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
This commit is contained in:
@@ -4,6 +4,9 @@
|
||||
<Declaration><![CDATA[// Positionen in um <=> 0.001mm
|
||||
FUNCTION_BLOCK FINAL FB_KukaRobot EXTENDS FB_PackMLGeneric
|
||||
VAR_INPUT
|
||||
eRobotJob : E_KukaRobot_JobNumberRobot;
|
||||
|
||||
xReleaseAlarms : BOOL;
|
||||
xConfirmAlarms : BOOL;
|
||||
END_VAR
|
||||
VAR_OUTPUT
|
||||
@@ -56,13 +59,16 @@ VAR
|
||||
|
||||
_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);
|
||||
_fbAlarmNotInExtMode : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.NotInExtMode, xWithConfirmation := FALSE);
|
||||
_fbAlarmEStopActive : FB_AlarmMessage(stEventEntry := TC_EVENTS.KukaRobot.EStopActive, xWithConfirmation := FALSE);
|
||||
_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);
|
||||
END_VAR
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
@@ -91,12 +97,22 @@ _fbAlarmOperatorSafetyNotOk(
|
||||
timOnDelay:= T#0S,
|
||||
timOffDelay:= T#0S);
|
||||
|
||||
// Handled by M_Resetting
|
||||
_fbAlarmDrivesEnableTimeout(
|
||||
xRelease:= xReleaseAlarms,
|
||||
xAcknowledge:= xConfirmAlarms);
|
||||
|
||||
// Handled by M_Resetting
|
||||
_fbAlarmRobotErrorResetTimeout(
|
||||
xRelease:= xReleaseAlarms,
|
||||
xAcknowledge:= xConfirmAlarms);
|
||||
|
||||
|
||||
// =======================
|
||||
// Check if robot is ready
|
||||
// =======================
|
||||
|
||||
_xRobotReady := _uState.stState.bExt
|
||||
_xRobotReady := _uState.stState.bExt
|
||||
AND _uState.stState.bAlarmStop
|
||||
AND _uState.stState.bUserSAF
|
||||
AND _uState.stState.bPeriRdy
|
||||
@@ -118,9 +134,7 @@ SUPER^();
|
||||
_uCtrl.stCtrl.bNotDisableAxes := 1;
|
||||
|
||||
// Disable move if in T2 for safety reasons
|
||||
IF (NOT _uState.stState.bT2) THEN
|
||||
_uCtrl.stCtrl.bEnableMove := 1;
|
||||
ELSE
|
||||
IF _uState.stState.bT2 THEN
|
||||
_uCtrl.stCtrl.bEnableMove := 0;
|
||||
END_IF
|
||||
|
||||
@@ -129,8 +143,8 @@ END_IF
|
||||
// Write job outputs
|
||||
// ==================
|
||||
|
||||
_uJobs.stJobs.wJobNrForRobot := _eRobotJob;
|
||||
_uJobs.stJobs.wFinishedJobNrFromPlc := _ePlcJob;
|
||||
//_uJobs.stJobs.wJobNrForRobot := _eRobotJob;
|
||||
//_uJobs.stJobs.wFinishedJobNrFromPlc := _ePlcJob;
|
||||
|
||||
|
||||
// =================
|
||||
@@ -140,15 +154,225 @@ _uJobs.stJobs.wFinishedJobNrFromPlc := _ePlcJob;
|
||||
xReady := _xRobotReady;
|
||||
xError := _xError;]]></ST>
|
||||
</Implementation>
|
||||
<Method Name="FB_Init" Id="{71a3f6f0-d3bb-4348-acc7-be533d7488d2}">
|
||||
<Declaration><![CDATA[//FB_Init ist immer implizit verfügbar und wird primär für die Initialisierung verwendet.
|
||||
//Der Rückgabewert wird nicht ausgewertet. Für gezielte Einflussnahme können Sie
|
||||
//die Methoden explizit deklarieren und darin mit dem Standard-Initialisierungscode
|
||||
//zusätzlichen Code bereitstellen. Sie können den Rückgabewert auswerten.
