Added minimal functionality for Robot teaching

- Added minimal HMI - Added possibility to open and close all chamber doors
2026-01-17 09:20:39 +01:00
parent 9f058db2a3
commit 2d11c43579
2274 changed files with 912690 additions and 162 deletions
--- a/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
+++ b/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Etcher" Id="{e75b6d70-36db-4c78-b78d-a594609441d1}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher
+VAR_INPUT
+	xOpenDoor : BOOL;
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+	_xOpenDoor AT %Q* : BOOL;
+	_xCloseDoor AT %Q* : BOOL;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[IF xOpenDoor THEN
+	_xOpenDoor := TRUE;
+	_xCloseDoor := FALSE;
+ELSE
+	_xOpenDoor := FALSE;
+	_xCloseDoor := TRUE;
+END_IF]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>
--- a/PLC/01_Stationen/HVTester/FB_HVTester.TcPOU
+++ b/PLC/01_Stationen/HVTester/FB_HVTester.TcPOU
@@ -0,0 +1,41 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_HVTester" Id="{63fd7fbb-2896-492c-ad94-827a20571a58}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_HVTester
+VAR_INPUT
+	xOpenChambers : BOOL;
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+	_xOpenDoor1 AT %Q* : BOOL;
+	_xOpenDoor2 AT %Q* : BOOL;
+	
+	_xCloseDoor1 AT %Q* : BOOL;
+	_xCloseDoor2 AT %Q* : BOOL;
+
+	// Chamber is the big cylinder not the door
+	_xOpenChamber1 AT %Q* : BOOL;
+	_xOpenChamber2 AT %Q* : BOOL;
+	
+	_xCloseChamber1 AT %Q* : BOOL;
+	_xCloseChamber2 AT %Q* : BOOL;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[IF xOpenChambers THEN
+	_xOpenDoor1 := TRUE;
+	_xOpenDoor2 := TRUE;
+	
+	_xCloseDoor1 := FALSE;
+	_xCloseDoor2 := FALSE;
+ELSE
+	_xOpenDoor1 := FALSE;
+	_xOpenDoor2 := FALSE;
+	
+	_xCloseDoor1 := TRUE;
+	_xCloseDoor2 := TRUE;
+END_IF]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
+++ b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
@@ -1,17 +1,91 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_KukaRobot" Id="{6ca3e82a-4047-4132-872d-1f49057f08d6}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_KukaRobot
+    <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_KukaRobot EXTENDS FB_Isa88_SM
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
 VAR
-	_eState : E_Isa88_State;
+	// 0 - Nicht aus
+	// 1 - Enable
+	// 2 - Enable move
+	// 3 - Conf_Mess (Reset)
+	_uCtrl AT %Q* : U_KukaRobot_Ctrl;
+	
+	// 0 -> Robot job to do
+	// 1 -> PLC job which is finished
+	_uJobs AT %Q* : U_KukaRobot_Jobs;
+	
+	// 0 - Greifer nummer
+	// 1 - Drehteller Nummer
+	// 2 - Position Heizplatte
+	// 3 - Position Kuehlplatte
+	_abToolsAndPositions AT %Q* : ARRAY[0..3] OF BYTE;
+	
+	// Positions in um
+	_diOffsetPosX AT %Q* : DINT;
+	_diOffsetPosY AT %Q* : DINT;
+	_diThickness AT %Q* : DINT;
+	
+	// Inputs
+	_uState AT %I* : U_KukaRobot_State;
+	_dwErrorBits AT %I* : DWORD;
+	_awJobStatesFromRobot AT %I* : ARRAY[0..1] OF WORD;
+	_dwJobForPLC AT %I* : DWORD;
+	
+	_abMirrorToolsAndPositions AT %I* : ARRAY[0..3] OF BYTE;
+	
+	// Position mirrors
+	_diMirrorOffsetPosX AT %I* : DINT;
+	_diMirrorOffsetPosY AT %I* : DINT;
+	_diMirrorThickness AT %I* : DINT;
+	
+	// Motortemperaturen
+	_asiMotorTemps1To4 AT %I* : ARRAY[0..3] OF SINT;
+	_asiMotorTemps5To8 AT %I* : ARRAY[0..3] OF SINT;
+	
+END_VAR
+VAR CONSTANT
+	// Bit indices for robot interface
+	NOT_DISABLE_AXES : USINT := 0;
+	ENABLE_AXES : USINT := 1;
+	ENABLE_MOVE : USINT := 2;
+	CONF_MESS : USINT := 3;
+	
+	// Array indices for Job interface
+	ROBOT_JOB : USINT := 0;
+	PLC_JOB_FINISHED : USINT := 1;
+	
+	// Array indices for tools and plate positions
+	GRIPPER_NR : USINT := 0;
+	TURN_TABLE_NR : USINT := 1;
+	HEATING_PLATE_POS : USINT := 2;
+	COOLING_PLATE_POS : USINT := 3;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[// Positionen in um <=> 0.001mm
+
+// Zur Sicherheit im T2 Zustand die Fahrfreigabe wegnehmen (da standardpasswort bleibt)
+
+// Call isa88 base state machine
+SUPER^();]]></ST>
    </Implementation>
+    <Method Name="M_StateIdle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
+      <Declaration><![CDATA[METHOD M_StateIdle
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Allow robot to be moved with programming pendant
+_uCtrl.stCtrl.bNotDisableAxes := 1;
+_uCtrl.stCtrl.bEnableAxes := 1;
+_uCtrl.stCtrl.bEnableMove := 1;
+_uCtrl.stCtrl.bConfMess := 0;
+
+// Deselect all jobs and set plc finished job to none
