Added minimal functionality for Robot teaching

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

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>