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

Infineon.tmc

@@ -163,5 +163,41 @@
 				<Hide GUID="{96196A41-758B-4248-8C31-DA1C8BC623CC}"/>
 			</Hides>
 		</DataType>
+		<DataType>
+			<Name GUID="{B0E2BF75-95FB-476B-A0F8-E6FDE5F57EBE}">TrayFeeder</Name>
+			<DisplayName TxtId=""><![CDATA[NewEventClass_DisplayText]]></DisplayName>
+			<EventId>
+				<Name Id="1">ReceivedResponseNotOk</Name>
+				<DisplayName TxtId=""><![CDATA[Received response not ok]]></DisplayName>
+				<Severity>Error</Severity>
+			</EventId>
+			<EventId>
+				<Name Id="2">WrongCmdIdAck</Name>
+				<DisplayName TxtId=""><![CDATA[Wrong command id acknowledged]]></DisplayName>
+				<Severity>Error</Severity>
+			</EventId>
+			<EventId>
+				<Name Id="3">WrongResponseIndicator</Name>
+				<DisplayName TxtId=""><![CDATA[Wrong response indicator]]></DisplayName>
+				<Severity>Error</Severity>
+			</EventId>
+			<EventId>
+				<Name Id="4">SocketWriteError</Name>
+				<DisplayName TxtId=""><![CDATA[Socket write error]]></DisplayName>
+				<Severity>Error</Severity>
+			</EventId>
+			<EventId>
+				<Name Id="5">SocketReadError</Name>
+				<DisplayName TxtId=""><![CDATA[Socket read error]]></DisplayName>
+				<Severity>Error</Severity>
+			</EventId>
+			<Hides>
+				<Hide GUID="{1E0E65C7-9CA5-4772-AC19-F7CE4DC70A35}"/>
+				<Hide GUID="{B358F01B-CE2B-4789-85D4-6CF0B919A47E}"/>
+				<Hide GUID="{9D0721B2-6FBA-47BE-83F5-540D1DD0BBA2}"/>
+				<Hide GUID="{31DFFF05-25C1-4FD2-932B-F38F10A27EAC}"/>
+				<Hide GUID="{3C12606F-988C-4B37-9511-7C233F8FBCE5}"/>
+			</Hides>
+		</DataType>
 	</DataTypes>
 </TcModuleClass>

Infineon.tsproj

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20">
-	<Project ProjectGUID="{CB97A0B0-7E22-470D-8550-AA318EA46E50}" Target64Bit="true" ShowHideConfigurations="#x6">
+	<Project ProjectGUID="{CB97A0B0-7E22-470D-8550-AA318EA46E50}" TargetNetId="5.127.104.206.1.1" Target64Bit="true" ShowHideConfigurations="#x6">
 		<System>
 			<Settings MaxCpus="2"/>
 			<Licenses>
@@ -41,4 +41,12 @@
 			<Device File="Device 5 (EtherCAT).xti" Id="5"/>
 		</Io>
 	</Project>
+	<Mappings>
+		<MappingInfo Identifier="{00000000-2001-0850-0020-500840000403}" Id="#x02030050"/>
+		<MappingInfo Identifier="{00000000-2001-0850-0020-500851000403}" Id="#x02030040"/>
+		<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
+		<MappingInfo Identifier="{00000000-0020-0304-3000-040322000403}" Id="#x02030030"/>
+		<MappingInfo Identifier="{05000010-2001-0850-3000-040300205008}" Id="#x02030060" Watchdog="10000000040000000400000004000000"/>
+		<MappingInfo Identifier="{03040050-0050-0304-5000-040350000403}" Id="#x02030020" Watchdog="04000000040000000400000004000000"/>
+	</Mappings>
 </TcSmProject>

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=> , 
+	stPackMLHMIInterface := GVL_SCADA.stMachine.stKukaRobot);
-	xError=> );
 	
 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
+// 		IF (_stRobotStatus.eStateCurrent = E_PackMLState.ABORTED) OR (_stRobotStatus.eStateCurrent = E_PackMLState.STOPPED) THEN
-			_iState := 900;
+// 			_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
+	// Get from aligner done, reset aligner
-	30:
-		_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
-		
-		_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
-		_stRobotCmd.xCmdChangeRequest := TRUE;
-		
-		_iState := 40;
-		
-	// Align blank
 	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>

PLC/01_Stationen/Aligner/FB_Aligner.TcPOU

@@ -31,7 +31,6 @@ END_VAR
 ]]></Declaration>
     <Implementation>
       <ST><![CDATA[_fbXAxis( 
-	xEnable:= TRUE, 
 	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>

PLC/01_Stationen/Etcher/FB_Etcher.TcPOU

@@ -8,6 +8,7 @@ VAR_INPUT
 	xOpenChuckClamp : BOOL;
 	xEjectChuck : BOOL;
 	xReleaseManualMode : BOOL;
+	xReleaseAlarms : BOOL;
 	xConfirmAlarms : BOOL;
 	stHMIInterface : ST_Etcher_HMIInterface;
 END_VAR
@@ -80,14 +81,13 @@ END_VAR
       <ST><![CDATA[// Main door
 _fbValveDoor(
 	xAutomaticOpen:= xOpenDoor, 
-	xReleaseErrors:= TRUE, 
+	xReleaseErrors:= xReleaseAlarms, 
 	stValveConfig:= _stValveDoorCfg, 
 	xReleaseManualMode:= FALSE, 
 	xConfirmAlarms:= xConfirmAlarms,  
 	stHMIInterface:= stHMIInterface.stDoorHMIInterface);
 	
 	
-	
 // Chuck
 _rtEjectChuckCmd(CLK := xEjectChuck);
 IF _rtEjectChuckCmd.Q THEN
@@ -98,7 +98,7 @@ END_IF
 
 _fbUnlockLeft( 
 	xAutomaticOpen:= xOpenChuckClamp, 
-	xReleaseErrors:= TRUE, 
+	xReleaseErrors:= xReleaseAlarms, 
 	stValveConfig:= _stValveUnlockLeftCfg, 
 	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
@@ -106,7 +106,7 @@ _fbUnlockLeft(
 	
 _fbUnlockRight( 
 	xAutomaticOpen:= xOpenChuckClamp, 
-	xReleaseErrors:= TRUE, 
+	xReleaseErrors:= xReleaseAlarms, 
 	stValveConfig:= _stValveUnlockRightCfg, 
 	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
@@ -114,7 +114,7 @@ _fbUnlockRight(
 	
 _fbEjectFront( 
 	xAutomaticOpen:= _tpEjectChuck.Q, 
-	xReleaseErrors:= TRUE, 
+	xReleaseErrors:= xReleaseAlarms, 
 	stValveConfig:= _stValveClampingFrontCfg, 
 	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
@@ -122,7 +122,7 @@ _fbEjectFront(
 	
 _fbEjectBack( 
 	xAutomaticOpen:= _tpEjectChuck.Q, 
-	xReleaseErrors:= TRUE, 
+	xReleaseErrors:= xReleaseAlarms, 
 	stValveConfig:= _stValveEjectBackCfg, 
 	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
@@ -131,7 +131,7 @@ _fbEjectBack(
 xDisableVacuum := (NOT xEnableVacuum);
 
