:	STRING;
+	Thickness			:	LREAL;
+	HeightAtTray		:	LREAL;
+	GripperSize			:	ePaddleSize;
+
+	Diameter			:	LREAL;
+	DiameterTolerance	:	LREAL;
+	
+	VisuIndex			:	INT;
+	
+	PositionAtHVHot		:	ARRAY[0..1] OF LREAL;
+	PositionAtHVCold	:	ARRAY[0..1] OF LREAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/9 Robot/POUs/ROBOT_IO_FB.TcPOU

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+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
+  <POU Name="ROBOT_IO_FB" Id="{cd7e78dc-a32d-482a-a280-e4c1d405bdfd}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK ROBOT_IO_FB EXTENDS Station_GENERAL_IO_FB
+VAR
+	DoorLock						:	Lock_FB;
+	Step							:	INT;
+END_VAR
+VAR_INPUT
+	bOutAllDoorUnlock				:	BOOL;
+END_VAR
+VAR_OUTPUT
+	bInDoorLocked					:	ARRAY[1..3] OF BOOL;
+	bInMainDoorUnlock	AT %I*		:	BOOL;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[MediaCheck();
+
+DoorLock();
+
+IF bInMainDoorUnlock THEN
+	DoorLocK.UnLock();
+END_IF
+
+MediaCheck();
+
+AllDoorAreLocked := TRUE;
+FOR i := 1 TO 4 DO
+	IF NOT DoorLock.bInLocked OR NOT DoorLock.bOutLock THEN
+		AllDoorAreLocked := FALSE;
+	END_IF
+END_FOR
+
+CASE Step OF
+	0:
+		IF bOutAllDoorUnlock THEN
+			Step := 10;
+		END_IF
+	10:
+		DoorLock.UnLock();
+		Step := 20;
+	20:
+		IF NOT bOutAllDoorUnlock THEN
+			Step := 30;
+		END_IF
+		
+		IF AllDoorAreLocked THEN
+			bOutAllDoorUnlock	:=	FALSE;
+			Step := 40;
+		END_IF
+	30:
+		DoorLock.Lock();
+		
+		IF AllDoorAreLocked THEN
+			Step := 40;
+		END_IF
+	40:
+		//IF LOGOSOL_ROBOT.VST(TRUE) THEN
+			Step := 0;
+		//END_IF
+END_CASE
+
+
+iMediaArray[eRobotMedienNamen.AllDoorUnlock].Disable := FALSE;
+
+CASE CMD[GeneralStation] OF
+	InitCMD:
+		iMediaArray[eRobotMedienNamen.AllDoorUnlock].Disable := TRUE;
+	StartCMD:
+		IF NOT MediaArray[GeneralStation][eMainMedienNamen.Pause].Input THEN
+			iMediaArray[eRobotMedienNamen.AllDoorUnlock].Disable := TRUE;
+		END_IF
+END_CASE
+
+IF bInStartRobotCleanOut THEN
+	iMediaArray[eRobotMedienNamen.AllDoorUnlock].Disable := FALSE;
+END_IF]]></ST>
+    </Implementation>
+    <Method Name="Initialization" Id="{9f1b2fac-4390-45ab-9483-d4ebc1518612}">
+      <Declaration><![CDATA[METHOD Initialization : BOOL
+VAR_INPUT
+	iStation	:	INT;
+END_VAR
+VAR
+	i	:	int;
+END_VAR
+VAR CONSTANT
+	DoorServiceName			:	ARRAY[0..NumberOfLanguages] OF T_MaxString := ['Door Lock', 'Door Lock'];
+	
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[iStationStatus 	REF= 	StationsStatus[iStation];
+iCMD			REF=	CMD[iStation];
+iMediaArray		REF=	MediaArray[iStation];
+
+iMediaArray[eRobotMedienNamen.Vacuum1].ServiceName[0]				:=	'Vacuum Ch1';
+iMediaArray[eRobotMedienNamen.Vacuum1].bReferenceControl			REF= ROBOT_MAIN.RobotControl.bOutRobotVacOff[0];
+
+iMediaArray[eRobotMedienNamen.Vacuum2].ServiceName[0]				:=	'Vacuum Ch2';
+iMediaArray[eRobotMedienNamen.Vacuum2].bReferenceControl			REF= ROBOT_MAIN.RobotControl.bOutRobotVacOff[1];
+
+DoorLock.Initialization(
+	iStation,
+	eRobotMedienNamen.DoorLock1,
+	ROBOT_ErrorNr.eDoor1CloseTimeout,
+	ROBOT_ErrorNr.eDoor1LockTimeout,
+	DoorServiceName
+	);
+	
+iMediaArray[eRobotMedienNamen.AllDoorUnlock].ServiceName[0]  	:=		'All Door$NUnlock';
+iMediaArray[eRobotMedienNamen.AllDoorUnlock].ServiceName[1]  	:=		'All Door$NUnlock';
+iMediaArray[eRobotMedienNamen.AllDoorUnlock].bReferenceControl	REF=	bOutAllDoorUnlock;]]></ST>
+      </Implementation>
+    </Method>
+    <Action Name="MediaCheck" Id="{3c9b52b1-4cdc-40ac-9c3f-4aec786f217f}">
+      <Implementation>
+        <ST><![CDATA[DelayTimer(IN := TRUE, PT := T#5S);
+ IF NOT DelayTimer.Q  THEN
+	 RETURN;
+ END_IF]]></ST>
+      </Implementation>
+    </Action>
+  </POU>
+</TcPlcObject>