|
||||
METHOD FB_Init: BOOL
|
||||
VAR_INPUT
|
||||
bInitRetains: BOOL; // TRUE: Die Retain-Variablen werden initialisiert (Reset warm / Reset kalt)
|
||||
bInCopyCode: BOOL; // TRUE: Die Instanz wird danach in den Kopiercode kopiert (Online-Change)
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[_stSMConfig.xStoppingDisabled := TRUE;
|
||||
|
||||
_stSMConfig.xCompletingDisabled := TRUE;
|
||||
_stSMConfig.xCompletedDisabled := TRUE;
|
||||
|
||||
_stSMConfig.xAbortingDisabled := TRUE;]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Aborted" Id="{0c0c17ce-5c1c-4640-9d39-f25b22309d5d}">
|
||||
<Declaration><![CDATA[METHOD M_Aborted
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// Reset all relevant robot control signals
|
||||
_uCtrl.stCtrl.bConfMess := 0;
|
||||
_uCtrl.stCtrl.bExtStart := 0;
|
||||
_uCtrl.stCtrl.bEnableAxes := 0;
|
||||
_uCtrl.stCtrl.bEnableMove := 0;
|
||||
_uCtrl.stCtrl.bNotDisableAxes := 1;
|
||||
_uCtrl.stCtrl.bAbortJob := 1;
|
||||
|
||||
// Reset robot program and plc job number
|
||||
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
|
||||
_uJobs.stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Clearing" Id="{e6152288-8c7d-4b38-bfbc-4f861d76ccc5}">
|
||||
<Declaration><![CDATA[METHOD M_Clearing
|
||||
VAR_INST
|
||||
_tonWait : TON;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[_tonWait(IN := TRUE, PT := T#1S);
|
||||
_uCtrl.stCtrl.bEnableMove := 1;
|
||||
_uCtrl.stCtrl.bAbortJob := 0;
|
||||
|
||||
IF _tonWait.Q THEN
|
||||
_tonWait(IN := FALSE, PT := T#1S);
|
||||
M_StateComplete();
|
||||
END_IF
|
||||
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Execute" Id="{bc86876c-a8db-4285-b95c-7c6858a2ca66}">
|
||||
<Declaration><![CDATA[METHOD M_Execute
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// Wait for robot to be done
|
||||
IF _awJobStatesFromRobot[0] = 0 THEN
|
||||
_eCmd := E_PackMLCmd.COMPLETE;
|
||||
END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Held" Id="{22ddbad0-0b66-427e-a2aa-f177f8adbc94}">
|
||||
<Declaration><![CDATA[METHOD M_Held
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Holding" Id="{ff8c2c8e-1fe0-4c63-ad7b-790d72bd9217}">
|
||||
<Declaration><![CDATA[METHOD M_Holding
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Idle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
|
||||
<Declaration><![CDATA[METHOD M_Idle
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[
|
||||
]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Resetting" Id="{dfe4d36a-80aa-4364-bfd8-6ddd41636d59}">
|
||||
<Declaration><![CDATA[METHOD M_Resetting
|
||||
VAR_INST
|
||||
_tonTimeout : TON;
|
||||
END_VAR]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[_tonTimeout(PT := T#10S);
|
||||
|
||||
CASE _iSSM OF
|
||||
0:
|
||||
_uCtrl.stCtrl.bEnableAxes := 1;
|
||||
_tonTimeout.IN := TRUE;
|
||||
|
||||
// Wait for drives to be ready
|
||||
IF _uState.stState.bPeriRdy THEN
|
||||
_uCtrl.stCtrl.bEnableAxes := 0;
|
||||
_tonTimeout(IN := FALSE);
|
||||
_iSSM := 10;
|
||||
END_IF
|
||||
|
||||
// Timeout drives ready
|
||||
IF _tonTimeout.Q THEN
|
||||
_uCtrl.stCtrl.bEnableAxes := 0;
|
||||
_fbAlarmDrivesEnableTimeout.xRelease := TRUE;
|
||||
_tonTimeout(IN := FALSE);
|
||||
_eCmd := E_PackMLCmd.ABORT;
|
||||
END_IF
|
||||
|
||||
10:
|
||||
