Changed from ISA88 to PackML

- Added PackML Base FB's - Added Unit Tests for PackML Base State Machine - Added Robot job numbers according to new interface - Added PLC job number for robot to call according to new interface - Change Robot to PackML interface
2026-01-23 22:55:49 +01:00
parent 2d11c43579
commit 3946e45c65
26 changed files with 1615 additions and 421 deletions
--- a/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumberRobot.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumberRobot.TcDUT
@@ -0,0 +1,67 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_KukaRobot_JobNumberRobot" Id="{088c6121-55a8-439f-a5d4-6dc132a46dc5}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_KukaRobot_JobNumberRobot :
+(
+	// No job
+	NO_JOB := 0,
+	
+	// Tray feeder input station
+	GET_FROM_INPUT := 10,
+	
+	// Tray feeder output station
+	PUT_TO_OUTPUT := 11,
+	
+	// Aligner station
+	PUT_INTO_ALIGNER := 15,
+	GET_FROM_ALIGNER := 16,
+	
+	// Etcher 1 station
+	PUT_INTO_ETCHER1 := 20,
+	GET_FROM_ETCHER1 := 22,
+	GET_AND_PUT_ETCHER1 := 24,
+	
+	// Etcher 2 station
+	PUT_INTO_ETCHER2 := 21,
+	GET_GROM_ETCHER2 := 23,
+	GET_AND_PUT_ETCHER2 := 25,
+	
+	// HV test station (1 - Hot, 2 - Cold)
+	PUT_HV1 := 30,
+	GET_HV1 := 32,
+	GET_AND_PUT_HV1 := 34,
+	
+	PUT_HV2 := 31,
+	GET_HV2 := 33,
+	GET_AND_PUT_HV2 := 35,
+	
+	// Heating station
+	PUT_HOT_PLATE := 40,
+	GET_HOT_PLATE := 41,
+	
+	// Cooling station
+	PUT_COOL_PLATE := 42,
+	GET_COOL_PLATE := 43,
+	
+	// NIO station
+	PUT_INTO_NIO := 70,
+	GET_FROM_NIO := 71,
+	
+	// Tool change robot gripper
+	CHANGE_GRIPPER := 50,
+	
+	// Tool change etchers
+	GET_CHUCK_ETCHER1 := 60,
+	GET_CHUCK_ETCHER2 := 61,
+	PUT_CHUCK_ETCHER1 := 62,
+	PUT_CHUCK_ETCHER2 := 63,
+	PUT_CHUCK_INTO_MAGAZINE := 64,
+	GET_CHUCK_FROM_MAGAZINE := 65
+) WORD := NO_JOB;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumerPLC.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/E_KukaRobot_JobNumerPLC.TcDUT
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="E_KukaRobot_JobNumerPLC" Id="{42772339-3817-41dd-ac6e-f6eea439266e}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+{attribute 'strict'}
+{attribute 'to_string'}
+TYPE E_KukaRobot_JobNumerPLC :
+(
+	// No job
+	NO_JOB := 0,
+	
+	// Aligner station
+	ENABLE_VACUUM_ALIGNER := 15,
+	DISABLE_VACUUM_ALIGNER := 16,
+	
+	// Etcher 1 station
+	ENABLE_VACUUM_ETCHER1 := 20,
+	DISABLE_VACUUM_ETHER1 := 22,
+	UNLOCK_CHUCK_ETCHER1 := 60,
+	LOCK_CHUCK_ETCHER1 := 62,
+	
+	// Ether 2 station
+	ENABLE_VACUUM_ETCHER2 := 21,
+	DISABLE_VACUUM_ETCHER2 := 23,
+	UNLOCK_CHUCK_ETHCER2 := 61,
+	LOCK_CHUCK_ETCHER2 := 63
+) WORD := NO_JOB;
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
+++ b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
@@ -1,10 +1,14 @@
 <?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 EXTENDS FB_Isa88_SM
+    <Declaration><![CDATA[// Positionen in um <=> 0.001mm
+FUNCTION_BLOCK FINAL FB_KukaRobot EXTENDS FB_PackMLGeneric
 VAR_INPUT
+	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
+	xReady : BOOL;
+	xError : BOOL;
 END_VAR
 VAR
 	// 0 - Nicht aus
@@ -45,46 +49,106 @@ VAR
 	_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;
+	_eRobotJob : E_KukaRobot_JobNumberRobot;
+	_ePlcJob :E_KukaRobot_JobNumerPLC;
 	
