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/LibraryCandidates/ISA88/FB_Isa88_SM.TcPOU
+++ b/PLC/LibraryCandidates/ISA88/FB_Isa88_SM.TcPOU
@@ -0,0 +1,177 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Isa88_SM" Id="{29def7dc-7eb7-4788-94bf-20badd909417}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Isa88_SM IMPLEMENTS I_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;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[CASE _eState OF
+	E_Isa88_State.IDLE:
+		M_StateIdle();
+	
+	E_Isa88_State.RUNNING:
+		M_StateRunning();
+	
+	E_Isa88_State.COMPLETE:
+		M_StateComplete();
+	
+	E_Isa88_State.PAUSING:
+		IF M_StatePausing() THEN
+			_eState := E_Isa88_State.PAUSED;
+		END_IF
+	
+	E_Isa88_State.PAUSED:
+		M_StatePaused();
+	
+	E_Isa88_State.HOLDING:
+		IF M_StateHolding() THEN
+			_eState := E_Isa88_State.HELD;
+		END_IF
+	
+	E_Isa88_State.HELD:
+		M_StateHeld();
+	
+	E_Isa88_State.RESTARTING:
+		IF M_StateRestarting() THEN
+			_eState := E_Isa88_State.RUNNING;
+		END_IF
+	
+	E_Isa88_State.STOPPING:
+		IF M_StateStopping() THEN
+			_eState := E_Isa88_State.STOPPED;
+		END_IF
+	
+	E_Isa88_State.STOPPED:
+		M_StateStopped();
+	
+	E_Isa88_State.ABORTING:
+		IF M_StateAborting() THEN
+			_eState := E_Isa88_State.ABORTED;
+		END_IF
+	
+	E_Isa88_State.ABORTED:
+		M_StateAborted();
+		
+	ELSE
+		;
+END_CASE]]></ST>
+    </Implementation>
+    <Method Name="M_StateAborted" Id="{7d3ae447-cd1c-41c4-ac16-4adbba3ca9d2}">
+      <Declaration><![CDATA[METHOD M_StateAborted
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateAborting" Id="{65c188ca-e49a-469e-8acf-15108e45afc4}">
+      <Declaration><![CDATA[METHOD M_StateAborting : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateComplete" Id="{c6f588b5-faa7-4cdb-8ef7-15b60b1b3437}">
+      <Declaration><![CDATA[METHOD M_StateComplete
+VAR_INPUT
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateHeld" Id="{d3017117-19ee-4be8-a004-3bf1cb3e986c}">
+      <Declaration><![CDATA[METHOD M_StateHeld
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateHolding" Id="{aa747568-2f98-4853-8a09-082a8e71cb49}">
+      <Declaration><![CDATA[METHOD M_StateHolding : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateIdle" Id="{a1e6fb67-08b4-4452-a103-1e87b93b70df}">
+      <Declaration><![CDATA[METHOD M_StateIdle
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StatePaused" Id="{e2e36464-c119-471f-8bba-3290f653d282}">
+      <Declaration><![CDATA[METHOD M_StatePaused
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StatePausing" Id="{02b59ba7-54b7-4ccd-88ad-9fc49284626e}">
+      <Declaration><![CDATA[METHOD M_StatePausing : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateRestarting" Id="{b6ffa7ab-5439-47ef-8993-798aa3ec7e01}">
+      <Declaration><![CDATA[METHOD M_StateRestarting : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateRunning" Id="{e61c2773-08f6-421e-88fd-c87d0d7d7581}">
+      <Declaration><![CDATA[METHOD M_StateRunning
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateStopped" Id="{0455a3a5-4745-4cf5-8c40-69d001c1d9aa}">
+      <Declaration><![CDATA[METHOD M_StateStopped
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_StateStopping" Id="{e88bc558-0424-4a5f-99cd-f9d787839b47}">
+      <Declaration><![CDATA[METHOD M_StateStopping : BOOL
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>