Added hot and cold plates

- Started spinner chuck io's
2026-02-01 13:53:21 +01:00
parent 8c41ff9bad
commit 1ade81c1c5
30 changed files with 3626 additions and 5882 deletions
--- a/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
+++ b/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
@@ -1,25 +1,146 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_Etcher" Id="{e75b6d70-36db-4c78-b78d-a594609441d1}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher EXTENDS FB_PackMLGeneric
 VAR_INPUT
 	xOpenDoor : BOOL;
+	xOpenChuckClamp : BOOL;
+	xEjectChuck : BOOL;
+	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
+	xChuckClampOpen : BOOL;
 END_VAR
 VAR
-	_xOpenDoor AT %Q* : BOOL;
-	_xCloseDoor AT %Q* : BOOL;
+	_fbValveDoor : FB_Valve('Door');
+	_stValveDoorCfg : ST_ValveConfig := (
+		xHasClosedFeedback := TRUE,
+		xHasOpenFeedback := TRUE,
+		timTimeoutOpen := T#5S,
+		timTimeoutClose := T#5S);
+	_stDoorHMIInterface : ST_HMI_VALVE_DATA;
+	
+	_fbClampingLeft : FB_Valve('Clamping left');
+	_stValveClampingLeftCfg : ST_ValveConfig := (
+		xHasClosedFeedback := TRUE,
+		xHasOpenFeedback := TRUE,
+		timTimeoutOpen := T#5S,
+		timTimeoutClose := T#5S);
+	_stClampingLeftHMIInterface : ST_HMI_VALVE_DATA;
+	
+	_fbClampingRight : FB_Valve('Clamping right');
+	_stValveClampingRightCfg : ST_ValveConfig := (
+		xHasClosedFeedback := TRUE,
+		xHasOpenFeedback := TRUE,
+		timTimeoutOpen := T#5S,
+		timTimeoutClose := T#5S);
+	_stClampingRightHMIInterface : ST_HMI_VALVE_DATA;
+	
+	_fbClampingFront : FB_Valve('Clamping front');
+	_stValveClampingFrontCfg : ST_ValveConfig := (
+		xHasClosedFeedback := TRUE,
+		xHasOpenFeedback := TRUE,
+		timTimeoutOpen := T#5S,
+		timTimeoutClose := T#5S);
+	_stClampingFrontHMIInterface : ST_HMI_VALVE_DATA;
+	
+	_fbClampingBack : FB_Valve('Clamping back');
+	_stValveClampingBackCfg : ST_ValveConfig := (
+		xHasClosedFeedback := TRUE,
+		xHasOpenFeedback := TRUE,
+		timTimeoutOpen := T#5S,
+		timTimeoutClose := T#5S);
+	_stClampingBackHMIInterface : ST_HMI_VALVE_DATA;
+	
+	_rtEjectChuckCmd : R_TRIG;
+	_tpEjectChuck : TP;
+	
+	// =======
+	// Sensors
+	// =======
+	
+	// Spinner vibration sensor
+	_xVibrationSensor AT %I* : BOOL;
+	
+	// =========
+	// Actuators
+	// =========
+	
+	
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[IF xOpenDoor THEN
-	_xOpenDoor := TRUE;
-	_xCloseDoor := FALSE;
+      <ST><![CDATA[// Main door
+_fbValveDoor(
+	xAutomaticOpen:= xOpenDoor, 
+	xReleaseErrors:= TRUE, 
+	stValveConfig:= _stValveDoorCfg, 
+	xReleaseManualMode:= FALSE, 
+	xConfirmAlarms:= xConfirmAlarms,  
+	stHMIInterface:= _stDoorHMIInterface);
+	
+// Chuck
+_rtEjectChuckCmd(CLK := xEjectChuck);
+IF _rtEjectChuckCmd.Q THEN
+	_tpEjectChuck(IN := TRUE, PT := T#500MS);
 ELSE
-	_xOpenDoor := FALSE;
-	_xCloseDoor := TRUE;
-END_IF]]></ST>
+	_tpEjectChuck(IN := FALSE);
+END_IF
+
+_fbClampingLeft( 
+	xAutomaticOpen:= xOpenChuckClamp, 
+	xReleaseErrors:= TRUE, 
+	stValveConfig:= _stValveClampingLeftCfg, 
+	xReleaseManualMode:= FALSE, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	stHMIInterface:= _stClampingLeftHMIInterface);
+	
+_fbClampingRight( 
+	xAutomaticOpen:= xOpenChuckClamp, 
+	xReleaseErrors:= TRUE, 
+	stValveConfig:= _stValveClampingRightCfg, 
+	xReleaseManualMode:= FALSE, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	stHMIInterface:= _stClampingRightHMIInterface);
+	
+_fbClampingFront( 
+	xAutomaticOpen:= _tpEjectChuck.Q, 
+	xReleaseErrors:= TRUE, 
+	stValveConfig:= _stValveClampingFrontCfg, 
+	xReleaseManualMode:= FALSE, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	stHMIInterface:= _stClampingFrontHMIInterface);
+	
+_fbClampingBack( 
+	xAutomaticOpen:= _tpEjectChuck.Q, 
+	xReleaseErrors:= TRUE, 
+	stValveConfig:= _stValveClampingBackCfg, 
+	xReleaseManualMode:= FALSE, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	stHMIInterface:= _stClampingBackHMIInterface);