 // Call base sm
-SUPER^();
+SUPER^(stPackMLHMIInterface := THIS^.stPackMLHMIInterface);
 
 // Copy internal signals to output
 xDoorOpen := _fbValveDoor.IsOpen;

PLC/01_Stationen/HVTester/FB_HVTester.TcPOU

@@ -38,7 +38,7 @@ ELSE
 END_IF
 
 // Call base sm
-SUPER^();]]></ST>
+SUPER^(stPackMLHMIInterface := THIS^.stPackMLHMIInterface);]]></ST>
     </Implementation>
   </POU>
 </TcPlcObject>

PLC/01_Stationen/HeatCoolPlates/FB_HeatCoolPlates.TcPOU

@@ -3,6 +3,7 @@
   <POU Name="FB_HeatCoolPlates" Id="{a2be063c-19d7-4ca2-8121-529d61cc7bc2}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK FB_HeatCoolPlates
 VAR_INPUT
+	xReleaseAlarms : BOOL;
 	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
@@ -25,6 +26,7 @@ END_VAR
 	xEnable:= _xEnableHotplate, 
 	rTargetTemp:= _rTargetTemp, 
 	stHMIInterface := stHMIInterface.stHotplateHMIInterface,
+	xReleaseAlarms := xReleaseAlarms,
 	xConfirmAlarms:= xConfirmAlarms, 
 	uiNextFreeSlot=> , 
 	uiNextReadySlot=> );

PLC/01_Stationen/HeatCoolPlates/FB_HotPlate.TcPOU

@@ -6,6 +6,7 @@ VAR_INPUT
 	xEnable : BOOL;
 	rTargetTemp : REAL;
 	
+	xReleaseAlarms : BOOL;
 	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
@@ -47,7 +48,7 @@ END_VAR
 _fbTempSensor(
 	stAnalogIOConfig:= _stTempSensorConfig, 
 	stAnalogEWConfig:= _stTempSEnsorEWConfig, 
-	xReleaseErrors:= TRUE, 
+	xReleaseErrors:= xReleaseAlarms, 
 	xReleaseLimitErrors:= FALSE, 
 	xReleaseHardwareErrors:= TRUE, 
 	xConfirmAlarms:= xConfirmAlarms, 
@@ -79,7 +80,7 @@ _fbLimit(
 	xClampedLower=> _fbPITempControl.xSaturatedLower);
 
 _fbPWMOut(
-	timPeriod:= T#10S,
+	timPeriod:= T#100MS,
 	xOutput=> xEnableHotplate);
 	
 // Output HMI Interface

PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU

@@ -45,6 +45,11 @@ VAR
 	diOffsetPosY AT %Q* : DINT;
 	diThickness AT %Q* : DINT;
 	
+	// Offsets for etcher 1 in  um
+	diOffsetXE1 AT %Q* : DINT := -280;
+	diOffsetYE1 AT %Q* : DINT := 340;
+	diOffsetZE1 AT %Q* : DINT := 0;
+	
 	// Inputs
 	stState AT %I* : ST_KukaRobot_State;
 	dwErrorBits AT %I* : DWORD;
@@ -137,7 +142,7 @@ _xRobotReady := stState.bExt
 // =============================
 // Call isa88 base state machine
 // =============================
-SUPER^();
+SUPER^(stPackMLHMIInterface := THIS^.stPackMLHMIInterface);
 
 
 // ==============================
@@ -475,11 +480,21 @@ END_VAR]]></Declaration>
 		// Safety reset timout fb
 		_tonTimeout(IN := FALSE);
 		
+		_iSSM := 15;
+		
+	// Check mirrored values
+	15:
+		IF abyMirrorToolsAndPositions[0] = stJobParams.byGripperNumber
+			AND abyMirrorToolsAndPositions[1] = stJobParams.byChuckNumber
+			AND abyMirrorToolsAndPositions[2] = stJobParams.byPlaceOnHotplate
+			AND abyMirrorToolsAndPositions[3] = stJobParams.byPlaceOnCoolPlate
+		THEN
 			_iSSM := 20;
+		END_IF
 		
 	// Wait for robot program start
 	20:
-		_tonTimeout(IN := TRUE, PT := T#5S);
+		_tonTimeout(IN := TRUE, PT := T#15S);
 		
 		// If job number is read back correct, go to next state
 		IF awJobStatesFromRobot[0] = stJobs.wJobNrForRobot THEN

PLC/01_Stationen/TrayFeeder/E_TFInputStackState.TcDUT

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_TFInputStackState" Id="{116af561-bb7d-4305-a2c0-a49c88c2ea9c}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_TFInputStackState :
+(
+	UNDEFINED := 0,
+	EMTPY,
+	NO_MAGAZINE,
+	ALMOST_EMPTY
+);
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/01_Stationen/TrayFeeder/E_TrayFeederState.TcDUT

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_TrayFeederState" Id="{daeef904-23f3-4403-9629-33fc3b92cc18}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_TrayFeederState :
+(
+	HOLD := 0,
+	LOAD_POS,
+	FEED_POS,
+	BUSY
+);
+END_TYPE]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/01_Stationen/TrayFeeder/FB_StringRingbufferOwn.TcPOU

@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_StringRingbufferOwn" Id="{b0c904f8-c254-4be5-aa41-60a384fcb4a2}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_StringRingbufferOwn
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+	xHasData : BOOL;
+    xFull : BOOL;
+END_VAR
+VAR
+	_asBuffer : ARRAY[0..BUFFER_SIZE-1] OF STRING(255);
+    _uiWriteIdx : UINT := 0;
+    _uiReadIdx : UINT := 0;
+    _uiCount : UINT := 0;
+END_VAR
+VAR CONSTANT
+	BUFFER_SIZE : UINT := 10;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[// Write outputs
+xHasData := (_uiCount > 0);
+xFull  := (_uiCount >= BUFFER_SIZE);]]></ST>
+    </Implementation>
+    <Method Name="M_ReadData" Id="{2d123e62-f6df-4eb9-a215-009779534bc5}">
+      <Declaration><![CDATA[METHOD M_ReadData : STRING(255)
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_WriteData" Id="{dc0dd3d7-badb-4886-8590-850ff7625fa1}">
+      <Declaration><![CDATA[METHOD M_WriteData
+VAR_INPUT
+	sData : STRING(255);
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check if buffer is full
+IF _uiCount < BUFFER_SIZE THEN
+	_asBuffer[_uiWriteIdx] := sData;
+	_uiWriteIdx := (_uiWriteIdx + 1) MOD BUFFER_SIZE;
+	_uiCount := _uiCount + 1;
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>

