Added hot and cold plates

- Started spinner chuck io's

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