Started kuka robot integration with hardware

- Modified PackML state machine to be able to disable unused states
- Added PackTag datatypes for recipe handling
- Started recipe parameter description in json file
- Added schema file for recipe json
- Added state machine drawing for packml

PLC/00_Main/PRG_Main.TcPOU

@@ -8,8 +8,23 @@ VAR
 	_fbEtcher1 : FB_Etcher;
 	_fbEtcher2 : FB_Etcher;
 	
+	_stRobotCmd : ST_PMLc;
+	
+	_xConfirmAlarms : BOOL;
+	
+	_xClear : BOOL;
+	_xReset : BOOL;
+	_xStart : BOOL;
+	
+	_stRobotStatus : ST_PMLs;
+	_stRobotAdmin : ST_PMLa;
+	
 	_xFirstCycle : BOOL := TRUE;
 	
+	_stRecipeGripperChange : ST_PackMLRecipe := (
+		diID := 0,
+		sName := 'Change gripper'
+	);
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -17,18 +32,52 @@ END_VAR
 	_xFirstCycle := FALSE;
 END_IF
 
-_fbRobot(xExecute:= , eCMD:= , eCurrentState=> , eCurrentCMD=> );
+IF _xClear THEN
+	_xClear := FALSE;
+	_stRobotCmd.eCntrlCmd := E_PackMLCmd.CLEAR;
+	_stRobotCmd.xCmdChangeRequest := TRUE;
+END_IF
+
+IF _xReset THEN
+	_xReset := FALSE;
+	_stRobotCmd.eCntrlCmd := E_PackMLCmd.RESET;
+	_stRobotCmd.xCmdChangeRequest := TRUE;
+END_IF
+
+IF _xStart THEN
+	_xStart := FALSE;
+	_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
+	_stRobotCmd.xCmdChangeRequest := TRUE;
+END_IF
+
+_fbRobot(
+	stCommand:= _stRobotCmd,
+	xReleaseAlarms:= TRUE, 
+	xConfirmAlarms:= _xConfirmAlarms,
+	stStatus => _stRobotStatus,
+	stAdmin => _stRobotAdmin,
+	xReady=> , 
+	xError=> );
+	
+IF _stRobotCmd.xCmdChangeRequest THEN
+	_stRobotCmd.xCmdChangeRequest := FALSE;
+END_IF
 
 _fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers);
 
 _fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
 _fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
 
+
 // Call safety program
 PRG_Safety(xConfirmAlarms := GVL_SCADA.xErrAck);
 
 // Reset alarm reset request
-GVL_SCADA.xErrAck := FALSE;]]></ST>
+GVL_SCADA.xErrAck := FALSE;
+
+IF _xConfirmAlarms THEN
+	_xConfirmAlarms := FALSE;
+END_IF]]></ST>
     </Implementation>
   </POU>
 </TcPlcObject>