Heisig_GmbH/infineon_plc
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Added minimal functionality for Robot teaching

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- Added minimal HMI
- Added possibility to open and close all chamber doors
This commit is contained in:
Matthias Heisig
2026-01-17 09:20:39 +01:00
parent 9f058db2a3
commit 2d11c43579
2274 changed files with 912690 additions and 162 deletions
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80
PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
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<?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>

15
PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT Normal file
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<?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>

13
PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Jobs.TcDUT Normal file
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<?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>

25
PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_State.TcDUT Normal file
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<?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>

12
PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_Ctrl.TcDUT Normal file
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<?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>

12
PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_Jobs.TcDUT Normal file
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<?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>

12
PLC/01_Stationen/Kuka_Robot/InterfaceUnions/U_KukaRobot_State.TcDUT Normal file
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<?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>