Changed gripper calculation and AlarmRaising

2026-02-16 21:50:56 +01:00
parent 0c40092d8f
commit 20b5d5df08
4 changed files with 67 additions and 10 deletions
--- a/Infineon.tmc
+++ b/Infineon.tmc
@@ -2,7 +2,7 @@
 <TcModuleClass>
 	<DataTypes>
 		<DataType>
-			<Name GUID="{41663E72-28F8-4E92-AC1A-8F6F55BA9D6D}">KukaRobot</Name>
+			<Name GUID="{ED26FE12-E1DA-401E-9C9B-E08D7B3D666D}">KukaRobot</Name>
 			<DisplayName TxtId=""><![CDATA[NewEventClass_DisplayText]]></DisplayName>
 			<EventId>
 				<Name Id="1">NotInExtMode</Name>
@@ -134,6 +134,16 @@
 				<DisplayName TxtId=""><![CDATA[Implausible gripper signals]]></DisplayName>
 				<Severity>Error</Severity>
 			</EventId>
+			<EventId>
+				<Name Id="27">WrongParamsReadBack</Name>
+				<DisplayName TxtId=""><![CDATA[Robot did not correctly mirrored back job parameter]]></DisplayName>
+				<Severity>Error</Severity>
+			</EventId>
+			<EventId>
+				<Name Id="28">WrongJobReadBack</Name>
+				<DisplayName TxtId=""><![CDATA[Robot mirrored wrong job command]]></DisplayName>
+				<Severity>Error</Severity>
+			</EventId>
 			<Hides>
 				<Hide GUID="{456A0777-3241-483C-B513-164C5A2791FC}"/>
 				<Hide GUID="{8667E78C-B458-4844-A8FF-6F6F9FAB3AD8}"/>
@@ -161,6 +171,8 @@
 				<Hide GUID="{29E3A83B-DAF1-4873-919F-E7C8F007ACAD}"/>
 				<Hide GUID="{FA039875-23CD-4325-8CA9-B14FADA92FFA}"/>
 				<Hide GUID="{96196A41-758B-4248-8C31-DA1C8BC623CC}"/>
+				<Hide GUID="{41663E72-28F8-4E92-AC1A-8F6F55BA9D6D}"/>
+				<Hide GUID="{8C191398-5220-493F-BC5D-8F1AA729AA0D}"/>
 			</Hides>
 		</DataType>
 		<DataType>
--- a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
+++ b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
@@ -88,6 +88,11 @@ VAR
 	_fbAlarmOperatorSafetyNotOk : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.OperatorSafetyNotOk, xWithConfirmation := FALSE);
 	_fbAlarmRobotErrorResetTimeout : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.ErrorResetTimeout, xWithConfirmation := TRUE);
 	_fbAlarmDrivesEnableTimeout : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.DrivesEnableTimeout, xWithConfirmation := TRUE);
+	_fbAlarmWrongJobMirrored : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.WrongJobReadBack, xWithConfirmation := TRUE);
+	_fbAlarmWrongParamMirrored : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.WrongParamsReadBack, xWithConfirmation := TRUE);
+END_VAR
+VAR RETAIN
+	byCurrentGripper : BYTE := 2;
 END_VAR
 ]]></Declaration>
    <Implementation>
@@ -126,6 +131,16 @@ _fbAlarmRobotErrorResetTimeout(
 	xRelease:= xReleaseAlarms, 
 	xAcknowledge:= xConfirmAlarms);
 	
+// Handled by M_Starting
+_fbAlarmWrongParamMirrored( 
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
+// Handled by M_Starting
+_fbAlarmWrongJobMirrored(
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
 	
 // =======================
 // Check if robot is ready
@@ -214,6 +229,16 @@ stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
 stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
      </Implementation>
    </Method>
+    <Method Name="M_CalcGripperNr" Id="{282207f3-bc23-43ae-a217-8c6b456b1a5f}">
+      <Declaration><![CDATA[METHOD PRIVATE M_CalcGripperNr : BYTE
+VAR_INPUT
+	byGripperSide : BYTE;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_CalcGripperNr := (byCurrentGripper - 1) + byGripperSide;]]></ST>
+      </Implementation>
+    </Method>
    <Method Name="M_Clearing" Id="{e6152288-8c7d-4b38-bfbc-4f861d76ccc5}" FolderPath="StateMachine\">
      <Declaration><![CDATA[METHOD PROTECTED M_Clearing
 VAR_INST
@@ -373,7 +398,7 @@ CASE _iSSM OF
 		// Timeout drives ready
 		IF _tonTimeout.Q THEN
 			stCtrl.bEnableAxes := 0;
-			_fbAlarmDrivesEnableTimeout.xRelease := TRUE;
+			_fbAlarmDrivesEnableTimeout.M_OneShot();
 			_tonTimeout(IN := FALSE);
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
@@ -392,7 +417,7 @@ CASE _iSSM OF
 		
