Added hot and cold plates

- Started spinner chuck io's

PLC/00_Main/PRG_Main.TcPOU

@@ -7,6 +7,8 @@ VAR
 	_fbHVTester : FB_HVTester;
 	_fbEtcher1 : FB_Etcher;
 	_fbEtcher2 : FB_Etcher;
+	_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
+	_fbHeatCoolPlates : FB_HeatCoolPlates;
 	
 	_xConfirmAlarms : BOOL;
 	
@@ -16,11 +18,18 @@ VAR
 	
 	_stRobotJobParams : ST_KukaRobot_JobParams;
 	
+	_stCamResult AT %I* : ST_TrayFeederCamPosData;
+	
+	_rtStopRobotFromSafety : R_TRIG;
+	
 	
 	// DEBUG commands
 	_xClear : BOOL;
 	_xReset : BOOL;
 	_xStart : BOOL;
+	_xHold : BOOL;
+	_xUnhold : BOOL;
+	_xStop : BOOL;
 	
 	_xStartTrigger : BOOL;
 	_tofTriggerTime : TOF := (PT := T#1S);
@@ -30,19 +39,37 @@ END_VAR
     <Implementation>
       <ST><![CDATA[IF _xClear THEN
 	_xClear := FALSE;
-	_stRobotCmd.eCntrlCmd := E_PackMLCmd.CLEAR;
-	_stRobotCmd.xCmdChangeRequest := TRUE;
+	_fbRobot.M_Clear();
 END_IF
 
 IF _xReset THEN
 	_xReset := FALSE;
-	_stRobotCmd.eCntrlCmd := E_PackMLCmd.RESET;
-	_stRobotCmd.xCmdChangeRequest := TRUE;
+	_fbRobot.M_Reset();
 END_IF
 
 IF _xStart THEN
 	_xStart := FALSE;
-	_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
+	_fbRobot.M_Start();
+END_IF
+
+IF _xHold THEN
+	_xHold := FALSE;
+	_fbRobot.M_Hold();
+END_IF
+
+IF _xUnhold THEN
+	_xUnhold := FALSE;
+	_fbRobot.M_Unhold();
+END_IF
+
+IF _xStop THEN
+	_xStop := FALSE;
+	_fbRobot.M_Stop();
+END_IF
+
+_rtStopRobotFromSafety(CLK := PRG_Safety.xStopRobot);
+IF _rtStopRobotFromSafety.Q THEN
+	_stRobotCmd.eCntrlCmd := E_PackMLCmd.STOP;
 	_stRobotCmd.xCmdChangeRequest := TRUE;
 END_IF
 
@@ -62,12 +89,22 @@ END_IF
 
 _fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers);
 
-_fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
-_fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
+_fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers, xConfirmAlarms := GVL_SCADA.xErrAck);
+_fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers, xConfirmAlarms := GVL_SCADA.xErrAck);
+
+// _fbTrayFeederInput(
+// 	stCommand:= ,
+// 	xConfirmAlarms := GVL_SCADA.xErrAck,
+// 	stStatus=> GVL_SCADA.stTrayFeederInputState,
+// 	stAdmin=> GVL_SCADA.stTRayFeederInputAdmin);
+
+_fbHeatCoolPlates(xConfirmAlarms:= GVL_SCADA.xErrAck);
 
 
 // Call safety program
-PRG_Safety(xConfirmAlarms := GVL_SCADA.xErrAck);
+PRG_Safety(
+	xConfirmAlarms := GVL_SCADA.xErrAck,
+	xRobotStopped := (_stRobotStatus.eStateCurrent <> E_PackMLState.EXECUTE));
 
 // =====
 // DEBUG

PLC/00_Main/PRG_Safety.TcPOU

@@ -4,9 +4,15 @@
     <Declaration><![CDATA[PROGRAM PRG_Safety
 VAR_INPUT
 	xConfirmAlarms : BOOL;
+	xRobotStopped : BOOL;
+END_VAR
+VAR_OUTPUT
+	xStopRobot : BOOL := FALSE;
 END_VAR
 VAR
 	_xRun AT %Q* : BOOL;
+	_xEStopOk AT %I* : BOOL;
+	
 	
 	_xRequestOpenDoor AT %I* : BOOL;
 	_rtrigDoorUnlock : R_TRIG;
@@ -22,8 +28,9 @@ END_VAR
     <Implementation>
       <ST><![CDATA[_xRun := NOT _xComStartup;
 
-_rtrigDoorUnlock(CLK := _xRequestOpenDoor);
+_rtrigDoorUnlock(CLK := _xRequestOpenDoor AND xRobotStopped);
 IF _rtrigDoorUnlock.Q THEN
+	xStopRobot := (NOT xStopRobot);
 	_xLockDoor := (NOT _xLockDoor);
 END_IF
 

PLC/00_Main/ST_PosData.TcDUT

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_PosData" Id="{a239aa72-8733-4bd3-94a0-6f6589ef2443}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_PosData :
+STRUCT
+	wPosX : INT;
+	wPosY : INT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/00_Main/ST_TrayFeederCamPosData.TcDUT

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_TrayFeederCamPosData" Id="{b23e235e-7a29-4216-a7f3-ec637f9c5927}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_TrayFeederCamPosData :
+STRUCT
+	byNumberOf : BYTE;
+	astPosData : ARRAY[0..7] OF ST_PosData;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>