Bugfixes in TrayFeeder and Aligner

Aligner
=======
- Fixed Aligner during resetting with library update to 1.3.4
- Added Vacuum valve to HMI

Etcher
======
- Added Vacuum valve to HMI

TrayFeeder
==========
- Fixed a bug in protocoll parsing
- Added automatic reconnect tries to protocoll handler
- Added buttons to hmi interface for tray feeding and unloading

PLC/00_Main/PRG_Main.TcPOU

@@ -10,6 +10,7 @@ VAR
 	_fbRobot : FB_KukaRobot;
 	
 	_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
+	_fbTrayFeederOutput : FB_TrayFeeder(sIPAddr := '192.168.1.11', udiPort := 5000);
 	_fbAligner : FB_Aligner;
 	_fbEtcher1 : FB_Etcher;
 	_fbEtcher2 : FB_Etcher;
@@ -46,6 +47,9 @@ VAR
 	_tofTriggerTime : TOF;
 	xTriggerCamera AT %Q* : BOOL;
 	
+	_xTRiggeredEV : BOOL;
+	_xTRiggerDV : BOOL;
+	
 	_iState : INT;
 END_VAR
 ]]></Declaration>
@@ -103,6 +107,11 @@ _fbTrayFeederInput(
 	xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
 	stHMIInterface := GVL_SCADA.stMachine.stTrayFeederIn);
 	
+_fbTrayFeederOutput(
+	xReleaseAlarms := _xReleaseAlarms,
+	xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
+	stHMIInterface := GVL_SCADA.stMachine.stTrayFeederOut);
+	
 // _fbTrayFeederOut(
 // 	stCommand:= ,
 // 	xReleaseAlarms := _xReleaseAlarms,
@@ -268,6 +277,7 @@ CASE _iState OF
 		CASE _fbRobot.eCmdFromRobot OF
 			E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ALIGNER:
 				_fbAligner.xEnableVacuum := TRUE;
+				ADSLOGSTR(msgCtrlMask := ADSLOG_MSGTYPE_LOG, msgFmtStr := 'ENABLE_VACUUM_ALIGNER', strArg := '');
 				
 				// Check for timeout
 				_tonTimeout(IN := TRUE, PT := T#10S);
@@ -302,7 +312,7 @@ CASE _iState OF
 				_fbEtcher1.xEnableVacuum := TRUE;
 				
 				// Check for timeout
-				_tonTimeout(IN := TRUE, PT := T#20S);
+				//_tonTimeout(IN := TRUE, PT := T#20S);
 				IF _tonTimeout.Q THEN
 					_fbRobot.xAckPLCCmd := TRUE;
 					_fbRobot.xPLCJobFailed := TRUE;
@@ -318,7 +328,7 @@ CASE _iState OF
 				_fbEtcher1.xEnableVacuum := FALSE;
 				
 				// Check for timeout
-				_tonTimeout(IN := TRUE, PT := T#20S);
+				//_tonTimeout(IN := TRUE, PT := T#20S);
 				IF _tonTimeout.Q THEN
 					_fbRobot.xAckPLCCmd := TRUE;
 					_fbRobot.xPLCJobFailed := TRUE;
@@ -332,6 +342,7 @@ CASE _iState OF
 				
 			E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ETCHER2:
 				_fbEtcher2.xEnableVacuum := TRUE;
+				_xTRiggeredEV := TRUE;
 				
 				// Check for timeout
 				_tonTimeout(IN := TRUE, PT := T#20S);
@@ -348,6 +359,7 @@ CASE _iState OF
 				
 			E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ETCHER2:
 				_fbEtcher2.xEnableVacuum := FALSE;
+				_xTriggerDV := TRUE;
 				
 				// Check for timeout
 				_tonTimeout(IN := TRUE, PT := T#20S);

PLC/01_Stationen/Aligner/FB_Aligner.TcPOU

@@ -5,7 +5,8 @@
 VAR_INPUT
 	xEnableVacuum : BOOL;
 	xExecute : BOOL;
-	
+	xReleaseManualMode : BOOL;
+	xReleaseAlarms : BOOL;
 	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
@@ -15,8 +16,9 @@ VAR_IN_OUT
 	stHMIInterface : ST_HMI_Aligner;
 END_VAR
 VAR	
-	xActivateVacuum AT %Q* : BOOL := FALSE;
+	_fbValveVacuum : FB_Valve('Vacuum');
-	xDeactivateVacuum AT %Q* : BOOL := TRUE;
+	_stValveVacuumConfig : ST_ValveConfig;
+	
 	xVacuumOk AT %I* : BOOL;
 	
 	diXOffset AT %I* : DINT;
@@ -52,6 +54,14 @@ _fbYAxis(
 	lrJerk:= 0, 
 	xConfirmAlarms:= xConfirmAlarms);
 	
