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

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>