PLC/01_Stationen/TrayFeeder/FB_TFProtocol.TcPOU

@@ -5,12 +5,13 @@
 VAR_INPUT
 	sIpAddr : STRING(15);
 	udiPort : UDINT;
-	
+	xConnect : BOOL := TRUE;
+	xReleaseAlarms : BOOL;
 	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
+	stStatus : ST_TrayFeederStatus;
 	xConnected : BOOL;
-	
 	xNewResponseReady : BOOL;
 	xBusy : BOOL;
 	xError : BOOL;
@@ -19,7 +20,6 @@ VAR
 	// Connection settings
 	_fbTcpConnection : FB_ClientServerConnection;
 	_hSocket : T_HSOCKET;
-	_xConnect : BOOL := TRUE;
 	_xConnected : BOOL;
 	
 	// Socket send
@@ -29,20 +29,23 @@ VAR
 	
 	// Socket receive
 	_fbSocketReceive : FB_SocketReceive;
-	_timReceiveTimeout : TIME := T#5S;
+	_timReceiveTimeout : TIME := T#1M;
 	_abyReceivedBuffer : ARRAY[0..100] OF BYTE;
 	_sReceivedResponse : STRING(255);
 	_udiResponseLength : UDINT;
 	_udiReceivedBytes : UDINT;
-	_timPollingTime : TIME := T#1S;
+	_timPollingTime : TIME := T#100MS;
 	_tonPollTimer : TON;
 	_xEnableReceiveTimeout : BOOL;
-	_timReceiveTimeoutTime : TIME := T#5S;
+	_timReceiveResponseTimeout : TIME := T#5S;
 	_tonReceiveTimeout : TON;
 	
 	// Receive state machine
 	_iStateReceive : INT;
 	
+	// Command parser
+	_fbParser : FB_TrayFeederParser;
+	
 	// Command data
 	_uiCmdId : UINT := 1;
 	_sCmd : STRING(255);
@@ -58,7 +61,15 @@ VAR
 	_xReceivedResponseOk : BOOL;
 	_uiReceivedCommandId : UINT;
 	
+	// Alarms
+	_fbWrongCmdIdAck : FB_AlarmMessage(stEventEntry := TC_EVENTS.TrayFeeder.WrongCmdIdAck, xWithConfirmation := TRUE);
+	_fbResponseNotOk : FB_AlarmMessage(stEventEntry := TC_EVENTS.TrayFeeder.ReceivedResponseNotOk, xWithConfirmation := TRUE);
+	_fbWrongResponseIndicator : FB_AlarmMessage(stEventEntry := TC_EVENTS.TrayFeeder.WrongResponseIndicator, xWithConfirmation := TRUE);
+	_fbSocketReadError : FB_AlarmMessage(stEventEntry := TC_EVENTS.TrayFeeder.SocketReadError, xWithConfirmation := TRUE);
+	_fbSocketWriteError : FB_AlarmMessage(stEventEntry := TC_EVENTS.TrayFeeder.SocketWriteError, xWithConfirmation := TRUE);
+	
 	// Buffer before output
+	_sResponse : STRING(255);
 	_xBusy : BOOL;
 	_xError : BOOL;
 END_VAR
@@ -75,7 +86,7 @@ _fbTcpConnection(
 	nMode:= , 
 	sRemoteHost:= sIpAddr, 
 	nRemotePort:= udiPort, 
-	bEnable:= _xConnect, 
+	bEnable:= xConnect, 
 	tReconnect:= T#2S, 
 	bBusy=> , 
 	bError=> , 
@@ -87,7 +98,7 @@ _fbTcpConnection(
 _xConnected := (_fbTcpConnection.eState = E_SocketConnectionState.eSOCKET_CONNECTED);
 
 // Receive timeout after sending a command
-_tonReceiveTimeout(IN := _xEnableReceiveTimeout, PT := _timReceiveTimeoutTime);
+_tonReceiveTimeout(IN := _xEnableReceiveTimeout, PT := _timReceiveResponseTimeout);
 
 // Receive state machine
 CASE _iStateReceive OF
@@ -121,12 +132,12 @@ CASE _iStateReceive OF
 			ELSE
 				_iStateReceive := 15;
 			END_IF
-			
 		END_IF
 		
 		// If we have an error, check if we are connected
 		IF _fbSocketReceive.bError THEN
 			_fbSocketReceive(bExecute := FALSE);
+			_fbSocketReadError.xActive := TRUE;
 			_iStateReceive := 0;
 		END_IF
 		
@@ -148,7 +159,8 @@ CASE _iStateReceive OF
 			
 	// Check received data
 	20:
-		// Check if received command is complete
+		// Get command
+		MEMSET(destAddr := ADR(_sReceivedResponse), fillByte := 0, n := SIZEOF(_sReceivedResponse));
 		MEMCPY(destAddr := ADR(_sReceivedResponse), srcAddr := ADR(_abyReceivedBuffer), n := _udiReceivedBytes);
 		_udiResponseLength := _udiReceivedBytes;
 		_udiReceivedBytes := 0;
@@ -157,6 +169,14 @@ CASE _iStateReceive OF
 		// Go back to polling wait state
 		_iStateReceive := 15;
 		
+	// Error
+	90:
+		_xError := TRUE;
+		
+		IF xConfirmAlarms THEN
+			_fbSocketReadError.xActive := FALSE;
+			_iState := 0;
+		END_IF
 	ELSE
 		;
 END_CASE
@@ -179,6 +199,7 @@ _xRunSMAgain := FALSE;
 			
 			IF _xSendCmd THEN
 				_xSendCmd := FALSE;
+				_xCmdReceived := FALSE;
 				_xBusy := TRUE;
 				_iState := 20;
 			END_IF
@@ -211,6 +232,7 @@ _xRunSMAgain := FALSE;
 			
 			IF _fbSocketSend.bError THEN
 				_fbSocketSend(bExecute := FALSE);
+				_fbSocketWriteError.xActive := TRUE;
 				_iState := 90;
 			END_IF
 			
@@ -245,13 +267,15 @@ _xRunSMAgain := FALSE;
 			// Check for cmd id
 			IF (_sReceivedResponse[0] <> UINT_TO_BYTE(_uiCmdId+16#30)) THEN
 				// Wrong command id received
-				_iState := 900;
+				_fbWrongCmdIdAck.xActive := TRUE;
+				_iState := 90;
 			END_IF
 			
 			// For for response indicator
 			IF _sReceivedResponse[1] <> F_ToASC('<') THEN
 				// Wrong response indicator
-				_iState := 901;
+				_fbResponseNotOk.xActive := TRUE;
+				_iState := 90;
 			END_IF
 			
 			// Check for correct cmd
@@ -267,11 +291,18 @@ _xRunSMAgain := FALSE;
 				_xBusy := FALSE;
 				_iState := 10;
 			ELSE
-				_iState := 902;
+				_fbResponseNotOk.xActive := TRUE;
+				_iState := 90;
 			END_IF
 			