+
+// Call base sm
+SUPER^();]]></ST>
    </Implementation>
+    <Method Name="FB_Init" Id="{afcda70c-3e52-4a32-9ca9-670a6b854f24}">
+      <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.xStoppingDisabled := TRUE;
+
+_stSMConfig.xCompletingDisabled := TRUE;
+_stSMConfig.xCompletedDisabled := TRUE;
+
+_stSMConfig.xAbortingDisabled := TRUE;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/01_Stationen/HVTester/FB_HVTester.TcPOU
+++ b/PLC/01_Stationen/HVTester/FB_HVTester.TcPOU
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_HVTester" Id="{63fd7fbb-2896-492c-ad94-827a20571a58}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_HVTester
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_HVTester EXTENDS FB_PackMLGeneric
 VAR_INPUT
 	xOpenChambers : BOOL;
 END_VAR
@@ -35,7 +35,10 @@ ELSE
 	
 	_xCloseDoor1 := TRUE;
 	_xCloseDoor2 := TRUE;
-END_IF]]></ST>
+END_IF
+
+// Call base sm
+SUPER^();]]></ST>
    </Implementation>
  </POU>
 </TcPlcObject>
--- a/PLC/01_Stationen/HeatCoolPlates/FB_CoolPlate.TcPOU
+++ b/PLC/01_Stationen/HeatCoolPlates/FB_CoolPlate.TcPOU
@@ -0,0 +1,147 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_CoolPlate" Id="{629e3316-5d72-4e23-a03a-af14d37e58d6}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_CoolPlate
+VAR_INPUT
+	rTempSetpoint : REAL := 25.0;
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+	// Card inputs
+	_stStatus AT %I* : ST_SerialStatus;
+	_byDataIn AT %I* : ARRAY[0..21] OF BYTE;
+	
+	// Card outputs
+	_stCtrl AT %Q* : ST_SerialCrl;
+	_byDataOut AT %Q* : ARRAY[0..21] OF BYTE;
+	
+	// Internal temp setpoint
+	_rTempSetpoint : REAL;
+	
+	// Send trigger
+	_xSend : BOOL;
+	
+	// Send temp test
+	_xTempTest : BOOL;
+	
+	// Init trigger
+	_xInit : BOOL;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[// Clamp temperature settings
+_rTempSetpoint := rTempSetpoint;
+
+IF _rTempSetpoint > 60.0 THEN
+	_rTempSetpoint := 60.0;
+END_IF
+
+IF _rTempSetpoint < 10.0 THEN
+	_rTempSetpoint := 10.0;
+END_IF
+
+// Init card on first run
+IF _xInit THEN
+	_xInit := FALSE;
+	_stCtrl.bInitRequest := 1;
+END_IF
+
+IF _stStatus.bInitAccepted THEN
+	_stCtrl.bInitRequest := 0;
+END_IF
+
+// Send
+IF _xSend THEN
+	_xSend := FALSE;
+	_stCtrl.bTransmitRequest := 1;
+END_IF
+
+IF _stStatus.bTransmitAccepted THEN
+	_stCtrl.bTransmitRequest := 0;
+END_IF
+
+// Debug test
+IF _xTempTest THEN
+	_xTempTest := FALSE;
+	M_SetTemp(rTemp := _rTempSetpoint);
+	_xSend := TRUE;
+END_IF]]></ST>
+    </Implementation>
+    <Method Name="M_CalcChecksum" Id="{dc2c8dbc-8315-4281-befa-84b7f4e74dc9}">
+      <Declaration><![CDATA[METHOD M_CalcChecksum
+VAR_INPUT
+	uiStartIndex : UINT;
+	uiEndIndex : UINT;
+END_VAR
+VAR_OUTPUT
+	byHigh : BYTE;
+	byLow : BYTE;
+END_VAR
+VAR
+	_dwChecksum : DWORD;
+	_uiCounter : UINT;
+	
+	_byHigh : BYTE;
+	_byLow : BYTE;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Calculate sum
+FOR _uiCounter := uiStartIndex TO uiEndIndex DO
+	_dwChecksum := _dwChecksum + _byDataOut[_uiCounter];
+END_FOR
+
+// Use lower bytes
+_byHigh := SHR(_dwChecksum.%B0 AND 16#F0, 4);
+_byLow := _dwChecksum.%B0 AND 16#0F;
+
+// Add offset
+_byHigh := _byHigh + 16#30;
+_byLow := _byLow + 16#30;
+
+byHigh := _byHigh;
+byLow := _byLow;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_SetTemp" Id="{e9f6069c-f4a0-47e4-9ef0-4fbbec8764d9}">
+      <Declaration><![CDATA[METHOD M_SetTemp
+VAR_INPUT
+	rTemp : REAL;
+END_VAR
+VAR
+	_dwTemp : DWORD;
+	_sTemp : STRING(4);
+	
+	_byHigh : BYTE;
+	_byLow : BYTE;
+	_sHexString : STRING(4);
+	
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Convert temperature
+_dwTemp := REAL_TO_DWORD(rTemp * 10)*10;
+_sTemp := DWORD_TO_STRING(_dwTemp);
+
+_byDataOut[0] := 16#02; // STX
+_byDataOut[1] := 16#31; // Command code
+_byDataOut[2] := _sTemp[0];
+_byDataOut[3] := _sTemp[1];
