Some improvements and fixes

- Added robot schift params for aligning etcher 1 position
- Added HMI Interface to robot fb
- Added machine LED's at main cabinet
- Aligner now works in auto mode
- Added HMI interface to etcher station
- Added cReleaseAlarms to HeatCoolPlates
- Added HMI interface to HVTester
- STarted tray feeder response parsing
- Fixed some packml base state machine bugs

PLC/00_Main/PRG_Main.TcPOU

@@ -7,10 +7,12 @@ VAR
 	_fbHVTester : FB_HVTester;
 	_fbEtcher1 : FB_Etcher;
 	_fbEtcher2 : FB_Etcher;
-	_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.0.41', udiPort := 1337);
+	_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
 	_fbHeatCoolPlates : FB_HeatCoolPlates;
 	_fbAligner : FB_Aligner;
 	
+	_xReleaseAlarms : BOOL;
+	
 	_xConfirmAlarms : BOOL;
 	
 	_stRobotCmd : ST_PMLc;
@@ -43,7 +45,10 @@ VAR
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[IF _xClear THEN
+      <ST><![CDATA[// Data from safety
+_xReleaseAlarms := PRG_Safety.xEStopOk;
+
+IF _xClear THEN
 	_xClear := FALSE;
 	_fbRobot.M_Clear();
 END_IF
@@ -86,40 +91,46 @@ _fbRobot(
 	stCommand:= _stRobotCmd,
 	stJobParams := _stRobotJobParams,
 	stUnitFeedbacks := _stUnitFeedbacks,
-	xReleaseAlarms:= TRUE, 
+	xReleaseAlarms:= _xReleaseAlarms, 
 	xConfirmAlarms:= GVL_SCADA.xErrAck,
 	stStatus => _stRobotStatus,
 	stAdmin => _stRobotAdmin,
-	xReady=> , 
-	xError=> );
+	stPackMLHMIInterface := GVL_SCADA.stMachine.stKukaRobot);
 	
 IF _stRobotCmd.xCmdChangeRequest THEN
 	_stRobotCmd.xCmdChangeRequest := FALSE;
 END_IF
 
-_fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers);
+_fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers, stPackMLHMIInterface := GVL_SCADA.stMachine.stHVTester);
 
 _fbEtcher1(
 	xOpenDoor:= GVL_SCADA.xOpenAllChambers,
 	xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher1,
-	xConfirmAlarms := GVL_SCADA.xErrAck);
+	xReleaseAlarms := _xReleaseAlarms,
+	xConfirmAlarms := GVL_SCADA.xErrAck,
+	stPackMLHMIInterface := GVL_SCADA.stMachine.stEtcher1);
 	
 _fbEtcher2(
 	xOpenDoor:= GVL_SCADA.xOpenAllChambers,
 	xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher2,
-	xConfirmAlarms := GVL_SCADA.xErrAck);
+	xReleaseAlarms := _xReleaseAlarms,
+	xConfirmAlarms := GVL_SCADA.xErrAck,
+	stPackMLHMIInterface := GVL_SCADA.stMachine.stEtcher2);
 
 _fbTrayFeederInput(
 	stCommand:= ,
+	xReleaseAlarms := _xReleaseAlarms,
 	xConfirmAlarms := GVL_SCADA.xErrAck,
 	stStatus=> GVL_SCADA.stTrayFeederInputState,
-	stAdmin=> GVL_SCADA.stTRayFeederInputAdmin);
+	stAdmin=> GVL_SCADA.stTRayFeederInputAdmin,
+	stPackMLHMIInterface := GVL_SCADA.stMachine.stTrayFeeder);
 
 _fbHeatCoolPlates(
 	stHMIInterface := GVL_SCADA.stHCPlatesHMIInterface,
+	xReleaseAlarms := _xReleaseAlarms,
 	xConfirmAlarms:= GVL_SCADA.xErrAck);
 
-_fbAligner(stCommand:= , stStatus=> , stAdmin=> , xConfirmAlarms:= GVL_SCADA.xErrAck);
+_fbAligner(stCommand:= , stStatus=> , stAdmin=> , xConfirmAlarms:= GVL_SCADA.xErrAck, stPackMLHMIInterface := GVL_SCADA.stMachine.stAligner);
 
 
 // Call safety program
@@ -136,48 +147,72 @@ CASE _iState OF
 		IF _xStartCycle THEN
 			_xStartCycle := FALSE;
 			