 		// Timeout reset errors
 		IF _tonTimeout.Q THEN
-			_fbAlarmRobotErrorResetTimeout.xRelease := TRUE;
+			_fbAlarmRobotErrorResetTimeout.M_OneShot();
 			_tonTimeout(IN := FALSE);
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
@@ -420,6 +445,9 @@ END_CASE]]></ST>
    </Method>
    <Method Name="M_Starting" Id="{011f85d8-1225-4288-876f-918df6e4f235}" FolderPath="StateMachine\">
      <Declaration><![CDATA[METHOD PROTECTED M_Starting
+VAR
+	_byGripperSideNrCalc : BYTE;
+END_VAR
 VAR_INST
 _tonTimeout : TON;
 END_VAR]]></Declaration>
@@ -427,9 +455,11 @@ END_VAR]]></Declaration>
        <ST><![CDATA[CASE _iSSM OF
 	// Check job parameters
 	0:
-		IF (_stJobParams.byGripperNumber > 4) // Wrong gripper number
+		_byGripperSideNrCalc := M_CalcGripperNr(_stJobParams.byGripperNumber);
+		
+		IF (_stJobParams.byGripperNumber > 3) // Wrong gripper number
 			//OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
-			OR (_stJobParams.byGripperSide < 1) OR (_stJobParams.byGripperSide > 6) // Wrong gripper side
+			OR (_byGripperSideNrCalc < 1) OR (_byGripperSideNrCalc > 6) // Wrong gripper side
 		THEN
 			_eCmd := E_PackMLCmd.ABORT;
 		ELSE
@@ -474,9 +504,6 @@ END_VAR]]></Declaration>
 		// Chuck for etcher to load
 		abyToolsAndPositions[1] := stJobParams.byChuckNumber;
 		
-		// Write robot job number
-		stJobs.wJobNrForRobot := DINT_TO_WORD(_stJobParams.eJob);
-		
 		// Safety reset timout fb
 		_tonTimeout(IN := FALSE);
 		
@@ -484,17 +511,29 @@ END_VAR]]></Declaration>
 		
 	// Check mirrored values
 	15:
+		_tonTimeout(IN := TRUE, PT := T#5S);
+		
 		IF abyMirrorToolsAndPositions[0] = stJobParams.byGripperNumber
 			AND abyMirrorToolsAndPositions[1] = stJobParams.byChuckNumber
 			AND abyMirrorToolsAndPositions[2] = stJobParams.byPlaceOnHotplate
 			AND abyMirrorToolsAndPositions[3] = stJobParams.byPlaceOnCoolPlate
 		THEN
+			_tonTimeout(IN := FALSE);
 			_iSSM := 20;
 		END_IF
 		
+		IF _tonTimeout.Q THEN
+			_tonTimeout(IN := FALSE);
+			_fbAlarmWrongParamMirrored.M_OneShot();
+			_eCmd := E_PackMLCmd.STOP;
+		END_IF
+		
 	// Wait for robot program start
 	20:
-		_tonTimeout(IN := TRUE, PT := T#15S);
+		// Write robot job number
+		stJobs.wJobNrForRobot := DINT_TO_WORD(_stJobParams.eJob);
+		
+		_tonTimeout(IN := TRUE, PT := T#5S);
 		
 		// If job number is read back correct, go to next state
 		IF awJobStatesFromRobot[0] = stJobs.wJobNrForRobot THEN
@@ -506,6 +545,7 @@ END_VAR]]></Declaration>
 		// Timeout occured
 		IF _tonTimeout.Q THEN
 			_tonTimeout(IN := FALSE);
+			_fbAlarmWrongJobMirrored.M_OneShot();
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
 		
--- a/PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT
@@ -16,7 +16,7 @@ STRUCT
 	rThickness : REAL := 2.7;
 	
 	// Gripper side (1 or 2)
-	byGripperSide : BYTE := 3;
+	byGripperSide : BYTE := 1;
 	
 	// Scan QR Code during pickup from loading station
 	xScanQRCode : BOOL;
--- a/PLC/PLC.plcproj
+++ b/PLC/PLC.plcproj
@@ -311,6 +311,11 @@
      <SubType>Content</SubType>
    </None>
  </ItemGroup>
+  <ItemGroup>
+    <PlaceholderResolution Include="BaseComponents">
+      <Resolution>BaseComponents, * (Heisig GmbH)</Resolution>
+    </PlaceholderResolution>
+  </ItemGroup>
  <ProjectExtensions>
    <PlcProjectOptions>
      <XmlArchive>