+_byDataOut[4] := _sTemp[2];
+_byDataOut[5] := _sTemp[3];
+_byDataOut[6] := 16#03; // ETX
+
+M_CalcChecksum(
+	uiStartIndex:= 1,
+	uiEndIndex:= 5,
+	byHigh=> _byDataOut[7],
+	byLow=> _byDataOut[8]);
+
+_byDataOut[9] := 16#0D; // <CR>
+
+_stCtrl.byOutputLength := 10;]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
--- a/PLC/01_Stationen/HeatCoolPlates/FB_HeatCoolPlates.TcPOU
+++ b/PLC/01_Stationen/HeatCoolPlates/FB_HeatCoolPlates.TcPOU
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_HeatCoolPlates" Id="{a2be063c-19d7-4ca2-8121-529d61cc7bc2}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_HeatCoolPlates
+VAR_INPUT
+	xConfirmAlarms : BOOL;
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+	_fbHeatingPlate : FB_HotPlate;
+	
+	_xEnableHotplate : BOOL;
+	_rTargetTemp : REAL := 30.0;
+	
+	// Cool plate
+	_fbCoolPlate : FB_CoolPlate;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[_fbHeatingPlate(
+	xEnable:= _xEnableHotplate, 
+	rTargetTemp:= _rTargetTemp, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	uiNextFreeSlot=> , 
+	uiNextReadySlot=> );
+	
+_fbCoolPlate();]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>
--- a/PLC/01_Stationen/HeatCoolPlates/FB_HotPlate.TcPOU
+++ b/PLC/01_Stationen/HeatCoolPlates/FB_HotPlate.TcPOU
@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_HotPlate" Id="{317a2373-f886-4e32-b683-81b726d00aac}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_HotPlate
+VAR_INPUT
+	xEnable : BOOL;
+	rTargetTemp : REAL;
+	rDeadBand : REAL := 5.0;
+	
+	xConfirmAlarms : BOOL;
+END_VAR
+VAR_OUTPUT
+	uiNextFreeSlot : UINT;
+	uiNextReadySlot : UINT;
+END_VAR
+VAR
+	_xEnableHotplate AT %Q* : BOOL;	
+
+	_axSlotFree : ARRAY [0..(GVL_HeatCoolConfig.HEAT_COOL_PLATES_NUM_SLOTS - 1)] OF BOOL;
+	_tonSlotTimer : ARRAY[0..(GVL_HeatCoolConfig.HEAT_COOL_PLATES_NUM_SLOTS - 1)] OF TON;
+	
+	// Temp sensor
+	_fbTempSensor : FB_AnalogInput('Temp sensor');
+	_stTempSensorConfig : ST_ANALOG_IO_CONFIG := (sUnit := '°C', rPVMin := -200, rPVMax := 850, iAIMin := -2000, iAIMax := 8500);
+	_stTempSEnsorEWConfig : ST_ANALOG_EW_CONFIG := (
+		stLevels := (
+			rErrorMin := -2000,
+			rErrorMax := 8500,
+			rWarningMin := -1000,
+			rWarningMax := 7500),
+		stDelays := (
+			timErrorHighOn := T#1S,
+			timErrorLowOn := T#1S,
+			timWarningHighOn := T#1S,
+			timWarningLowOn := T#1S,
+			timHardwareSignalLevelOff := T#1S));
+	
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[// Call sensor fbs
+_fbTempSensor(
+	stAnalogIOConfig:= _stTempSensorConfig, 
+	stAnalogEWConfig:= _stTempSEnsorEWConfig, 
+	xReleaseErrors:= TRUE, 
+	xReleaseLimitErrors:= FALSE, 
+	xReleaseHardwareErrors:= TRUE, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	stHMIInterface=> );
+
+
+// Control temperature with two point controller
+IF _fbTempSensor.rScaledValue < (rTargetTemp - rDeadBand) THEN
+	_xEnableHotplate := TRUE;
+END_IF
+
+IF _fbTempSensor.rScaledValue >= (rTargetTemp) THEN
+	_xEnableHotplate := FALSE;
+END_IF
+]]></ST>
+    </Implementation>
+    <Method Name="M_AddItem" Id="{9707459a-6558-487c-b730-c9dc92d598ed}">
+      <Declaration><![CDATA[METHOD M_AddItem
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
--- a/PLC/01_Stationen/HeatCoolPlates/GVL_HeatCoolConfig.TcGVL
+++ b/PLC/01_Stationen/HeatCoolPlates/GVL_HeatCoolConfig.TcGVL
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <GVL Name="GVL_HeatCoolConfig" Id="{865917de-a2fa-49b0-b682-05395fd01971}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+VAR_GLOBAL CONSTANT
+	HEAT_COOL_PLATES_NUM_SLOTS : UINT := 9;
+END_VAR]]></Declaration>
+  </GVL>
+</TcPlcObject>
--- a/PLC/01_Stationen/HeatCoolPlates/ST_SerialCrl.TcDUT
+++ b/PLC/01_Stationen/HeatCoolPlates/ST_SerialCrl.TcDUT
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_SerialCrl" Id="{02e99166-5c76-4fb3-84cc-719c63e20136}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_SerialCrl :