+_fbValveVacuum(
+	xAutomaticOpen:= xEnableVacuum, 
+	xReleaseErrors:= xReleaseAlarms, 
+	stValveConfig:= _stValveVacuumConfig, 
+	xReleaseManualMode:= xReleaseManualMode, 
+	xConfirmAlarms:= xConfirmAlarms,  
+	stHMIInterface:= stHMIInterface.stVacuumValve);
+	
 	
 // =============================
 // Call isa88 base state machine
@@ -61,8 +71,6 @@ SUPER^(stPackMLHMIInterface := stHMIInterface.stStationCmds);
 _rtExecute(CLK:= xExecute, Q=> _xStartAlign);
 	
 // Handle enable disable vacuum command
-xActivateVacuum := xEnableVacuum;
-xDeactivateVacuum := (NOT xEnableVacuum);
 xVacuumEnabled := xVacuumOk;]]></ST>
     </Implementation>
     <Method Name="FB_init" Id="{5048e086-25a4-4fbb-bf29-7a016bcf2277}">
@@ -81,7 +89,11 @@ END_VAR
 _stSMConfig.xStartingDisabled := TRUE;
 _stSMConfig.xHeldDisabled := TRUE;
 _stSMConfig.xSuspededDisabled := TRUE;
-_stSMConfig.xCompletedDisabled := FALSE;]]></ST>
+_stSMConfig.xCompletedDisabled := FALSE;
+
+// Valve config
+_stValveVacuumConfig.xHasOpenFeedback := FALSE;
+_stValveVacuumConfig.xHasClosedFeedback := FALSE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_Clearing" Id="{0b5b5108-3886-40a3-876f-a3460b5d5089}">
@@ -146,7 +158,9 @@ END_CASE]]></ST>
     </Method>
     <Method Name="M_Resetting" Id="{015c2bf3-1e45-46dd-93fe-a1f154bfd906}">
       <Declaration><![CDATA[METHOD PROTECTED M_Resetting
-]]></Declaration>
+VAR
+	_xFailed : BOOL;
+END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[CASE _iSSM OF
 	0:
@@ -156,29 +170,48 @@ END_CASE]]></ST>
 		
 		IF _fbXAxis.xEnabled AND _fbYAxis.xEnabled THEN
 			IF (NOT _fbXAxis.xHomed) THEN
-				_fbXAxis.M_Homing(lrHomingPosition := BC.Tc2_MC2.DEFAULT_HOME_POSITION);
+				IF (NOT _fbXAxis.M_Homing(lrHomingPosition := BC.Tc2_MC2.DEFAULT_HOME_POSITION)) THEN
+					_xFailed := TRUE;
+				END_IF
 			END_IF
 			
 			IF (NOT _fbYAxis.xHomed) THEN
-				_fbYAxis.M_Homing(lrHomingPosition := BC.Tc2_MC2.DEFAULT_HOME_POSITION);
+				IF (NOT _fbYAxis.M_Homing(lrHomingPosition := BC.Tc2_MC2.DEFAULT_HOME_POSITION)) THEN
+					_xFailed := TRUE;
+				END_IF
 			END_IF
 		
-			_iSSM := 10;
+			IF (NOT _xFailed) THEN
+				_iSSM := 10;
+			ELSE
+				M_CmdAbort();
+			END_IF
+			
 		END_IF
 		
 	10:
 		// Home axes
-		IF (NOT _fbXAxis.xBusy) AND (NOT _fbYAxis.xBusy) THEN
+		IF _fbXAxis.xDone AND _fbYAxis.xDone THEN
-			_fbXAxis.M_MoveAbs(0.0);
+			IF (NOT _fbXAxis.M_MoveAbs(0.0)) OR (NOT _fbYAxis.M_MoveAbs(0.0)) THEN
-			_fbYAxis.M_MoveAbs(0.0);
+				M_CmdAbort();
+			END_IF
+			
 			_iSSM := 20;
 		END_IF
 		