 		// Got command from tray feeder which needs to be acknowledged
 		50:
+			IF _sReceivedResponse[1] <> F_ToASC('<') THEN
+				xNewResponseReady := TRUE;
+				MEMSET(ADR(_sResponse), 0, n := SIZEOF(_sResponse));
+				MEMCPY(destAddr := ADR(_sResponse), srcAddr := ADR(_sReceivedResponse)+1, n := _udiResponseLength-1);
+			END_IF
+			
 			// Copy first 11 bytes
 			FOR _diCounter := 0 TO 10 DO
 				_sAck[_diCounter] := _sReceivedResponse[_diCounter];
@@ -285,15 +316,14 @@ _xRunSMAgain := FALSE;
 				// Get command id
 				_uiReceivedCommandId := _sReceivedResponse[0] - 16#30;
 				_xRunSMAgain := TRUE;
-				_iState := 60;
+				_iState := 70;
 			ELSE
 				_xRunSMAgain := TRUE;
 				_iState := 10;
 			END_IF
 			
-			
 		// Send ack response
-		60:
+		70:
 			// Ack is always 11 bytes long (11 characters)
 			_fbSocketSend(
 				sSrvNetId:= '', 
@@ -310,7 +340,7 @@ _xRunSMAgain := FALSE;
 				_fbSocketSend(bExecute := FALSE);
 				_xEnableReceiveTimeout := TRUE;
 				_xBusy := FALSE;
-				_iState := 10;
+				_iState := 80;
 			END_IF
 			
 			IF _fbSocketSend.bError THEN
@@ -318,6 +348,13 @@ _xRunSMAgain := FALSE;
 				_iState := 90;
 			END_IF
 			
+		// Parse response
+		80:
+			_xRunSMAgain := TRUE;
+			_fbParser.M_ParseCmd(_sResponse);
+			stStatus := _fbParser.stStatus;
+			_iState := 10;
+			
 		// Error
 		90:
 			_xError := TRUE;
@@ -326,6 +363,10 @@ _xRunSMAgain := FALSE;
 			IF xConfirmAlarms THEN
 				_xError := FALSE;
 				_uiRetries := 0;
+				_fbWrongCmdIdAck.xActive := FALSE;
+				_fbResponseNotOk.xActive := FALSE;
+				_fbWrongResponseIndicator.xActive := FALSE;
+				_fbSocketWriteError.xActive := FALSE;
 				_iState := 0;
 			END_IF
 			
@@ -335,11 +376,43 @@ _xRunSMAgain := FALSE;
 UNTIL (NOT _xRunSMAgain)
 END_REPEAT
 
+// Handle alarms
+_fbWrongCmdIdAck(
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
+_fbResponseNotOk(
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
+_fbWrongResponseIndicator(
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
+_fbSocketReadError(
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
+_fbSocketWriteError(
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+
 // Copy output buffers to outputs
+stStatus := _fbParser.stStatus;
 xConnected := _xConnected;
 xBusy := _xBusy;
 xError := _xError;]]></ST>
     </Implementation>
+    <Method Name="M_GetResponse" Id="{7a67e859-37fc-4044-a956-f01ee59f215c}">
+      <Declaration><![CDATA[METHOD M_GetResponse : STRING(255)
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_GetResponse := _sResponse;
+xNewResponseReady := FALSE;]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="M_SendCmd" Id="{d00a8c1a-c183-4659-9c9e-be5b30566b7c}">
       <Declaration><![CDATA[METHOD M_SendCmd : BOOL
 VAR_INPUT
@@ -364,11 +437,12 @@ END_IF
 // Create command with id
 _sCmd := CONCAT(UINT_TO_STRING(_uiCmdId), '>');
 _sCmd := CONCAT(_sCmd, sCmd);
-_iCmdLength := LEN(sCmd);
+_iCmdLength := LEN(_sCmd);
 
-// start sendind command state machine
+// start sending command state machine
 _xSendCmd := TRUE;
 _xBusy := TRUE;
+xNewResponseReady := FALSE;
 
 M_SendCmd := TRUE;]]></ST>
       </Implementation>

PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU

@@ -3,6 +3,7 @@
   <POU Name="FB_TrayFeeder" Id="{e2e3e993-37de-42b1-80e1-7dba99a66e94}" SpecialFunc="None">
     <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_TrayFeeder EXTENDS FB_PackMLGeneric
 VAR_INPUT
+	xReleaseAlarms : BOOL;
 	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
@@ -11,7 +12,10 @@ VAR
 	_sIpAddr : STRING(15);
 	_udiPort : UDINT;
 	
+	_sResponse : STRING(255);
+	
 	_fbProtocolHandler : FB_TFProtocol;
+	_xConnect : BOOL := TRUE;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -21,6 +25,8 @@ END_VAR
 _fbProtocolHandler(
 	sIpAddr:= _sIpAddr, 
 	udiPort:= _udiPort, 
+	xConnect := _xConnect,
+	xReleaseAlarms := xReleaseAlarms,
 	xConfirmAlarms:= xConfirmAlarms, 
 	xConnected=> , 
 	xNewResponseReady=> , 
@@ -28,7 +34,7 @@ _fbProtocolHandler(
 	xError=> );
 
 // Call isa88 base state machine
-SUPER^();]]></ST>
+SUPER^(stPackMLHMIInterface := THIS^.stPackMLHMIInterface);]]></ST>
     </Implementation>
     <Method Name="FB_init" Id="{6c7048d9-3836-4289-b5f3-f8878267494f}">
       <Declaration><![CDATA[//FB_Init ist immer implizit verfügbar und wird primär für die Initialisierung verwendet.
@@ -59,9 +65,59 @@ _stSMConfig.xSuspededDisabled := TRUE;
 _stSMConfig.xAbortingDisabled := TRUE;]]></ST>
       </Implementation>
     </Method>
+    <Method Name="M_Clearing" Id="{c748d77d-f0af-4f18-845f-a10049447b5b}">
+      <Declaration><![CDATA[METHOD PROTECTED M_Clearing]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iSSM OF
+	// Request feeder status
+	0:
+		_fbProtocolHandler.M_SendCmd('STAT-FEED:');
+		_iSSM := 10;
+		
+	// Await response
+	10:
+		IF (NOT _fbProtocolHandler.xBusy) THEN
+			_iSSM := 40;
+		END_IF
+		
+	40:
+		M_StateComplete();
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Execute" Id="{615f393e-f45c-4e99-890d-36c504a262b8}">
+      <Declaration><![CDATA[METHOD PROTECTED M_Execute
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iSSM OF
+	0:
+		IF _fbProtocolHandler.M_SendCmd('TRAY-FEED:') THEN
+			_iSSM := 10;
+		ELSE
+			_eCmd := E_PackMLCmd.STOP;
+		END_IF
+		
+	10:
+		IF (NOT _fbProtocolHandler.xBusy) AND (NOT _fbProtocolHandler.xError) THEN
+			_iSSM := 20;
+		END_IF
+		
+		IF _fbProtocolHandler.xError THEN
+			_eCmd := E_PackMLCmd.STOP;
+		END_IF
+		
+	20:
+		IF _fbProtocolHandler.stStatus.xInPickPosition THEN
+			_eCmd := E_PackMLCmd.COMPLETE;
+		END_IF
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="M_Resetting" Id="{d821c17b-c2d1-4267-b49d-1f82be218ca5}">
       <Declaration><![CDATA[METHOD PROTECTED M_Resetting
-]]></Declaration>
+VAR_INST
+	_tonReconnect : TON;
+END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[CASE _iSSM OF
 	// Check state of connection
@@ -74,7 +130,7 @@ _stSMConfig.xAbortingDisabled := TRUE;]]></ST>
 		