+STRUCT
+	bTransmitRequest : BIT;
+	bReceiveAccepted : BIT;
+	bInitRequest : BIT;
+	bSendContinues : BIT;
+	byOutputLength : BYTE;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/HeatCoolPlates/ST_SerialStatus.TcDUT
+++ b/PLC/01_Stationen/HeatCoolPlates/ST_SerialStatus.TcDUT
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_SerialStatus" Id="{e37399e0-7acb-4d91-826f-26258cabab1c}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_SerialStatus :
+STRUCT
+	bTransmitAccepted : BIT;
+	bReceiveRequested : BIT;
+	bInitAccepted : BIT;
+	bBufferFull : BIT;
+	bParityError : BIT;
+	bFramingError : BIT;
+	bOverrunError : BIT;
+	byInputLength : BYTE;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
+++ b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
@@ -140,9 +140,9 @@ SUPER^();
 _uCtrl.stCtrl.bNotDisableAxes := 1;

 // Disable move if in T2 for safety reasons
-IF _uState.stState.bT2 THEN
-	_uCtrl.stCtrl.bEnableMove := 0;
-END_IF
+// IF _uState.stState.bT2 THEN
+// 	_uCtrl.stCtrl.bEnableMove := 0;
+// END_IF


 // ============================
@@ -179,7 +179,7 @@ _stSMConfig.xAbortingDisabled := TRUE;]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Aborted" Id="{0c0c17ce-5c1c-4640-9d39-f25b22309d5d}">
-      <Declaration><![CDATA[METHOD M_Aborted
+      <Declaration><![CDATA[METHOD PROTECTED M_Aborted
 ]]></Declaration>
      <Implementation>
        <ST><![CDATA[// Reset all relevant robot control signals
@@ -196,7 +196,7 @@ _uJobs.stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Clearing" Id="{e6152288-8c7d-4b38-bfbc-4f861d76ccc5}">
-      <Declaration><![CDATA[METHOD M_Clearing
+      <Declaration><![CDATA[METHOD PROTECTED M_Clearing
 VAR_INST
 	_tonWait : TON;
 END_VAR]]></Declaration>
@@ -214,7 +214,7 @@ END_IF
      </Implementation>
    </Method>
    <Method Name="M_Execute" Id="{bc86876c-a8db-4285-b95c-7c6858a2ca66}">
-      <Declaration><![CDATA[METHOD M_Execute
+      <Declaration><![CDATA[METHOD PROTECTED M_Execute
 ]]></Declaration>
      <Implementation>
        <ST><![CDATA[// Wait for robot to be done
@@ -224,28 +224,33 @@ END_IF]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Held" Id="{22ddbad0-0b66-427e-a2aa-f177f8adbc94}">
-      <Declaration><![CDATA[METHOD M_Held
+      <Declaration><![CDATA[METHOD PROTECTED M_Held
 ]]></Declaration>
      <Implementation>
        <ST><![CDATA[]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Holding" Id="{ff8c2c8e-1fe0-4c63-ad7b-790d72bd9217}">
-      <Declaration><![CDATA[METHOD M_Holding
+      <Declaration><![CDATA[METHOD PROTECTED M_Holding
 ]]></Declaration>
      <Implementation>
-        <ST><![CDATA[]]></ST>
+        <ST><![CDATA[_uCtrl.stCtrl.bEnableMove := 0;
+
+IF _uState.stState.bRobStopped THEN
+	M_StateComplete();
+END_IF
+]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Idle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
-      <Declaration><![CDATA[METHOD M_Idle
+      <Declaration><![CDATA[METHOD PROTECTED M_Idle
 ]]></Declaration>
      <Implementation>
        <ST><![CDATA[_stJobParams := stJobParams;]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Resetting" Id="{dfe4d36a-80aa-4364-bfd8-6ddd41636d59}">
-      <Declaration><![CDATA[METHOD M_Resetting
+      <Declaration><![CDATA[METHOD PROTECTED M_Resetting
 VAR_INST
 	_tonTimeout : TON;
 END_VAR]]></Declaration>
@@ -253,7 +258,26 @@ END_VAR]]></Declaration>
        <ST><![CDATA[_tonTimeout(PT := T#10S);

 CASE _iSSM OF
+	// Check if com interface is ok
 	0:
+		_uCtrl.stCtrl.bEnableMove := 1;
+		_uCtrl.stCtrl.bConfMess := 1;
+		_tonTimeout.IN := TRUE;
+		
+		IF _uState.stState.bIOActConf THEN
+			_uCtrl.stCtrl.bConfMess := 0;
+			_iSSM := 10;
+		END_IF
+		
+		// Timeout io_Act_conf ready
+		IF _tonTimeout.Q THEN
+			_uCtrl.stCtrl.bConfMess := 0;
+			_tonTimeout(IN := FALSE);