+		IF _fbXAxis.xError OR _fbYAxis.xError THEN
+			M_CmdAbort();
+		END_IF
+		
 	20:
 		// Move to 0 position
-		IF (NOT _fbXAxis.xBusy) AND (NOT _fbYAxis.xBusy) THEN
+		IF _fbXAxis.xDone AND _fbYAxis.xDone THEN
 			M_StateComplete();
 		END_IF
+		
+		IF _fbXAxis.xError OR _fbYAxis.xError THEN
+			M_CmdAbort();
+		END_IF
 END_CASE]]></ST>
       </Implementation>
     </Method>

PLC/01_Stationen/Etcher/FB_Etcher.TcPOU

@@ -20,6 +20,9 @@ VAR_IN_OUT
 	stHMIInterface : ST_HMI_Etcher;
 END_VAR
 VAR
+	_fbValveVacuum : FB_Valve('Vacuum');
+	_stValveVacuumConfig : ST_ValveConfig;
+
 	_fbValveDoor : FB_Valve('Door');
 	_stValveDoorCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
@@ -79,8 +82,6 @@ VAR
 	_fbRobot : FB_Mecademics;
 	_fbSpinner : FB_AxisPTP;
 	
-	xDisableVacuum AT %Q* : BOOL;
-	
 	_fbValveEnableFilmetch : FB_Valve('');
 	
 	_stValveConfig : ST_ValveConfig;
@@ -121,6 +122,14 @@ END_IF
 // Todo bessere implementierung finden
 //_xOpenChuckClamp := xOpenChuckClamp OR stHMIInterface.stChuckUnlockCmd.xRequest;
 
+_fbValveVacuum(
+	xAutomaticOpen := xEnableVacuum,
+	xReleaseErrors:= xReleaseAlarms, 
+	stValveConfig:= _stValveVacuumConfig, 
+	xReleaseManualMode:= xReleaseManualMode, 
+	xConfirmAlarms:= xConfirmAlarms,  
+	stHMIInterface:= stHMIInterface.stVacuumValve);
+
 _fbUnlockLeft( 
 	xAutomaticOpen:= _xOpenChuckClamp, 
 	xReleaseErrors:= xReleaseAlarms, 
@@ -162,8 +171,6 @@ _fbSpinner(
 	rOverride:= 100.0, 
 	lrVelocity:= _lrSpinnerVelo, 
 	xConfirmAlarms:= xConfirmAlarms);
-	
-xDisableVacuum := (NOT xEnableVacuum);
 
 _fbRobot(stPackMLHMIInterface := stHMIInterface.stMecaCmds);
 
@@ -309,7 +316,12 @@ _stSMConfig.xAbortingDisabled := TRUE;
 
 // Valve config
 _stValveConfig.xHasOpenFeedback := FALSE;
-_stValveConfig.xHasClosedFeedback := FALSE;]]></ST>
+_stValveConfig.xHasClosedFeedback := FALSE;
+
+// Vacuum valve config
+_stValveVacuumConfig.xHasOpenFeedback := FALSE;
+_stValveVacuumConfig.xHasClosedFeedback := FALSE;
+_stValveVacuumConfig.xNormallyOpen := TRUE;]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_JetMeasurement" Id="{5ffd6d61-d32b-40d9-aa63-25591d7cd8df}">

PLC/01_Stationen/TrayFeeder/FB_TFProtocol.TcPOU

@@ -39,6 +39,8 @@ VAR
 	_xEnableReceiveTimeout : BOOL;
 	_timReceiveResponseTimeout : TIME := T#5S;
 	_tonReceiveTimeout : TON;
+	_tonTryRecon : TON;
+	_timTryRecon : TIME := T#10S;
 	
 	// Receive state machine
 	_iStateReceive : INT;
@@ -61,6 +63,8 @@ VAR
 	_xReceivedResponseOk : BOOL;
 	_uiReceivedCommandId : UINT;
 	
+	_xConnect : BOOL;
+	
 	// Alarms
 	_fbWrongCmdIdAck : FB_AlarmMessage(stEventEntry := TC_EVENTS.TrayFeeder.WrongCmdIdAck, xWithConfirmation := TRUE);
 	_fbResponseNotOk : FB_AlarmMessage(stEventEntry := TC_EVENTS.TrayFeeder.ReceivedResponseNotOk, xWithConfirmation := TRUE);
@@ -86,7 +90,7 @@ _fbTcpConnection(
 	nMode:= , 
 	sRemoteHost:= sIpAddr, 
 	nRemotePort:= udiPort, 
-	bEnable:= xConnect, 
+	bEnable:= _xConnect AND xConnect, 
 	tReconnect:= T#2S, 
 	bBusy=> , 
 	bError=> , 
@@ -111,7 +115,13 @@ CASE _iStateReceive OF
 		IF _xConnected THEN
 			_iStateReceive := 10;
 		END_IF
-	
+		
+		// Try reconnect
+		IF (NOT _xConnected) THEN
+			_xConnect := FALSE;
+			_iStateReceive := 11;
+		END_IF
+		
 	// Call receive
 	10:
 		{analysis -64}
@@ -140,8 +150,30 @@ CASE _iStateReceive OF
 		
