Heisig_GmbH/infineon_plc
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First version Tray Feeder ready for test

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- Tray feeder implementation ready for first tests
- Some refactoring of packml function names
- Added .xtv file to project again because of linking issues
- Added hmi button for packml complete command
- Started media cabinet
This commit is contained in:
Matthias Heisig
2026-03-03 14:11:58 +01:00
parent dbfa6fc7cc
commit 0ea0887bb4
17 changed files with 4430 additions and 486 deletions
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26
PLC/00_Main/PRG_Main.TcPOU
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@@ -58,32 +58,32 @@ _xReleaseAlarms := PRG_Safety.xEStopOk;
IF _xClear THEN
_xClear := FALSE;
_fbRobot.M_Clear();
_fbRobot.M_CmdClear();
END_IF
IF _xReset THEN
_xReset := FALSE;
_fbRobot.M_Reset();
_fbRobot.M_CmdReset();
END_IF
IF _xStart THEN
_xStart := FALSE;
_fbRobot.M_Start();
_fbRobot.M_CmdStart();
END_IF
IF _xHold THEN
_xHold := FALSE;
_fbRobot.M_Hold();
_fbRobot.M_CmdHold();
END_IF
IF _xUnhold THEN
_xUnhold := FALSE;
_fbRobot.M_Unhold();
_fbRobot.M_CmdUnhold();
END_IF
IF _xStop THEN
_xStop := FALSE;
_fbRobot.M_Stop();
_fbRobot.M_CmdStop();
END_IF
_rtStopRobotFromSafety(CLK := PRG_Safety.xStopRobot);
@@ -167,7 +167,7 @@ CASE _iState OF
// 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();
_fbRobot.M_CmdStart();
_iState := 10;
END_IF
END_IF
@@ -175,7 +175,7 @@ CASE _iState OF
// Wait for part in aligner
10:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_fbAligner.M_Start();
_fbAligner.M_CmdStart();
_iState := 20;
END_IF
@@ -188,14 +188,14 @@ CASE _iState OF
20:
IF (_fbAligner.stStatus.eStateCurrent = E_PackMLState.COMPLETED) THEN
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ALIGNER;
_fbRobot.M_Start();
_fbRobot.M_CmdStart();
_iState := 40;
END_IF
// Get from aligner done, reset aligner
40:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_fbAligner.M_Reset();
_fbAligner.M_CmdReset();
_iState := 45;
END_IF
@@ -203,7 +203,7 @@ CASE _iState OF
IF _xStartCycle THEN
_xStartCycle := FALSE;
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ETCHER1;
_fbRobot.M_Start();
_fbRobot.M_CmdStart();
_iState := 50;
END_IF
@@ -218,7 +218,7 @@ CASE _iState OF
IF _xStartCycle THEN
_xStartCycle := FALSE;
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ETCHER1;
_fbRobot.M_Start();
_fbRobot.M_CmdStart();
_iState := 70;
END_IF
@@ -226,7 +226,7 @@ CASE _iState OF
70:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
_fbRobot.M_Start();
_fbRobot.M_CmdStart();
_iState := 10;
END_IF