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+	// Enable axes
+	10:
 		_uCtrl.stCtrl.bEnableAxes := 1;
 		_tonTimeout.IN := TRUE;
 		
@@ -261,7 +285,7 @@ CASE _iSSM OF
 		IF _uState.stState.bPeriRdy THEN
 			_uCtrl.stCtrl.bEnableAxes := 0;
 			_tonTimeout(IN := FALSE);
-			_iSSM := 10;
+			_iSSM := 20;
 		END_IF
 		
 		// Timeout drives ready
@@ -272,16 +296,16 @@ CASE _iSSM OF
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
 		
-	10:
+	// Reset move stop
+	20:
 		_uCtrl.stCtrl.bConfMess := 1;
-		
 		_tonTimeout.IN := TRUE;
 		
 		// Wait for errors to be reset
 		IF (NOT _uState.stState.bStopMess) THEN
 			_uCtrl.stCtrl.bConfMess := 0;
 			_tonTimeout(IN := FALSE);
-			_iSSM := 20;
+			_iSSM := 30;
 		END_IF
 		
 		// Timeout reset errors
@@ -291,10 +315,9 @@ CASE _iSSM OF
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
 		
-	20:
-		// Start main program
+	// Start program
+	30:
 		_uCtrl.stCtrl.bExtStart := 1;
-		
 		_tonTimeout.IN := TRUE;
 		
 		IF _tonTimeout.Q THEN
@@ -312,7 +335,7 @@ END_CASE]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Starting" Id="{011f85d8-1225-4288-876f-918df6e4f235}">
-      <Declaration><![CDATA[METHOD M_Starting
+      <Declaration><![CDATA[METHOD PROTECTED M_Starting
 VAR_INST
 _tonTimeout : TON;
 END_VAR]]></Declaration>
@@ -413,10 +436,10 @@ END_CASE
      </Implementation>
    </Method>
    <Method Name="M_Stopped" Id="{50813767-4bd7-4147-b5dc-1bbd18ae1555}">
-      <Declaration><![CDATA[METHOD M_Stopped
+      <Declaration><![CDATA[METHOD PROTECTED M_Stopped
 ]]></Declaration>
      <Implementation>
-        <ST><![CDATA[_uCtrl.stCtrl.bConfMess := 0;
+        <ST><![CDATA[// _uCtrl.stCtrl.bConfMess := 0;
 _uCtrl.stCtrl.bEnableAxes := 0;
 _uCtrl.stCtrl.bNotDisableAxes := 1;
 _uCtrl.stCtrl.bExtStart := 0;
@@ -426,28 +449,89 @@ _ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Suspended" Id="{c2db015c-1cd0-491a-8ce6-6c0bffba7631}">
-      <Declaration><![CDATA[METHOD M_Suspended
+      <Declaration><![CDATA[METHOD PROTECTED M_Suspended
 ]]></Declaration>
      <Implementation>
        <ST><![CDATA[]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Suspending" Id="{5b0e5227-d5bb-40c6-a1b8-8e81b852b9b9}">
-      <Declaration><![CDATA[METHOD M_Suspending
+      <Declaration><![CDATA[METHOD PROTECTED M_Suspending
 ]]></Declaration>
      <Implementation>
        <ST><![CDATA[]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Unholding" Id="{786f4949-9630-4ace-9e30-65bea4e87cb2}">
-      <Declaration><![CDATA[METHOD M_Unholding
-]]></Declaration>
+      <Declaration><![CDATA[METHOD PROTECTED M_Unholding
+VAR_INST
+	_tonTimeout : TON;
+END_VAR]]></Declaration>
      <Implementation>
-        <ST><![CDATA[]]></ST>
+        <ST><![CDATA[_tonTimeout(PT := T#10S);
+
+CASE _iSSM OF
+	0:
+		_uCtrl.stCtrl.bEnableMove := 1;
+		_uCtrl.stCtrl.bEnableAxes := 1;
+		_tonTimeout.IN := TRUE;
+		
+		// Wait for drives to be ready
+		IF _uState.stState.bPeriRdy THEN
+			_uCtrl.stCtrl.bEnableAxes := 0;
+			_tonTimeout(IN := FALSE);
+			_iSSM := 10;
+		END_IF
+		
+		// Timeout drives ready
+		IF _tonTimeout.Q THEN
+			_uCtrl.stCtrl.bEnableAxes := 0;
+			_fbAlarmDrivesEnableTimeout.xRelease := TRUE;
+			_tonTimeout(IN := FALSE);
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+	10:
+		_uCtrl.stCtrl.bConfMess := 1;
+		
+		_tonTimeout.IN := TRUE;
+		
+		// Wait for errors to be reset
+		IF (NOT _uState.stState.bStopMess) THEN
+			_uCtrl.stCtrl.bConfMess := 0;
+			_tonTimeout(IN := FALSE);
+			_iSSM := 20;
+		END_IF
+		
+		// Timeout reset errors
+		IF _tonTimeout.Q THEN
+			_fbAlarmRobotErrorResetTimeout.xRelease := TRUE;
+			_tonTimeout(IN := FALSE);
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+	20:
+		// Start main program
+		_uCtrl.stCtrl.bExtStart := 1;
+		
+		_tonTimeout.IN := TRUE;
+		
+		IF _tonTimeout.Q THEN
+			_tonTimeout(IN := FALSE);