-	// Array indices for Job interface
-	ROBOT_JOB : USINT := 0;
-	PLC_JOB_FINISHED : USINT := 1;
+	_xRobotReady : BOOL;
 	
-	// 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;
+	_xError : BOOL;
+	
+	// ======
+	// Alarms
+	// ======
+	
+	_fbAlarmNotInExtMode : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.RobotNotInExtMode, xWithConfirmation := FALSE);
+	_fbAlarmEStopActive : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.RobotEStopActive, xWithConfirmation := FALSE);
+	_fbAlarmOperatorSafetyNotOk : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.OperatorSafetyNotOk, xWithConfirmation := FALSE);
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[// Positionen in um <=> 0.001mm
+      <ST><![CDATA[// =============
+// Handle alarms
+// =============

-// Zur Sicherheit im T2 Zustand die Fahrfreigabe wegnehmen (da standardpasswort bleibt)
+_fbAlarmNotInExtMode(
+	xActive:= (NOT _uState.stState.bExt), 
+	xRelease:= TRUE, 
+	xAcknowledge:= xConfirmAlarms, 
+	timOnDelay:= T#0S, 
+	timOffDelay:= T#0S);

+_fbAlarmEStopActive(
+	xActive:= (NOT _uState.stState.bAlarmStop), 
+	xRelease:= TRUE, 
+	xAcknowledge:= xConfirmAlarms, 
+	timOnDelay:= T#0S, 
+	timOffDelay:= T#0S);
+	
+_fbAlarmOperatorSafetyNotOk(
+	xActive:= (NOT _uState.stState.bUserSAF), 
+	xRelease:= TRUE, 
+	xAcknowledge:= xConfirmAlarms, 
+	timOnDelay:= T#0S, 
+	timOffDelay:= T#0S);
+	
+	
+// =======================
+// Check if robot is ready
+// =======================
+
+_xRobotReady := _uState.stState.bExt 
+	AND _uState.stState.bAlarmStop
+	AND _uState.stState.bUserSAF
+	AND _uState.stState.bPeriRdy
+	AND _uState.stState.bIOActConf
+	AND (NOT _uState.stState.bStopMess);
+
+
+// =============================
 // Call isa88 base state machine
-SUPER^();]]></ST>
+// =============================
+SUPER^();
+
+
+// ==============================
+// Handle general control outputs
+// ==============================
+
+// Allow robot to be moved with programming pendant
+_uCtrl.stCtrl.bNotDisableAxes := 1;
+
+// Disable move if in T2 for safety reasons
+IF (NOT _uState.stState.bT2) THEN
+	_uCtrl.stCtrl.bEnableMove := 1;
+ELSE
+	_uCtrl.stCtrl.bEnableMove := 0;
+END_IF
+
+
+// ==================
+// Write job outputs
+// ==================
+
+_uJobs.stJobs.wJobNrForRobot := _eRobotJob;
+_uJobs.stJobs.wFinishedJobNrFromPlc := _ePlcJob;
+
+
+// =================
+// Write fb outputs
+// =================
+
+xReady := _xRobotReady;
+xError := _xError;]]></ST>
    </Implementation>
-    <Method Name="M_StateIdle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
-      <Declaration><![CDATA[METHOD M_StateIdle
+    <Method Name="M_Idle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
+      <Declaration><![CDATA[METHOD M_Idle
 ]]></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;
+        <ST><![CDATA[_uCtrl.stCtrl.bConfMess := 0;

-// Deselect all jobs and set plc finished job to none
-//_awJobs[ROBOT_JOB] := 0;
-//_awJobs[PLC_JOB_FINISHED] := 0;]]></ST>
+_eRobotJob := E_KukaRobot_JobNumberRobot.NO_JOB;
+_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;
+]]></ST>
      </Implementation>
    </Method>
  </POU>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
@@ -4,9 +4,16 @@
    <Declaration><![CDATA[{attribute 'pack_mode' := '0'}
 TYPE ST_KukaRobot_Ctrl :
 STRUCT
+	// DRIVES_OFF
 	bNotDisableAxes : BIT;
+	
+	// DRIVES_ON
 	bEnableAxes : BIT;
+	
+	// MOVE_ENABLE
 	bEnableMove : BIT;
+	
+	// CONF_MESS
 	bConfMess : BIT;
 END_STRUCT
 END_TYPE