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>