 	// Send reset command
 	10:
-		IF _fbProtocolHandler.M_SendCmd('SYST-RESE') THEN
+		IF _fbProtocolHandler.M_SendCmd('SYST-RESE:') THEN
 			_iSSM := 20;
 		ELSE
 			_eCmd := E_PackMLCmd.STOP;
@@ -83,12 +139,32 @@ _stSMConfig.xAbortingDisabled := TRUE;]]></ST>
 	// Wait for reset command to be finished
 	20:
 		IF (NOT _fbProtocolHandler.xBusy) AND (NOT _fbProtocolHandler.xError) THEN
-			M_StateComplete();
+			_xConnect := FALSE;
+			_iSSM := 30;
 		END_IF
 		
 		IF _fbProtocolHandler.xError THEN
 			_eCmd := E_PackMLCmd.STOP;
 		END_IF
+		
+	30:
+		_tonReconnect(IN := TRUE, PT := T#5S);
+		
+		IF _tonReconnect.Q THEN
+			_tonReconnect(IN := FALSE, PT := T#5S);
+			_xConnect := TRUE;
+			_iSSM := 35;
+		END_IF
+		
+	35:
+		// Wait for reset message
+		IF _fbProtocolHandler.stStatus.eState <> E_TrayFeederState.HOLD THEN
+			_iSSM := 40;
+		END_IF
+		
+	// Check tray feeder status
+	40:
+		M_StateComplete();
 END_CASE]]></ST>
       </Implementation>
     </Method>

PLC/01_Stationen/TrayFeeder/FB_TrayFeederParser.TcPOU

@@ -0,0 +1,271 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_TrayFeederParser" Id="{d60acdcf-8e59-48d2-93a2-171510b93e18}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_TrayFeederParser
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+	stStatus : ST_TrayFeederStatus;
+END_VAR
+VAR
+	_stStatus : ST_TrayFeederStatus;
+END_VAR
+VAR CONSTANT
+	MAX_PARAMS : UINT := 10;
+	
+	PARAMS_SEP : STRING(1) := ';';
+	VALUE_SEP : STRING(1) := '=';
+END_VAR]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+    <Method Name="M_EvenSystParams" Id="{29bd9922-3af8-4120-835a-1d02226f2809}">
+      <Declaration><![CDATA[METHOD PRIVATE M_EvenSystParams
+VAR_INPUT
+	sParam : STRING(30);
+END_VAR
+VAR
+	_sParamName : STRING(15);
+	_sParamValue : STRING(15);
+	
+	_xSplitOk : BOOL;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_xSplitOk := FindAndSplit(
+				pSeparator := ADR(VALUE_SEP), pSrcString := ADR(sParam),
+				pLeftString := ADR(_sParamName), nLeftSize := SIZEOF(_sParamName),
+				pRightString := ADR(_sParamValue), nRightSize := SIZEOF(_sParamValue),
+				bSearchFromRight := FALSE);
+				
+IF _xSplitOk THEN
+	// Check for parameter names
+	IF 'Door' = _sParamName THEN
+		IF 'Opened' = _sParamValue THEN
+			_stStatus.xDoorOpen := TRUE;
+		ELSIF 'Closed' = _sParamValue THEN
+			_stStatus.xDoorOpen := FALSE;
+		END_IF
+	END_IF
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_NoteSystParams" Id="{d4055987-9814-4c22-8525-7aafb690c294}">
+      <Declaration><![CDATA[METHOD PRIVATE M_NoteSystParams
+VAR_INPUT
+	sParam : STRING(30);
+END_VAR
+VAR
+	_sParamName : STRING(15);
+	_sParamValue : STRING(15);
+	
+	_xSplitOk : BOOL;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_xSplitOk := FindAndSplit(
+				pSeparator := ADR(VALUE_SEP), pSrcString := ADR(sParam),
+				pLeftString := ADR(_sParamName), nLeftSize := SIZEOF(_sParamName),
+				pRightString := ADR(_sParamValue), nRightSize := SIZEOF(_sParamValue),
+				bSearchFromRight := FALSE);
+				
+IF _xSplitOk THEN
+	// Check for parameter names
+	IF 'InpStack' = _sParamName THEN
+		IF 'Empty' = _sParamValue THEN
+			_stStatus.eStateInputStack := E_TFInputStackState.EMTPY;
+		ELSIF 'NoMaga' = _sParamValue THEN
+			_stStatus.eStateInputStack := E_TFInputStackState.NO_MAGAZINE;
+		ELSIF 'AlmEmpty' = _sParamValue THEN
+			_stStatus.eStateInputStack := E_TFInputStackState.ALMOST_EMPTY;
+		ELSE
+			_stStatus.eStateInputStack := E_TFInputStackState.UNDEFINED;
+		END_IF
+	ELSIF 'Opera' = _sParamName THEN
+		IF 'Busy' = _sParamValue THEN
+			_stStatus.eState := E_TrayFeederState.BUSY;
+		END_IF
+	END_IF
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ParseCmd" Id="{093187fd-e820-430f-868b-5e3643bdddf4}">
+      <Declaration><![CDATA[METHOD M_ParseCmd
+VAR_INPUT
+	sResponse : STRING(255);
+END_VAR
+VAR
+	_iLength : INT;
+	_sGAF : STRING(9);
+	_sParams : STRING(255);
+	_sParam : STRING(20);
+	_sParamName : STRING(10);
+	_sValue : STRING(10);
+	
+	_xSplitResult : BOOL;
+	
+	_uiCounter : UINT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Get group and function
+_sGAF := MID(sResponse, 9, 2);
+
+// Get length
+_iLength := LEN(sResponse);
+
+IF 'STAT-FEED' = _sGAF THEN
+	// Get parameter string
+	_sParams := MID(sResponse, LEN(sResponse) - 12, 12);
+	
+	FOR _uiCounter := 0 TO MAX_PARAMS DO
+		_xSplitResult := FindAndSplit(
+							pSeparator := ADR(PARAMS_SEP), pSrcString := ADR(_sParams),
+							pLeftString := ADR(_sParam), nLeftSize := SIZEOF(_sParam),
+							pRightString := ADR(_sParams), nRightSize := SIZEOF(_sParams),
+							bSearchFromRight := FALSE);
+
+		IF _xSplitResult THEN
+			M_StatFeedParams(_sParam);
+		END_IF
+	END_FOR
+	RETURN;
+END_IF
+
+IF 'EVEN-SYST' = _sGAF THEN
+	// Get parameter string
+	_sParams := MID(sResponse, LEN(sResponse) - 11, 12);
+	
+	FOR _uiCounter := 0 TO MAX_PARAMS DO
+		_xSplitResult := FindAndSplit(
+							pSeparator := ADR(PARAMS_SEP), pSrcString := ADR(_sParams),
+							pLeftString := ADR(_sParam), nLeftSize := SIZEOF(_sParam),
+							pRightString := ADR(_sParams), nRightSize := SIZEOF(_sParams),
+							bSearchFromRight := FALSE);
+
+		IF _xSplitResult THEN
+			M_EvenSystParams(_sParam);
+		END_IF
+	END_FOR
+	RETURN;
+END_IF
+
+IF 'EVEN-INIT' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'EVEN-BUTT' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'EVEN-CONV' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'EVEN-ELEV' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'NOTE-SYST' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'NOTE-CONN' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'NOTE-ELEV' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'INVA-SYST' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'INVA-CONV' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'INVA-ELEV' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'INVA-COMM' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'ERRO-ELEV' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'ERRO-CONV' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'ERRO-STAC' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'ERRO-SYST' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'ERRO-INIT' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'ERRO-FATA' = _sGAF THEN
+	RETURN;
+END_IF
+
+IF 'ERRO-DISP' = _sGAF THEN
+	RETURN;
+END_IF
+
+stStatus := _stStatus;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StatFeedParams" Id="{0f709e96-deb5-41d4-a649-6a94f81e2861}">
+      <Declaration><![CDATA[METHOD PRIVATE M_StatFeedParams
+VAR_INPUT
+	sParam : STRING(30);
+END_VAR
+VAR
+	_sParamName : STRING(15);
+	_sParamValue : STRING(15);
+	
+	_xSplitOk : BOOL;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_xSplitOk := FindAndSplit(
+				pSeparator := ADR(VALUE_SEP), pSrcString := ADR(sParam),
+				pLeftString := ADR(_sParamName), nLeftSize := SIZEOF(_sParamName),
+				pRightString := ADR(_sParamValue), nRightSize := SIZEOF(_sParamValue),
+				bSearchFromRight := FALSE);
+				
+IF _xSplitOk THEN
+	// Check for parameter names
+	IF 'Feeder' = _sParamName THEN
+		IF 'LoadPos' = _sParamValue THEN
+			_stStatus.eState := E_TrayFeederState.LOAD_POS;
+		ELSIF 'FeedPos' = _sParamValue THEN
+			_stStatus.eState := E_TrayFeederState.FEED_POS;
+		ELSIF 'Busy' = _sParamValue THEN
+			_stStatus.eState := E_TrayFeederState.BUSY;
+		ELSIF 'Hold' = _sParamValue THEN
+			_stStatus.eState := E_TrayFeederState.HOLD;
+		END_IF
+	ELSIF 'PickRdy' = _sParamName THEN
+		IF 'True' = _sParamValue THEN
+			_stStatus.xInPickPosition := TRUE;
+		ELSIF 'False' = _sParamValue THEN
+			_stStatus.xInPickPosition := FALSE;
+		END_IF
+	ELSIF 'TrayNbr' = _sParamName THEN
+		_stStatus.uiActTray := STRING_TO_UINT(_sParamValue);
+	END_IF
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>