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+		IF _uState.stState.bProAct THEN
+			_uCtrl.stCtrl.bExtStart := 0;
+			_tonTimeout(IN := FALSE);
+			M_StateComplete();
+		END_IF
+		
+END_CASE]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Unsuspending" Id="{d7ce33fd-cd94-44f1-9289-25a3ab3829eb}">
-      <Declaration><![CDATA[METHOD M_Unsuspending
+      <Declaration><![CDATA[METHOD PROTECTED M_Unsuspending
 ]]></Declaration>
      <Implementation>
        <ST><![CDATA[]]></ST>
--- a/PLC/01_Stationen/TrayFeeder/FB_TFProtocol.TcPOU
+++ b/PLC/01_Stationen/TrayFeeder/FB_TFProtocol.TcPOU
@@ -0,0 +1,376 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_TFProtocol" Id="{f0c44f0b-70b8-45d0-8720-9bd7e08b6aa6}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_TFProtocol
+VAR_INPUT
+	sIpAddr : STRING;
+	udiPort : UDINT;
+	
+	xConfirmAlarms : BOOL;
+END_VAR
+VAR_OUTPUT
+	xConnected : BOOL;
+	
+	xNewResponseReady : BOOL;
+	xBusy : BOOL;
+	xError : BOOL;
+END_VAR
+VAR
+	// Connection settings
+	_fbTcpConnection : FB_ClientServerConnection;
+	_sIpAddr : STRING;
+	_udiPort : UDINT;
+	_hSocket : T_HSOCKET;
+	_xConnect : BOOL := TRUE;
+	_xConnected : BOOL;
+	
+	// Socket send
+	_fbSocketSend : FB_SocketSend;
+	_timSendTimeout : TIME := T#5S;
+	
+	// Socket receive
+	_fbSocketReceive : FB_SocketReceive;
+	_timReceiveTimeout : TIME := T#5S;
+	_abReceivedBuffer : ARRAY[0..100] OF BYTE;
+	_sReceivedResponse : STRING;
+	_udiCounterReceive : UDINT;
+	_udiReceivedBytes : UDINT;
+	_timPollingTime : TIME := T#50MS;
+	_tonPollTimer : TON;
+	_xEnableReceiveTimeout : BOOL;
+	_timReceiveTimeoutTime : TIME := T#500MS;
+	_tonReceiveTimeout : TON;
+	_uiLastReceivedResponseId : UINT := 0;
+	
+	// Receive state machine
+	_iStateReceive : INT;
+	
+	// Command data
+	_uiCmdId : UINT := 1;
+	_sCmd : STRING(255);
+	_sAck : STRING(255);
+	
+	// Main state machine
+	_iState : INT := 0;
+	_diCounter : DINT;
+	_xSendCmd : BOOL;
+	_uiRetries : UINT;
+	_xCmdReceived : BOOL;
+	_iPlaceCmdSeperator : INT;
+	_sTmp : STRING;
+	_xReceivedResponseOk : BOOL;
+	_uiReceivedCommandId : UINT;
+	
+	// Buffer before output
+	_xBusy : BOOL;
+	_xError : BOOL;
+END_VAR
+VAR CONSTANT
+	MAX_RETRIES : UINT := 3;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[// Call client server connection fb
+_fbTcpConnection(
+	sSrvNetID:= '', 
+	nMode:= , 
+	sRemoteHost:= sIpAddr, 
+	nRemotePort:= udiPort, 
+	bEnable:= _xConnect, 
+	tReconnect:= T#2S, 
+	bBusy=> , 
+	bError=> , 
+	nErrId=> , 
+	hSocket=> _hSocket, 
+	eState=> );
+	
+// Get connected state
+_xConnected := (_fbTcpConnection.eState = E_SocketConnectionState.eSOCKET_CONNECTED);
+
+// Receive timeout after sending a command
+_tonReceiveTimeout(IN := _xEnableReceiveTimeout, PT := _timReceiveTimeoutTime);
+
+// Receive state machine
+CASE _iStateReceive OF
+	// Main socket not connected
+	0:
+		IF _xConnected THEN
+			_iStateReceive := 10;
+		END_IF
+	
+	// Call receive
+	10:
+		_fbSocketReceive(
+			sSrvNetId:= '', 
+			hSocket:= _hSocket, 
+			cbLen:= SIZEOF(_abReceivedBuffer) - _udiReceivedBytes, 
+			pDest:= ADR(_abReceivedBuffer) + _udiReceivedBytes, 
+			bExecute:= TRUE, 
+			tTimeout:= _timReceiveTimeout, 
+			bBusy=> , 
+			bError=> , 
+			nErrId=> , 
+			nRecBytes=> );
+			
+		IF (NOT _fbSocketReceive.bBusy) AND (NOT _fbSocketReceive.bError) THEN
+			_fbSocketReceive(bExecute := FALSE);
+			IF _fbSocketReceive.nRecBytes > 0 THEN
+				_udiReceivedBytes := _udiReceivedBytes + _fbSocketReceive.nRecBytes;
+				_iStateReceive := 20;
+			ELSE
+				_iStateReceive := 15;
+			END_IF
+			
+		END_IF
+		
+		// If we have an error, check if we are connected
+		IF _fbSocketReceive.bError THEN
+			_fbSocketReceive(bExecute := FALSE);
+			_iStateReceive := 0;
+		END_IF
+		
+	// Wait some time before rechecking
+	15:
+		_tonPollTimer(IN := TRUE, PT := _timPollingTime);
+		
