Merge branch 'develop' of https://gitea.heisig-gmbh.de/Heisig_GmbH/infineon_plc into develop

# Conflicts:
#	PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT

PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU

@@ -91,6 +91,11 @@ VAR
 	_fbAlarmOperatorSafetyNotOk : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.OperatorSafetyNotOk, xWithConfirmation := FALSE);
 	_fbAlarmRobotErrorResetTimeout : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.ErrorResetTimeout, xWithConfirmation := TRUE);
 	_fbAlarmDrivesEnableTimeout : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.DrivesEnableTimeout, xWithConfirmation := TRUE);
+	_fbAlarmWrongJobMirrored : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.WrongJobReadBack, xWithConfirmation := TRUE);
+	_fbAlarmWrongParamMirrored : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.WrongParamsReadBack, xWithConfirmation := TRUE);
+END_VAR
+VAR RETAIN
+	byCurrentGripper : BYTE := 2;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -129,6 +134,16 @@ _fbAlarmRobotErrorResetTimeout(
 	xRelease:= xReleaseAlarms, 
 	xAcknowledge:= xConfirmAlarms);
 	
+// Handled by M_Starting
+_fbAlarmWrongParamMirrored( 
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
+// Handled by M_Starting
+_fbAlarmWrongJobMirrored(
+	xRelease:= xReleaseAlarms, 
+	xAcknowledge:= xConfirmAlarms);
+	
 	
 // =======================
 // Check if robot is ready
@@ -217,6 +232,16 @@ stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
 stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
       </Implementation>
     </Method>
+    <Method Name="M_CalcGripperNr" Id="{282207f3-bc23-43ae-a217-8c6b456b1a5f}">
+      <Declaration><![CDATA[METHOD PRIVATE M_CalcGripperNr : BYTE
+VAR_INPUT
+	byGripperSide : BYTE;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[M_CalcGripperNr := (byCurrentGripper - 1) + byGripperSide;]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="M_Clearing" Id="{e6152288-8c7d-4b38-bfbc-4f861d76ccc5}" FolderPath="StateMachine\">
       <Declaration><![CDATA[METHOD PROTECTED M_Clearing
 VAR_INST
@@ -376,7 +401,7 @@ CASE _iSSM OF
 		// Timeout drives ready
 		IF _tonTimeout.Q THEN
 			stCtrl.bEnableAxes := 0;
-			_fbAlarmDrivesEnableTimeout.xRelease := TRUE;
+			_fbAlarmDrivesEnableTimeout.M_OneShot();
 			_tonTimeout(IN := FALSE);
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
@@ -395,7 +420,7 @@ CASE _iSSM OF
 		
 		// Timeout reset errors
 		IF _tonTimeout.Q THEN
-			_fbAlarmRobotErrorResetTimeout.xRelease := TRUE;
+			_fbAlarmRobotErrorResetTimeout.M_OneShot();
 			_tonTimeout(IN := FALSE);
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
@@ -423,6 +448,9 @@ END_CASE]]></ST>
     </Method>
     <Method Name="M_Starting" Id="{011f85d8-1225-4288-876f-918df6e4f235}" FolderPath="StateMachine\">
       <Declaration><![CDATA[METHOD PROTECTED M_Starting
+VAR
+	_byGripperSideNrCalc : BYTE;
+END_VAR
 VAR_INST
  _tonTimeout : TON;
 END_VAR]]></Declaration>
@@ -430,9 +458,11 @@ END_VAR]]></Declaration>
         <ST><![CDATA[CASE _iSSM OF
 	// Check job parameters
 	0:
-		IF (_stJobParams.byGripperNumber > 4) // Wrong gripper number
+		_byGripperSideNrCalc := M_CalcGripperNr(_stJobParams.byGripperNumber);
+		
+		IF (_stJobParams.byGripperNumber > 3) // Wrong gripper number
 			//OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
-			OR (_stJobParams.byGripperSide < 1) OR (_stJobParams.byGripperSide > 6) // Wrong gripper side
+			OR (_byGripperSideNrCalc < 1) OR (_byGripperSideNrCalc > 6) // Wrong gripper side
 		THEN
 			_eCmd := E_PackMLCmd.ABORT;
 		ELSE
@@ -477,9 +507,6 @@ END_VAR]]></Declaration>
 		// Chuck for etcher to load
 		abyToolsAndPositions[1] := stJobParams.byChuckNumber;
 		
-		// Write robot job number
-		stJobs.wJobNrForRobot := DINT_TO_WORD(_stJobParams.eJob);
-		
 		// Safety reset timout fb
 		_tonTimeout(IN := FALSE);
 		
@@ -487,17 +514,29 @@ END_VAR]]></Declaration>
 		
 	// Check mirrored values
 	15:
+		_tonTimeout(IN := TRUE, PT := T#5S);
+		
 		IF abyMirrorToolsAndPositions[0] = stJobParams.byGripperNumber
 			AND abyMirrorToolsAndPositions[1] = stJobParams.byChuckNumber
 			AND abyMirrorToolsAndPositions[2] = stJobParams.byPlaceOnHotplate
 			AND abyMirrorToolsAndPositions[3] = stJobParams.byPlaceOnCoolPlate
 		THEN
+			_tonTimeout(IN := FALSE);
 			_iSSM := 20;
 		END_IF
 		
+		IF _tonTimeout.Q THEN
+			_tonTimeout(IN := FALSE);
+			_fbAlarmWrongParamMirrored.M_OneShot();
+			_eCmd := E_PackMLCmd.STOP;
+		END_IF
+		
 	// Wait for robot program start
 	20:
-		_tonTimeout(IN := TRUE, PT := T#15S);
+		// Write robot job number
+		stJobs.wJobNrForRobot := DINT_TO_WORD(_stJobParams.eJob);
+		
+		_tonTimeout(IN := TRUE, PT := T#5S);
 		
 		// If job number is read back correct, go to next state
 		IF awJobStatesFromRobot[0] = stJobs.wJobNrForRobot THEN
@@ -509,6 +548,7 @@ END_VAR]]></Declaration>
 		// Timeout occured
 		IF _tonTimeout.Q THEN
 			_tonTimeout(IN := FALSE);
+			_fbAlarmWrongJobMirrored.M_OneShot();
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
 		

PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT

@@ -15,8 +15,8 @@ STRUCT
 	// Substrate thickness in mm
 	rThickness : REAL := 2.7;
 	
-	// Gripper side (1 - 6)
-	byGripperSide : BYTE := 3;
+	// Gripper side (1 or 2)
+	byGripperSide : BYTE := 1;
 	
 	// Scan QR Code during pickup from loading station
 	xScanQRCode : BOOL;