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/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>