Added minimal functionality for Robot teaching

- Added minimal HMI
- Added possibility to open and close all chamber doors

PLC/00_Main/PRG_Main.TcPOU

@@ -3,10 +3,31 @@
   <POU Name="PRG_Main" Id="{e44f5145-cb67-4abd-8a28-92b41a0d9dbd}" SpecialFunc="None">
     <Declaration><![CDATA[PROGRAM PRG_Main
 VAR
+	_fbRobot : FB_KukaRobot;
+	_fbHVTester : FB_HVTester;
+	_fbEtcher1 : FB_Etcher;
+	_fbEtcher2 : FB_Etcher;
+	
+	_xFirstCycle : BOOL := TRUE;
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[PRG_Safety();]]></ST>
+      <ST><![CDATA[IF _xFirstCycle THEN
+	_xFirstCycle := FALSE;
+END_IF
+
+_fbRobot(xExecute:= , eCMD:= , eCurrentState=> , eCurrentCMD=> );
+
+_fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers);
+
+_fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
+_fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
+
+// Call safety program
+PRG_Safety(xConfirmAlarms := GVL_SCADA.xErrAck);
+
+// Reset alarm reset request
+GVL_SCADA.xErrAck := FALSE;]]></ST>
     </Implementation>
   </POU>
 </TcPlcObject>

PLC/00_Main/PRG_Safety.TcPOU

@@ -2,12 +2,33 @@
 <TcPlcObject Version="1.1.0.1">
   <POU Name="PRG_Safety" Id="{3b12eabc-3e96-45aa-8279-75f07072b9b0}" SpecialFunc="None">
     <Declaration><![CDATA[PROGRAM PRG_Safety
+VAR_INPUT
+	xConfirmAlarms : BOOL;
+END_VAR
 VAR
-	_xRun AT %Q* : BOOL := TRUE;
+	_xRun AT %Q* : BOOL;
+	
+	_xRequestOpenDoor AT %I* : BOOL;
+	_rtrigDoorUnlock : R_TRIG;
+	
+	_xLockDoor AT %Q* : BOOL := TRUE;
+	
+	_xComStartup AT %I* : BOOL;
+	
+	_xErrorAck AT %Q* : BOOL;
+	_tofErrorAck : TOF := (PT := T#500MS);
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[_xRun := NOT _xComStartup;
+
+_rtrigDoorUnlock(CLK := _xRequestOpenDoor);
+IF _rtrigDoorUnlock.Q THEN
+	_xLockDoor := (NOT _xLockDoor);
+END_IF
+
+// Reset safety group errors
+_tofErrorAck(IN:= xConfirmAlarms, PT:= T#500MS, Q=> _xErrorAck, ET=> );]]></ST>
     </Implementation>
   </POU>
 </TcPlcObject>