PLC/01_Stationen/TrayFeeder/ST_TrayFeederStatus.TcDUT

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_TrayFeederStatus" Id="{749afe59-cdec-4f20-a088-f36d2372ce96}">
+    <Declaration><![CDATA[TYPE ST_TrayFeederStatus :
+STRUCT
+	eState : E_TrayFeederState;
+	xInPickPosition : BOOL;
+	uiActTray : UINT;
+	xDoorOpen : BOOL;
+	eStateInputStack : E_TFInputStackState;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/GVLs/GVL_SCADA.TcGVL

@@ -17,6 +17,9 @@ VAR_GLOBAL
 	
 	// HMI Interface
 	stHCPlatesHMIInterface : ST_HCStationHMIInterface;
+	
+	// Machine HMI interface
+	stMachine : ST_HMI_Machine;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>

PLC/LibraryCandidates/PackML/DUTs/ST_HMI_PackML.TcDUT

@@ -1,20 +1,20 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
-  <DUT Name="ST_PackMLGenericHMIInterface" Id="{54cdd4b1-e09e-436e-9737-cc31548609eb}">
+  <DUT Name="ST_HMI_PackML" Id="{63a68e73-cb52-413d-804c-40ed071625f9}">
-    <Declaration><![CDATA[TYPE ST_PackMLGenericHMIInterface :
+    <Declaration><![CDATA[TYPE ST_HMI_PackML :
 STRUCT
-	stBtnAbort : ST_HMI_CONTROL_BUTTON;
 	stBtnClear : ST_HMI_CONTROL_BUTTON;
-	stBtnHold : ST_HMI_CONTROL_BUTTON;
 	stBtnReset : ST_HMI_CONTROL_BUTTON;
 	stBtnStart : ST_HMI_CONTROL_BUTTON;
+	stBtnAbort : ST_HMI_CONTROL_BUTTON;
+	stBtnHold : ST_HMI_CONTROL_BUTTON;
 	stBtnStop : ST_HMI_CONTROL_BUTTON;
 	stBtnSuspend : ST_HMI_CONTROL_BUTTON;
 	stBtnUnhold : ST_HMI_CONTROL_BUTTON;
 	stBtnUnsuspend : ST_HMI_CONTROL_BUTTON;
 	
-	eCurrentMode : E_PackMLUnitMode;
 	eCurrentState : E_PackMLState;
+	eCurrentMode : E_PackMLUnitMode;
 END_STRUCT
 END_TYPE
 ]]></Declaration>

PLC/LibraryCandidates/PackML/POUs/FB_PackMLGeneric.TcPOU

@@ -13,7 +13,7 @@ VAR_OUTPUT
 	stAdmin : ST_PMLa;
 END_VAR
 VAR_IN_OUT
-	//stHMIInterface : ST_PackMLGenericHMIInterface;
+	stPackMLHMIInterface : ST_HMI_PackML;
 END_VAR
 VAR
 	// State machine handler
@@ -48,7 +48,9 @@ VAR
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[// Handle command change request
+      <ST><![CDATA[A_HandleHMIInput();
+
+// Handle command change request
 _rtChangeCmdRequest(CLK:= stCommand.xCmdChangeRequest);
 
 IF _rtChangeCmdRequest.Q THEN
@@ -141,13 +143,178 @@ CASE stStatus.eStateCurrent OF
 	ELSE
 		