_uCtrl.stCtrl.bConfMess := 1;
|
||||
|
||||
_tonTimeout.IN := TRUE;
|
||||
|
||||
// Wait for errors to be reset
|
||||
IF (NOT _uState.stState.bStopMess) THEN
|
||||
_uCtrl.stCtrl.bConfMess := 0;
|
||||
_tonTimeout(IN := FALSE);
|
||||
_iSSM := 20;
|
||||
END_IF
|
||||
|
||||
// Timeout reset errors
|
||||
IF _tonTimeout.Q THEN
|
||||
_fbAlarmRobotErrorResetTimeout.xRelease := TRUE;
|
||||
_tonTimeout(IN := FALSE);
|
||||
_eCmd := E_PackMLCmd.ABORT;
|
||||
END_IF
|
||||
|
||||
20:
|
||||
// Start main program
|
||||
_uCtrl.stCtrl.bExtStart := 1;
|
||||
|
||||
_tonTimeout.IN := TRUE;
|
||||
|
||||
IF _tonTimeout.Q THEN
|
||||
_tonTimeout(IN := FALSE);
|
||||
_eCmd := E_PackMLCmd.ABORT;
|
||||
END_IF
|
||||
|
||||
IF _uState.stState.bProAct THEN
|
||||
_uCtrl.stCtrl.bExtStart := 0;
|
||||
_tonTimeout(IN := FALSE);
|
||||
M_StateComplete();
|
||||
END_IF
|
||||
|
||||
END_CASE]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Starting" Id="{011f85d8-1225-4288-876f-918df6e4f235}">
|
||||
<Declaration><![CDATA[METHOD M_Starting
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[// Write robot job number
|
||||
_uJobs.stJobs.wJobNrForRobot := DINT_TO_WORD(_stRecipe.stProcessVariables.astParameterDInt[0].Value);
|
||||
|
||||
// Gripper number
|
||||
_abToolsAndPositions[0] := DINT_TO_BYTE(_stRecipe.stProcessVariables.astParameterDInt[1].Value);
|
||||
|
||||
// If job number is read back correct, go to next state
|
||||
IF _awJobStatesFromRobot[0] = _uJobs.stJobs.wJobNrForRobot THEN
|
||||
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
|
||||
M_StateComplete();
|
||||
END_IF
|
||||
|
||||
// Wrong job read back from robot -> Abort
|
||||
// IF _awJobStatesFromRobot[0] <> 0 AND _awJobStatesFromRobot[0] <> E_KukaRobot_JobNumberRobot.WARMUP THEN
|
||||
// _eCmd := E_PackMLCmd.ABORT;
|
||||
// END_IF
|
||||
//
|
||||
// // Robot has error
|
||||
// IF _dwErrorBits <> 0 THEN
|
||||
// _eCmd := E_PackMLCmd.ABORT;
|
||||
// END_IF]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Stopped" Id="{50813767-4bd7-4147-b5dc-1bbd18ae1555}">
|
||||
<Declaration><![CDATA[METHOD M_Stopped
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[_uCtrl.stCtrl.bConfMess := 0;
|
||||
_uCtrl.stCtrl.bEnableAxes := 0;
|
||||
_uCtrl.stCtrl.bNotDisableAxes := 1;
|
||||
_uCtrl.stCtrl.bExtStart := 0;
|
||||
|
||||
_eRobotJob := E_KukaRobot_JobNumberRobot.NO_JOB;
|
||||
_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;
|
||||
]]></ST>
|
||||
_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Suspended" Id="{c2db015c-1cd0-491a-8ce6-6c0bffba7631}">
|
||||
<Declaration><![CDATA[METHOD M_Suspended
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Suspending" Id="{5b0e5227-d5bb-40c6-a1b8-8e81b852b9b9}">
|
||||
<Declaration><![CDATA[METHOD M_Suspending
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Unholding" Id="{786f4949-9630-4ace-9e30-65bea4e87cb2}">
|
||||
<Declaration><![CDATA[METHOD M_Unholding
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
<Method Name="M_Unsuspending" Id="{d7ce33fd-cd94-44f1-9289-25a3ab3829eb}">
|
||||
<Declaration><![CDATA[METHOD M_Unsuspending
|
||||
]]></Declaration>
|
||||
<Implementation>
|
||||
<ST><![CDATA[]]></ST>
|
||||
</Implementation>
|
||||
</Method>
|
||||
</POU>
|
||||
|
||||
Reference in New Issue
Block a user