 		// If we have an error, check if we are connected
 		IF _fbSocketReceive.bError THEN
+			// Reconnect if socket was closed from feeder side
+			IF _fbSocketReceive.nErrId = 32772 THEN
+				_iStateReceive := 11;
+				_xConnect := FALSE;
+			END_IF
 			_fbSocketReceive(bExecute := FALSE);
-			_fbSocketReadError.xActive := TRUE;
+			//_fbSocketReadError.xActive := TRUE;
+			_iStateReceive := 0;
+		END_IF
+		
+	// Disconnect and wait some time before trying to reconnect
+	11:
+		_tonTryRecon(IN := TRUE, PT := _timTryRecon);
+		IF _tonTryRecon.Q THEN
+			_tonTryRecon(IN := FALSE);
+			_xConnect := TRUE;
+			_iStateReceive := 12;
+		END_IF
+		
+	// Wait for connection
+	12:
+		_tonTryRecon(IN := TRUE, PT := _timTryRecon);
+		IF _xConnected OR _tonTryRecon.Q THEN
+			_tonTryRecon(IN := FALSE);
 			_iStateReceive := 0;
 		END_IF
 		
@@ -355,8 +387,7 @@ _xRunSMAgain := FALSE;
 		// Parse response
 		80:
 			_xRunSMAgain := TRUE;
-			_fbParser.M_ParseCmd(_sResponse);
+			_fbParser.M_ParseCmd(_sResponse);;
-			stStatus := _fbParser.stStatus;
 			_iState := 10;
 			
 		// Error
@@ -400,9 +431,11 @@ _fbSocketReadError(
 _fbSocketWriteError(
 	xRelease:= xReleaseAlarms, 
 	xAcknowledge:= xConfirmAlarms);
+	
+
 
 // Copy output buffers to outputs
-stStatus := _fbParser.stStatus;
+stStatus := _fbParser.P_Status;
 xConnected := _xConnected;
 xBusy := _xBusy;
 xError := _xError;]]></ST>

PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU

@@ -124,7 +124,7 @@ END_VAR]]></Declaration>
 	// Wait for reset command to be finished
 	20:
 		IF (NOT _fbProtocolHandler.xBusy) AND (NOT _fbProtocolHandler.xError) THEN
-			_xConnect := FALSE;
+			//_xConnect := FALSE;
 			_iSSM := 30;
 		END_IF
 		

PLC/01_Stationen/TrayFeeder/FB_TrayFeederParser.TcPOU

@@ -5,7 +5,6 @@
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
-	stStatus : ST_TrayFeederStatus;
 END_VAR
 VAR
 	_stStatus : ST_TrayFeederStatus;
@@ -116,7 +115,7 @@ _iLength := LEN(sResponse);
 
 IF 'STAT-FEED' = _sGAF THEN
 	// Get parameter string
-	_sParams := MID(sResponse, LEN(sResponse) - 12, 12);
+	_sParams := MID(sResponse, LEN(sResponse) - 11, 12);
 	
 	FOR _uiCounter := 0 TO MAX_PARAMS DO
 		_xSplitResult := FindAndSplit(
@@ -127,6 +126,8 @@ IF 'STAT-FEED' = _sGAF THEN
 
 		IF _xSplitResult THEN
 			M_StatFeedParams(_sParam);
+		ELSE
+			EXIT;
 		END_IF
 	END_FOR
 	RETURN;
@@ -147,7 +148,6 @@ IF 'EVEN-SYST' = _sGAF THEN
 			M_EvenSystParams(_sParam);
 		END_IF
 	END_FOR
-	RETURN;
 END_IF
 