+		IF _tonPollTimer.Q THEN
+			_tonPollTimer(IN := FALSE);
+			_iStateReceive := 10;
+		END_IF
+		
+		// Check if we are still connected
+		IF (NOT _xConnected) THEN
+			_tonPollTimer(IN := FALSE);
+			_sReceivedResponse := '';
+			_iStateReceive := 0;
+		END_IF
+			
+	// Check received data
+	20:
+		// Check if received command is complete
+		MEMCPY(destAddr := ADR(_sReceivedResponse), srcAddr := ADR(_abReceivedBuffer), n := _udiReceivedBytes);
+		_udiReceivedBytes := 0;
+		//_xCmdReceived := TRUE;
+		
+		// Go back to polling wait state
+		_iStateReceive := 15;
+END_CASE
+
+CASE _iState OF
+	// Wait for active connection to tray feeder
+	0: 
+		IF _xConnected THEN
+			_iState := 10;
+		END_IF
+		
+	// Connected and idle
+	10:
+		// Got to disconnected state if connection is lost
+		IF (NOT _xConnected) THEN
+			_iState := 0;
+		END_IF
+		
+		IF _xSendCmd THEN
+			_xSendCmd := FALSE;
+			_xBusy := TRUE;
+			_iState := 20;
+		END_IF
+		
+		// Check if we received a response without sending a command
+// 		IF _xCmdReceived THEN
+// 			_iState := 50;
+// 		END_IF
+		
+	// Send command
+	20:
+		_fbSocketSend(
+			sSrvNetId:= '', 
+			hSocket:= _hSocket, 
+			cbLen:= SIZEOF(_sCmd), 
+			pSrc:= ADR(_sCmd), 
+			bExecute:= TRUE, 
+			tTimeout:= _timSendTimeout, 
+			bBusy=> , 
+			bError=> , 
+			nErrId=> );
+			
+		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
+			_fbSocketSend(bExecute := FALSE);
+			//_xEnableReceiveTimeout := TRUE;
+			//_iState := 30;
+		END_IF
+		
+		IF _fbSocketSend.bError THEN
+			_fbSocketSend(bExecute := FALSE);
+			_iState := 90;
+		END_IF
+		
+	// Wait for response
+	30:
+		// Received a response
+		IF _xCmdReceived THEN
+			_xCmdReceived := FALSE;
+			_xEnableReceiveTimeout := FALSE;
+			_uiRetries := 0;
+			_iState := 40;
+		END_IF
+		
+		// Didnt receive command ack in time
+		// So resend the command if max retries are not reached
+		IF _tonReceiveTimeout.Q THEN
+			_xEnableReceiveTimeout := FALSE;
+			_uiRetries := _uiRetries + 1;
+			
+			// Check if we reached the max number of retries
+			IF _uiRetries > MAX_RETRIES THEN
+				_iState := 90;
+			ELSE
+				// Retry by sendind command again
+				_iState := 20;
+			END_IF
+		END_IF
+		
+	// Check response
+	40:
+		// Check for cmd id
+		IF (TO_STRING(_sReceivedResponse[0]) <> UINT_TO_STRING(_uiCmdId)) THEN
+			// Wrong command id received
+			_iState := 90;
+		END_IF
+		
+		// For for response indicator
+		IF _sReceivedResponse[1] <> F_ToASC('<') THEN
+			// Wrong response indicator
+			_iState := 90;
+		END_IF
+		
+		// Check for correct cmd
+		_xReceivedResponseOk := TRUE;
+		FOR _diCounter := 2 TO (LEN(_sReceivedResponse) - 1) DO
+			IF _sReceivedResponse[_diCounter] = F_ToASC(':') THEN
+				EXIT;
+			ELSIF _sReceivedResponse[_diCounter] <> _sCmd[_diCounter] THEN
+				_xReceivedResponseOk := FALSE;
+				EXIT;
+			END_IF
+		END_FOR
+		
+		IF _xReceivedResponseOk THEN
+			_iState := 10;
+		ELSE
+			_iState := 90;
+		END_IF
+		
+	50:
+		// Get command id
+		_uiReceivedCommandId := STRING_TO_UINT(TO_STRING(_sReceivedResponse[0]));
+		
+		// Check if it is a new command
+		IF (_uiReceivedCommandId <> _uiLastReceivedResponseId) OR (_uiReceivedCommandId = 0) THEN
+			_uiLastReceivedResponseId := _uiReceivedCommandId;
+			xNewResponseReady := TRUE;
+			
+			// Send acknowledgement
+			_iState := 60;
+		END_IF
+		
+	// Prepare ack response
+	60:
+		_sAck := CONCAT(UINT_TO_STRING(_uiLastReceivedResponseId), '<');
+		
+		FOR _diCounter := 2 TO (LEN(_sReceivedResponse) - 1) DO
+			IF _sReceivedResponse[_diCounter] <> F_ToASC(':') THEN
+				_sAck[_diCounter] := _sReceivedResponse[_diCounter];
+			ELSE
+				_sAck[_diCounter] := F_ToASC('\0');
+				EXIT;
+			END_IF
+		END_FOR
+		
+		_iState := 70;
+		
+	// Send ack response
+	70:
+		_fbSocketSend(
+			sSrvNetId:= '', 
+			hSocket:= _hSocket, 
+			cbLen:= SIZEOF(_sAck), 
