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/01_Stationen/Aligner/FB_Aligner.TcPOU

@@ -30,8 +30,7 @@ VAR
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[_fbXAxis(
-	xEnable:= TRUE, 
+      <ST><![CDATA[_fbXAxis( 
 	xInvertCalibrationCam:= FALSE, 
 	xEnablePositive:= TRUE, 
 	xEnableNegative:= TRUE, 
@@ -43,7 +42,6 @@ END_VAR
 	xConfirmAlarms:= xConfirmAlarms);
 	
 _fbYAxis(
-	xEnable:= TRUE, 
 	xInvertCalibrationCam:= FALSE, 
 	xEnablePositive:= TRUE, 
 	xEnableNegative:= TRUE, 
@@ -54,6 +52,12 @@ _fbYAxis(
 	lrJerk:= 0, 
 	xConfirmAlarms:= xConfirmAlarms);
 	
+	
+// =============================
+// Call isa88 base state machine
+// =============================
+SUPER^(stPackMLHMIInterface := THIS^.stPackMLHMIInterface);
+	
 _rtExecute(CLK:= xExecute, Q=> _xStartAlign);
 	
 // Drei mal ausführen damit die Position genau ist
@@ -73,5 +77,122 @@ xActivateVacuum := xEnableVacuum;
 xDeactivateVacuum := (NOT xEnableVacuum);
 xVacuumEnabled := xVacuumOk;]]></ST>
     </Implementation>
+    <Method Name="FB_init" Id="{5048e086-25a4-4fbb-bf29-7a016bcf2277}">
+      <Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.
+//The return value is not evaluated. For a specific influence, you can also declare the
+//methods explicitly and provide additional code there with the standard initialization
+//code. You can evaluate the return value.
+METHOD FB_Init: BOOL
+VAR_INPUT
+    bInitRetains: BOOL; // TRUE: the retain variables are initialized (reset warm / reset cold)
+    bInCopyCode: BOOL;  // TRUE: the instance will be copied to the copy code afterward (online change)   
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_stSMConfig.xClearingDisabled := TRUE;
+_stSMConfig.xStartingDisabled := TRUE;
+_stSMConfig.xHeldDisabled := TRUE;
+_stSMConfig.xSuspededDisabled := TRUE;
+_stSMConfig.xCompletedDisabled := FALSE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Clearing" Id="{0b5b5108-3886-40a3-876f-a3460b5d5089}">
+      <Declaration><![CDATA[METHOD PROTECTED M_Clearing
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iSSM OF
+	0:
+		// TODO: Reset axes
+		M_StateComplete();
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Execute" Id="{d508050c-8f62-4fb2-be6c-88cfee1bab3b}">
+      <Declaration><![CDATA[METHOD PROTECTED M_Execute
+VAR_INST
+	_deltaX : REAL;
+	_deltaY : REAL;
+	
+	_uiRuns : UINT;
+	_tonWait : TON;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iSSM OF
+	// Start first alignment
+	0:
+		_deltaX := DINT_TO_REAL(diXOffset) * -0.001;
+		_deltaY := ((DINT_TO_REAL(diYOffset) * 0.001) - 37.5) * -1;
+		
+		IF (ABS(_deltaX) < 10.0) AND (ABS(_deltaY) < 10.0) AND (NOT _fbXAxis.xError) AND (NOT _fbYAxis.xError) THEN
+			_fbXAxis.M_MoveRel(lrRelDist := _deltaX);
+			_fbYAxis.M_MoveRel(lrRelDist := _deltaY);
+			_iSSM := 10;
+		END_IF
+		
+	// Wait for axis movements to be done
+	10:
+		IF (NOT _fbXAxis.xBusy) AND (NOT _fbYAxis.xBusy) THEN
+			_uiRuns := _uiRuns + 1;
+			
+			// Do alignment twice because of backlash in aligner station
+			IF _uiRuns > 1 THEN
+				_iSSM := 30;
+			ELSE
+				_iSSM := 20;
+			END_IF
+		END_IF
+		
+	// Wait 1 second to stabelise reading
+	20:
+		_tonWait(IN := TRUE, PT := T#2S);
+		IF _tonWait.Q THEN
+			_tonWait(IN := FALSE);
+			_iSSM := 0;
+		END_IF
+		
+	30:
+		_uiRuns := 0;
+		_eCmd := E_PackMLCmd.COMPLETE;
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Resetting" Id="{015c2bf3-1e45-46dd-93fe-a1f154bfd906}">
+      <Declaration><![CDATA[METHOD PROTECTED M_Resetting
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iSSM OF
+	0:
+		// Enable axes
+		_fbXAxis.xEnable := TRUE;
+		_fbYAxis.xEnable := TRUE;
+		
+		IF _fbXAxis.xEnabled AND _fbYAxis.xEnabled THEN
+			IF (NOT _fbXAxis.xHomed) THEN
+				_fbXAxis.M_Homing(lrHomingPosition := BC.Tc2_MC2.DEFAULT_HOME_POSITION);
+			END_IF
+			
+			IF (NOT _fbYAxis.xHomed) THEN
+				_fbYAxis.M_Homing(lrHomingPosition := BC.Tc2_MC2.DEFAULT_HOME_POSITION);
+			END_IF
+		
+			_iSSM := 10;
+		END_IF
+		
+	10:
+		// Home axes
+		IF (NOT _fbXAxis.xBusy) AND (NOT _fbYAxis.xBusy) THEN
+			_fbXAxis.M_MoveAbs(0.0);
+			_fbYAxis.M_MoveAbs(0.0);
+			_iSSM := 20;
+		END_IF
+		
+	20:
+		// Move to 0 position
+		IF (NOT _fbXAxis.xBusy) AND (NOT _fbYAxis.xBusy) THEN
+			M_StateComplete();
+		END_IF
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
   </POU>
 </TcPlcObject>