+//_awJobs[ROBOT_JOB] := 0;
+//_awJobs[PLC_JOB_FINISHED] := 0;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_KukaRobot_Ctrl" Id="{6a4fb617-ed87-4838-8f9a-7e8618b6ad47}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '0'}
+TYPE ST_KukaRobot_Ctrl :
+STRUCT
+	bNotDisableAxes : BIT;
+	bEnableAxes : BIT;
+	bEnableMove : BIT;
+	bConfMess : BIT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Jobs.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Jobs.TcDUT
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_KukaRobot_Jobs" Id="{149a955f-b7c0-4993-9b33-a66606ed8bcd}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '0'}
+TYPE ST_KukaRobot_Jobs :
+STRUCT
+	wJobNrForRobot : WORD;
+	wFinishedJobNrFromPlc : WORD;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_State.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_State.TcDUT
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_KukaRobot_State" Id="{a63ba4ed-f6ed-4d69-91eb-1236a87f0780}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '0'}
+TYPE ST_KukaRobot_State :
+STRUCT
+	bUserSAF : BIT;
+	bAlarmStop : BIT;
+	bPeriRdy : BIT;
+	bIOActConf : BIT;
+	bStopMess : BIT;
+	bProAct : BIT;
+	bDummy : BIT;
+	bRobStopped : BIT;
+	bInHome : BIT;
+	bRCRdy1 : BIT;
+	bT1 : BIT;
+	bT2 : BIT;
+	bAut : BIT;
+	bExt : BIT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_Ctrl.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_Ctrl.TcDUT
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="U_KukaRobot_Ctrl" Id="{c0890327-8227-4b1a-8f53-5fe8dcabd304}">
+    <Declaration><![CDATA[TYPE U_KukaRobot_Ctrl :
+UNION
+	dwCtrl : DWORD;
+	stCtrl : ST_KukaRobot_Ctrl;
+END_UNION
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_Jobs.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_Jobs.TcDUT
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="U_KukaRobot_Jobs" Id="{590c2205-ccc7-4ffe-977e-f7594d299bfd}">
+    <Declaration><![CDATA[TYPE U_KukaRobot_Jobs :
+UNION
+	dwJobs : DWORD;
+	stJobs : ST_KukaRobot_Jobs;
+END_UNION
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_State.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_State.TcDUT
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="U_KukaRobot_State" Id="{955531d4-f458-4580-a2f2-ab760c7d37eb}">
+    <Declaration><![CDATA[TYPE U_KukaRobot_State :
+UNION
+	dwState : DWORD;
+	stState : ST_KukaRobot_State;
+END_UNION
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU
+++ b/PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU
@@ -1,28 +1,56 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_TrayFeeder" Id="{e2e3e993-37de-42b1-80e1-7dba99a66e94}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_TrayFeeder
+    <Declaration><![CDATA[FUNCTION_BLOCK FINAL FB_TrayFeeder EXTENDS FB_Isa88_SM
 VAR_INPUT
-	xExecute : BOOL;
-	eCMD : E_Isa88_Cmd;
 END_VAR
 VAR_OUTPUT
-	eCurrentState : E_Isa88_State;
-	eCurrentCMD : E_Isa88_Cmd;
 END_VAR
 VAR
-	_eState : E_Isa88_State;
+	_fbTcpConnection : FB_ClientServerConnection;
+	_sIpAddr : STRING;
+	_udiPort : UDINT;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[CASE _eState OF
-	E_Isa88_State.IDLE:
-		;
-END_CASE
+      <ST><![CDATA[// Call client server connection fb
+_fbTcpConnection(
+	sSrvNetID:= '', 
+	nMode:= , 
+	sRemoteHost:= _sIpAddr, 
+	nRemotePort:= , 
+	bEnable:= , 
+	tReconnect:= , 
+	bBusy=> , 
+	bError=> , 
+	nErrId=> , 
+	hSocket=> , 
+	eState=> );
+
+// Call isa88 base state machine
+SUPER^();

 // IPs
 // 192.168.1.10
 // 192.168.1.11]]></ST>
    </Implementation>
+    <Method Name="FB_init" Id="{6c7048d9-3836-4289-b5f3-f8878267494f}">
+      <Declaration><![CDATA[//FB_Init ist immer implizit verfügbar und wird primär für die Initialisierung verwendet.
+//Der Rückgabewert wird nicht ausgewertet. Für gezielte Einflussnahme können Sie
+//die Methoden explizit deklarieren und darin mit dem Standard-Initialisierungscode 
+//zusätzlichen Code bereitstellen. Sie können den Rückgabewert auswerten.
+METHOD FB_Init: BOOL
+VAR_INPUT    
+bInitRetains: BOOL; // TRUE: Die Retain-Variablen werden initialisiert (Reset warm / Reset kalt)    
+bInCopyCode: BOOL;  // TRUE: Die Instanz wird danach in den Kopiercode kopiert (Online-Change)
+
+sIPAddr : STRING;
+udiPort : UDINT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_sIpAddr := sIPAddr;
+_udiPort := udiPort;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>