 		;
-END_CASE]]></ST>
+END_CASE
+
+A_HandleHMIOutput();]]></ST>
     </Implementation>
     <Folder Name="Commands" Id="{11740802-7551-418d-83f3-5b2d5c93c299}" />
     <Folder Name="States" Id="{2cf25144-1e5c-4db8-ba57-9d98461c53ce}" />
+    <Action Name="A_HandleHMIInput" Id="{723844ed-d531-4820-b577-cf5a7662c8f5}">
+      <Implementation>
+        <ST><![CDATA[// Handle clear button
+IF stPackMLHMIInterface.stBtnClear.xRequest THEN
+	stPackMLHMIInterface.stBtnClear.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnClear.xRelease THEN
+		M_Clear();
+	END_IF
+END_IF
+
+// Handle reset button
+IF stPackMLHMIInterface.stBtnReset.xRequest THEN
+	stPackMLHMIInterface.stBtnReset.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnReset.xRelease THEN
+		M_Reset();
+	END_IF
+END_IF
+
+// Handle start button
+IF stPackMLHMIInterface.stBtnStart.xRequest THEN
+	stPackMLHMIInterface.stBtnStart.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnStart.xRelease THEN
+		M_Start();
+	END_IF
+END_IF
+
+// Handle abort button
+IF stPackMLHMIInterface.stBtnAbort.xRequest THEN
+	stPackMLHMIInterface.stBtnAbort.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnAbort.xRelease THEN
+		M_Abort();
+	END_IF
+END_IF
+
+// Handle hold button
+IF stPackMLHMIInterface.stBtnHold.xRequest THEN
+	stPackMLHMIInterface.stBtnHold.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnHold.xRelease THEN
+		M_Hold();
+	END_IF
+END_IF
+
+// Handle stop button
+IF stPackMLHMIInterface.stBtnStop.xRequest THEN
+	stPackMLHMIInterface.stBtnStop.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnStop.xRelease THEN
+		M_Stop();
+	END_IF
+END_IF
+
+// Handle suspend button
+IF stPackMLHMIInterface.stBtnSuspend.xRequest THEN
+	stPackMLHMIInterface.stBtnSuspend.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnSuspend.xRelease THEN
+		M_Suspend();
+	END_IF
+END_IF
+
+// Handle unhold button
+IF stPackMLHMIInterface.stBtnUnhold.xRequest THEN
+	stPackMLHMIInterface.stBtnUnhold.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnUnhold.xRelease THEN
+		M_Unhold();
+	END_IF
+END_IF
+
+// Handle unsuspend button
+IF stPackMLHMIInterface.stBtnUnsuspend.xRequest THEN
+	stPackMLHMIInterface.stBtnUnsuspend.xRequest := FALSE;
+	
+	IF stPackMLHMIInterface.stBtnUnsuspend.xRelease THEN
+		M_Unsuspend();
+	END_IF
+END_IF]]></ST>
+      </Implementation>
+    </Action>
     <Action Name="A_HandleHMIOutput" Id="{73c47dbe-0382-4e83-8c9e-e4744dd66394}">
       <Implementation>
-        <ST><![CDATA[]]></ST>
+        <ST><![CDATA[// Handle clear button
+stPackMLHMIInterface.stBtnClear.xRelease := (stStatus.eStateCurrent = E_PackMLState.ABORTED);
+IF stStatus.eStateCurrent = E_PackMLState.CLEARING THEN
+	stPackMLHMIInterface.stBtnClear.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnClear.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle reset button
+stPackMLHMIInterface.stBtnReset.xRelease := (stStatus.eStateCurrent = E_PackMLState.STOPPED) OR (stStatus.eStateCurrent = E_PackMLState.COMPLETED);
+IF stStatus.eStateCurrent = E_PackMLState.RESETTING THEN
+	stPackMLHMIInterface.stBtnReset.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnReset.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle start button
+stPackMLHMIInterface.stBtnStart.xRelease := (stStatus.eStateCurrent = E_PackMLState.IDLE);
+IF stStatus.eStateCurrent = E_PackMLState.STARTING THEN
+	stPackMLHMIInterface.stBtnStart.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnStart.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle abort button
+stPackMLHMIInterface.stBtnAbort.xRelease := (stStatus.eStateCurrent <> E_PackMLState.ABORTED) AND (stStatus.eStateCurrent <> E_PackMLState.ABORTING);
+IF stStatus.eStateCurrent = E_PackMLState.ABORTING THEN
+	stPackMLHMIInterface.stBtnAbort.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnAbort.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle hold button
+stPackMLHMIInterface.stBtnHold.xRelease := (stStatus.eStateCurrent = E_PackMLState.EXECUTE) OR (stStatus.eStateCurrent = E_PackMLState.SUSPENDED);
+IF stStatus.eStateCurrent = E_PackMLState.HOLDING THEN
+	stPackMLHMIInterface.stBtnHold.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnHold.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle stop button
+stPackMLHMIInterface.stBtnStop.xRelease := (stStatus.eStateCurrent <> E_PackMLState.ABORTED)
+	AND (stStatus.eStateCurrent <> E_PackMLState.ABORTING)
+	AND (stStatus.eStateCurrent <> E_PackMLState.CLEARING)
+	AND (stStatus.eStateCurrent <> E_PackMLState.STOPPING)
+	AND (stStatus.eStateCurrent <> E_PackMLState.STOPPED);
+
+IF stStatus.eStateCurrent = E_PackMLState.STOPPING THEN
+	stPackMLHMIInterface.stBtnStop.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnStop.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle suspend button
+stPackMLHMIInterface.stBtnSuspend.xRelease := (stStatus.eStateCurrent = E_PackMLState.EXECUTE);
+IF stStatus.eStateCurrent = E_PackMLState.SUSPENDING THEN
+	stPackMLHMIInterface.stBtnSuspend.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnSuspend.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle unhold button
+stPackMLHMIInterface.stBtnUnhold.xRelease := (stStatus.eStateCurrent = E_PackMLState.HELD);
+IF stStatus.eStateCurrent = E_PackMLState.UNHOLDING THEN
+	stPackMLHMIInterface.stBtnUnhold.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnUnhold.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Handle unsuspend button
+stPackMLHMIInterface.stBtnUnsuspend.xRelease := (stStatus.eStateCurrent = E_PackMLState.SUSPENDED);
+IF stStatus.eStateCurrent = E_PackMLState.UNSUSPENDING THEN
+	stPackMLHMIInterface.stBtnUnsuspend.eFeedback := E_HMI_BUTTON_FEEDBACK.ACTIVE;
+ELSE
+	stPackMLHMIInterface.stBtnUnsuspend.eFeedback := E_HMI_BUTTON_FEEDBACK.NONE;
+END_IF
+
+// Copy mode and state
+stPackMLHMIInterface.eCurrentMode := _eMode;
+stPackMLHMIInterface.eCurrentState := stStatus.eStateCurrent;]]></ST>
       </Implementation>
     </Action>
     <Method Name="M_Abort" Id="{a8ac7d94-0639-4bcc-b083-994135ce6951}" FolderPath="Commands\">
@@ -260,7 +427,7 @@ VAR_INPUT
 END_VAR
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[IF stStatus.eStateCurrent = E_PackMLState.STOPPED THEN
+        <ST><![CDATA[IF (stStatus.eStateCurrent = E_PackMLState.STOPPED) OR (stStatus.eStateCurrent = E_PackMLState.COMPLETED) THEN
 	_eCmd := E_PackMLCmd.RESET;
 	M_Reset := TRUE;
 ELSE