-			// Only start with robot in idle
+			// Only start with robot in idle then put into aligner
 			IF _stRobotStatus.eStateCurrent = E_PackMLState.IDLE THEN
+				_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
+				_fbRobot.M_Start();
 				_iState := 10;
 			END_IF
 		END_IF
 		
-	// Grab from position 1
+	// Wait for part in aligner
 	10:
-		// Prepare robot command
-		_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_INPUT;
-		_stRobotJobParams.rPosX := 88.0;
-		_stRobotJobParams.rPosY := 79.0;
-		_stRobotJobParams.byGripperSide := 3;
-		
-		_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
-		_stRobotCmd.xCmdChangeRequest := TRUE;
-		
-		_iState := 20;
-		
-	// Wait for Robot to be done
-	20:
 		IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
-			_iState := 30;
+			_fbAligner.M_Start();
+			_iState := 20;
 		END_IF
 		
 		// Job aborted
-		IF (_stRobotStatus.eStateCurrent = E_PackMLState.ABORTED) OR (_stRobotStatus.eStateCurrent = E_PackMLState.STOPPED) THEN
-			_iState := 900;
+// 		IF (_stRobotStatus.eStateCurrent = E_PackMLState.ABORTED) OR (_stRobotStatus.eStateCurrent = E_PackMLState.STOPPED) THEN
+// 			_iState := 900;
+// 		END_IF
+		
+	// Wait for aligner to be done then get it with the robot
+	20:
+		IF (_fbAligner.stStatus.eStateCurrent = E_PackMLState.COMPLETED) THEN
+			_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ALIGNER;
+			_fbRobot.M_Start();
+			_iState := 40;
 		END_IF
 		
-	// Put part onto aligner
-	30:
-		_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
-		
-		_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
-		_stRobotCmd.xCmdChangeRequest := TRUE;
-		
-		_iState := 40;
-		
-	// Align blank
+	// Get from aligner done, reset aligner
 	40:
-		;
+		IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
+			_fbAligner.M_Reset();
+			_iState := 45;
+		END_IF
+		
+	45: // Wait for start to put into etcher
+		IF _xStartCycle THEN
+			_xStartCycle := FALSE;
+			_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ETCHER1;
+			_fbRobot.M_Start();
+			_iState := 50;
+		END_IF
+		
+	// Wait for robot to be done
+	50:
+		IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
+			_iState := 60;
+		END_IF
+		
+	// Wait for start then get it from the etcher
+	60:
+		IF _xStartCycle THEN
+			_xStartCycle := FALSE;
+			_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ETCHER1;
+			_fbRobot.M_Start();
+			_iState := 70;
+		END_IF
+		
+	// Done with getting it from the etcher
+	70:
+		IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
+			_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
+			_fbRobot.M_Start();
+			_iState := 10;
+		END_IF
+		
 		
 	ELSE
 		// Nothing to do here
@@ -188,6 +223,8 @@ END_CASE
 // DEBUG
 // =====
 
+
+
 _tofTriggerTime(IN := _xStartTrigger, PT := T#1S);
 IF _xStartTrigger THEN
 	_xStartTrigger := FALSE;

PLC/00_Main/PRG_Safety.TcPOU

@@ -19,6 +19,9 @@ VAR
 	xErrorAck AT %Q* : BOOL;
 	xLockDoor AT %Q* : BOOL := TRUE;
 	
+	xLEDMachineOn AT %Q* : BOOL;
+	xLEDMachineOff AT %Q* : BOOL;
+	
 	_rtDoorUnlock : R_TRIG;
 	_tofErrorAck : TOF;
 	
@@ -38,7 +41,9 @@ END_IF
 _tofErrorAck(IN:= xConfirmAlarms, PT:= T#500MS, Q=> xErrorAck, ET=> );
 
 // Copy internal signals to outputs
-xStopRobot := _xStopRobot;]]></ST>
+xStopRobot := _xStopRobot;
+xLEDMachineOn := xEStopOk;
+xLEDMachineOff := (NOT xEStopOk);]]></ST>
     </Implementation>
   </POU>
 </TcPlcObject>

PLC/00_Main/ST_HMI_Machine.TcDUT

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_HMI_Machine" Id="{60f4c1e9-5df6-4709-9b42-c771abc6cf78}">
+    <Declaration><![CDATA[TYPE ST_HMI_Machine :
+STRUCT
+	stAligner : ST_HMI_PackML;
+	stEtcher1 : ST_HMI_PackML;
+	stEtcher2 : ST_HMI_PackML;
+	stHVTester : ST_HMI_PackML;
+	stKukaRobot : ST_HMI_PackML;
+	stTrayFeeder : ST_HMI_PackML;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>