Heisig_GmbH/infineon_plc
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Changed gripper calculation and AlarmRaising

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This commit is contained in:
Matthias Heisig
2026-02-16 21:50:56 +01:00
parent 0c40092d8f
commit 20b5d5df08
4 changed files with 67 additions and 10 deletions
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56
PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
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@@ -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