 IF 'EVEN-INIT' = _sGAF THEN
@@ -220,9 +220,7 @@ END_IF
 
 IF 'ERRO-DISP' = _sGAF THEN
 	RETURN;
-END_IF
+END_IF]]></ST>
-
-stStatus := _stStatus;]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_StatFeedParams" Id="{0f709e96-deb5-41d4-a649-6a94f81e2861}">
@@ -267,5 +265,16 @@ IF _xSplitOk THEN
 END_IF]]></ST>
       </Implementation>
     </Method>
+    <Property Name="P_Status" Id="{20979751-d4c1-49d9-b10b-c37404f0389d}">
+      <Declaration><![CDATA[PROPERTY P_Status : ST_TrayFeederStatus]]></Declaration>
+      <Get Name="Get" Id="{fd6a9782-a339-4e31-8a2f-e1b1d771cedb}">
+        <Declaration><![CDATA[VAR
+END_VAR
+]]></Declaration>
+        <Implementation>
+          <ST><![CDATA[P_Status := _stStatus;]]></ST>
+        </Implementation>
+      </Get>
+    </Property>
   </POU>
 </TcPlcObject>

PLC/01_Stationen/TrayFeeder/ST_HMI_TrayFeeder.TcDUT

@@ -4,6 +4,15 @@
     <Declaration><![CDATA[TYPE ST_HMI_TrayFeeder :
 STRUCT
 	stStationCmds : ST_HMI_PackML;
+	
+	// Button to feed tray with number
+	stFeedTray : ST_HMI_CONTROL_BUTTON;
+	
+	// Number of tray to feed
+	uiTrayNr : UINT;
+	
+	// Button to move trayfeeder to loading position
+	stUnloadFeeder : ST_HMI_CONTROL_BUTTON;
 END_STRUCT
 END_TYPE
 ]]></Declaration>

PLC/PLC.plcproj

@@ -519,7 +519,7 @@
   </ItemGroup>
   <ItemGroup>
     <PlaceholderResolution Include="BaseComponents">
-      <Resolution>BaseComponents, 1.3.3 (Heisig GmbH)</Resolution>
+      <Resolution>BaseComponents, 1.3.4 (Heisig GmbH)</Resolution>
     </PlaceholderResolution>
   </ItemGroup>
   <ProjectExtensions>

_Config/PLC/PLC Instance.xti

@@ -136,8 +136,8 @@
 				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTesterHot._fbDoorValve.xOpenValve" VarB="Byte 0^Output[2]" Size="1"/>
 			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 7 (EX600-SEC#)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbAligner.xActivateVacuum" VarB="Module 1 (EX600-SEC#, 32 Valves)^Valve Outputs^Aligner enable vacuum" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbAligner._fbValveVacuum.xCloseValve" VarB="Module 1 (EX600-SEC#, 32 Valves)^Valve Outputs^Aligner disable vacuum" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbAligner.xDeactivateVacuum" VarB="Module 1 (EX600-SEC#, 32 Valves)^Valve Outputs^Aligner disable vacuum" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbAligner._fbValveVacuum.xOpenValve" VarB="Module 1 (EX600-SEC#, 32 Valves)^Valve Outputs^Aligner enable vacuum" Size="1"/>
 			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^HP (EK1100)^Term 47 (EL2004)">
 				<Link VarA="PlcTask Outputs^PRG_Main._fbHotplate.xEnableHotplate" VarB="Channel 1^HotplateControl" Size="1"/>
@@ -273,7 +273,7 @@
 				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbUnlockRight.xOpenValve" VarB="Byte 1^Output[2]" Size="1"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbValveDoor.xCloseValve" VarB="Byte 0^Output[1]" Size="1"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbValveDoor.xOpenValve" VarB="Byte 0^Output[0]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1.xDisableVacuum" VarB="Byte 0^Output[2]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbValveVacuum.xCloseValve" VarB="Byte 0^Output[2]" Size="1"/>
 			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_QM02 (EX260-SEC1)">
 				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbValveEnableFilmetch.xOpenValve" VarB="Byte 0^Output[5]" Size="1"/>
@@ -355,7 +355,7 @@
 				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbUnlockRight.xOpenValve" VarB="Byte 1^Output[2]" Size="1"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbValveDoor.xCloseValve" VarB="Byte 0^Output[1]" Size="1"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbValveDoor.xOpenValve" VarB="Byte 0^Output[0]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2.xDisableVacuum" VarB="Byte 0^Output[2]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbValveVacuum.xCloseValve" VarB="Byte 0^Output[2]" Size="1"/>
 			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^PC_K01_KL01 (EK1100)^PC_K01_KL02 (EL1918)">
 				<Link VarA="PlcTask Inputs^PRG_Safety.xComStartup" VarB="StandardInputs^Standard Out Var 12" Size="1"/>