+			pSrc:= ADR(_sAck), 
+			bExecute:= TRUE, 
+			tTimeout:= _timSendTimeout, 
+			bBusy=> , 
+			bError=> , 
+			nErrId=> );
+			
+		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
+			_fbSocketSend(bExecute := FALSE);
+			_xEnableReceiveTimeout := TRUE;
+			_iState := 10;
+		END_IF
+		
+		IF _fbSocketSend.bError THEN
+			_fbSocketSend(bExecute := FALSE);
+			_iState := 90;
+		END_IF
+		
+	// Error
+	90:
+		_xError := TRUE;
+		_xBusy := FALSE;
+		
+		IF xConfirmAlarms THEN
+			_xError := FALSE;
+			_iState := 0;
+		END_IF
+END_CASE
+
+// Copy output buffers to outputs
+xConnected := _xConnected;
+xBusy := _xBusy;
+xError := _xError;]]></ST>
+    </Implementation>
+    <Method Name="M_GetResponse" Id="{48f8719d-7ed0-4fb1-824a-0bf475fcfc2c}">
+      <Declaration><![CDATA[METHOD M_GetResponse : STRING
+VAR
+	_sTmp : STRING(255);
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[xNewResponseReady := FALSE;
+MEMCPY(destAddr := ADR(_sTmp), ADR(_sReceivedResponse) + 2, n := INT_TO_UDINT(LEN(_sReceivedResponse) - 2));
+M_GetResponse := _sTmp;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_SendCmd" Id="{d00a8c1a-c183-4659-9c9e-be5b30566b7c}">
+      <Declaration><![CDATA[METHOD M_SendCmd : BOOL
+VAR_INPUT
+	sCmd : STRING(80);
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check if we are already sending a command
+IF _xBusy OR _xError THEN
+	M_SendCmd := FALSE;
+	RETURN;
+END_IF
+
+// Increment command id
+_uiCmdId := _uiCmdId + 1;
+
+// Overflows at 9 and is reset to 1
+IF _uiCmdId > 9 THEN
+	_uiCmdId := 1;
+END_IF
+
+// Create command with id
+_sCmd := CONCAT(UINT_TO_STRING(_uiCmdId), '>');
+_sCmd := CONCAT(_sCmd, sCmd);
+
+// start sendind command state machine
+_xSendCmd := TRUE;
+
+M_SendCmd := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
--- a/PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU
+++ b/PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU
@@ -1,38 +1,44 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_TrayFeeder" Id="{e2e3e993-37de-42b1-80e1-7dba99a66e94}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_TrayFeeder EXTENDS FB_Isa88_SM
+    <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_TrayFeeder EXTENDS FB_PackMLGeneric
 VAR_INPUT
+	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
 END_VAR
 VAR
-	_fbTcpConnection : FB_ClientServerConnection;
 	_sIpAddr : STRING;
 	_udiPort : UDINT;
+	
+	_fbProtocolHandler : FB_TFProtocol;
+	
+	_xTest : BOOL;
+	_xSendResult : BOOL;
+	_sCmd : STRING := 'STAT-FEED:';
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[// Call client server connection fb
-_fbTcpConnection(
-	sSrvNetID:= '', 
-	nMode:= , 
-	sRemoteHost:= _sIpAddr, 
-	nRemotePort:= , 
-	bEnable:= , 
-	tReconnect:= , 
-	bBusy=> , 
-	bError=> , 
-	nErrId=> , 
-	hSocket=> , 
-	eState=> );
+      <ST><![CDATA[// IPs
+// 192.168.1.10
+// 192.168.1.11
+_fbProtocolHandler(
+	sIpAddr:= _sIpAddr, 
+	udiPort:= _udiPort, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	xConnected=> , 
+	xNewResponseReady=> , 
+	xBusy=> , 
+	xError=> );
+
+IF _xTest THEN
+	_xTest := FALSE;
+	
+	_xSendResult := _fbProtocolHandler.M_SendCmd(sCmd := _sCmd);
+END_IF

 // Call isa88 base state machine
-SUPER^();
-
-// IPs
-// 192.168.1.10
-// 192.168.1.11]]></ST>
+SUPER^();]]></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.
@@ -48,8 +54,17 @@ sIPAddr : STRING;
 udiPort : UDINT;
 END_VAR]]></Declaration>
      <Implementation>
-        <ST><![CDATA[_sIpAddr := sIPAddr;
-_udiPort := udiPort;]]></ST>
+        <ST><![CDATA[// Save connection settings
+_sIpAddr := sIPAddr;
+_udiPort := udiPort;
+
+// Config state machine
+_stSMConfig.xStoppingDisabled := TRUE;
+
+_stSMConfig.xCompletingDisabled := TRUE;
+_stSMConfig.xCompletedDisabled := TRUE;
+
+_stSMConfig.xAbortingDisabled := TRUE;]]></ST>
      </Implementation>
    </Method>
  </POU>