PLC/PLC.plcproj

@@ -28,6 +28,9 @@
       <SubType>Code</SubType>
       <ExcludeFromBuild>false</ExcludeFromBuild>
     </Compile>
+    <Compile Include="00_Main\ST_HMI_Machine.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="00_Main\ST_PosData.TcDUT">
       <SubType>Code</SubType>
     </Compile>
@@ -110,12 +113,27 @@
     <Compile Include="01_Stationen\Kuka_Robot\ST_KukaRobot_UnitFeedbacks.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="01_Stationen\TrayFeeder\E_TFInputStackState.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\TrayFeeder\E_TrayFeederState.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\TrayFeeder\FB_StringRingbufferOwn.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="01_Stationen\TrayFeeder\FB_TFProtocol.TcPOU">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="01_Stationen\TrayFeeder\FB_TrayFeeder.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="01_Stationen\TrayFeeder\FB_TrayFeederParser.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\TrayFeeder\ST_TrayFeederStatus.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="GVLs\GVL_SCADA.TcGVL">
       <SubType>Code</SubType>
       <LinkAlways>true</LinkAlways>
@@ -159,7 +177,7 @@
     <Compile Include="LibraryCandidates\PackML\DUTs\PackTags\ST_PMLs.TcDUT">
       <SubType>Code</SubType>
     </Compile>
-    <Compile Include="LibraryCandidates\PackML\DUTs\ST_PackMLGenericHMIInterface.TcDUT">
+    <Compile Include="LibraryCandidates\PackML\DUTs\ST_HMI_PackML.TcDUT">
       <SubType>Code</SubType>
     </Compile>
     <Compile Include="LibraryCandidates\PackML\DUTs\ST_PackMLStateMachineConfig.TcDUT">
@@ -2954,7 +2972,7 @@
     <Type n="String">System.String</Type>
     <Type n="UInt32">System.UInt32</Type>
   </TypeList>
-      </XmlArchive>
+</XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>

_Config/IO/Device 1 (EtherCAT).xti

@@ -30539,13 +30539,13 @@ Bit 8 - 15 : reserved]]></Comment>
 					<Entry Name=" Output DWORD 5 (Thickness)" BitLen="32" Index="#x7010" Sub="#x06">
 						<Type>UDINT</Type>
 					</Entry>
-					<Entry Name="Output DWORD 6" BitLen="32" Index="#x7010" Sub="#x07">
+					<Entry Name="Output DWORD 6 (Shift X E1)" BitLen="32" Index="#x7010" Sub="#x07">
 						<Type>UDINT</Type>
 					</Entry>
-					<Entry Name="Output DWORD 7" BitLen="32" Index="#x7010" Sub="#x08">
+					<Entry Name="Output DWORD 7 (Shift Y E1)" BitLen="32" Index="#x7010" Sub="#x08">
 						<Type>UDINT</Type>
 					</Entry>
-					<Entry Name="Output DWORD 8" BitLen="32" Index="#x7010" Sub="#x09">
+					<Entry Name="Output DWORD 8 (Shift Z E1)" BitLen="32" Index="#x7010" Sub="#x09">
 						<Type>UDINT</Type>
 					</Entry>
 					<Entry Name="Output DWORD 9" BitLen="32" Index="#x7010" Sub="#x0a">

_Config/NC/NC.xti

@@ -1449,8 +1449,9 @@ External Setpoint Generation:
 				<OtherSettings AllowMotionCmdToSlave="true"/>
 			</AxisPara>
 			<Encoder Name="Enc" EncType="8">
-				<EncPara ScaleFactorNumerator="360" ScaleFactorDenominator="1048576" Offset="28.5" MaxCount="#xffffffff" ReferenceSystem="1">
+				<EncPara ScaleFactorNumerator="360" ScaleFactorDenominator="1048576" Offset="28.5" MaxCount="#xffffffff" ReferenceSystem="5">
 					<FilterTime TVelo="0.2"/>
+					<Inc RefSoftSyncMask="#xffffffff"/>
 				</EncPara>
 				<Vars VarGrpType="1">
 					<Name>Inputs</Name>
@@ -1738,8 +1739,9 @@ External Setpoint Generation:
 				<OtherSettings AllowMotionCmdToSlave="true"/>
 			</AxisPara>
 			<Encoder Name="Enc" EncType="8">
-				<EncPara ScaleFactorNumerator="360" ScaleFactorDenominator="1048576" Offset="-63.41" MaxCount="#xffffffff" ReferenceSystem="4">
+				<EncPara ScaleFactorNumerator="360" ScaleFactorDenominator="1048576" Offset="-5" MaxCount="#xffffffff" ReferenceSystem="5">
 					<FilterTime TVelo="0.2"/>
+					<Inc RefSoftSyncMask="#xffffffff"/>
 				</EncPara>
 				<Vars VarGrpType="1">
 					<Name>Inputs</Name>

_Config/PLC/PLC Instance.xti

@@ -69,6 +69,10 @@
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^K01_KL01 (EK1100)^K01_KL02 (EL1018)">
 				<Link VarA="PlcTask Inputs^PRG_Safety.xRequestOpenDoor" VarB="Channel 4^MainDoorUnlock" Size="1"/>
 			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^K01_KL01 (EK1100)^K01_KL04 (EL2008)">
+				<Link VarA="PlcTask Outputs^PRG_Safety.xLEDMachineOff" VarB="Channel 2^MachineOff" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Safety.xLEDMachineOn" VarB="Channel 1^MachineOn" Size="1"/>
+			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^K12_KL01 (EK1100)^K12_KL04 (EL1018)">
 				<Link VarA="PlcTask Inputs^PRG_Main._fbAligner.xVacuumOk" VarB="Channel 7^Input" Size="1"/>
 			</OwnerB>
@@ -130,6 +134,7 @@
 			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^PC_K01_KL01 (EK1100)^PC_K01_KL02 (EL1918)">
 				<Link VarA="PlcTask Inputs^PRG_Safety.xComStartup" VarB="StandardInputs^Standard Out Var 12" Size="1"/>
+				<Link VarA="PlcTask Inputs^PRG_Safety.xEStopOk" VarB="StandardInputs^Standard Out Var 157" Size="1"/>
 				<Link VarA="PlcTask Outputs^PRG_Safety.xErrorAck" VarB="StandardOutputs^Standard In Var 212" Size="1"/>
 				<Link VarA="PlcTask Outputs^PRG_Safety.xLockDoor" VarB="StandardOutputs^Standard In Var 192" Size="1"/>
 			</OwnerB>
@@ -147,6 +152,9 @@
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.abyToolsAndPositions" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 2 (Greifer/Drehteller/Positionen)"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.diOffsetPosX" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 3 (Offset X)"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.diOffsetPosY" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 4 (Offset Y)"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.diOffsetXE1" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 6 (Shift X E1)"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.diOffsetYE1" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 7 (Shift Y E1)"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.diOffsetZE1" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 8 (Shift Z E1)"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.diThickness" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^ Output DWORD 5 (Thickness)"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.stCtrl" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 0 (CMDs)"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot.stJobs" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 1 (JobNr/PLCJobNr)"/>