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Started kuka robot integration with hardware

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- 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:
Matthias Heisig
2026-01-30 09:09:30 +01:00
parent 3946e45c65
commit 67ba80893f
44 changed files with 2006 additions and 1366 deletions
Download Patch File Download Diff File Expand all files Collapse all files

0
PLC/LibraryCandidates/PackML/E_PackMLCmd.TcDUT → PLC/LibraryCandidates/PackML/DUTs/E_PackMLCmd.TcDUT
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2
PLC/LibraryCandidates/PackML/E_PackMLState.TcDUT → PLC/LibraryCandidates/PackML/DUTs/E_PackMLState.TcDUT
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@@ -23,7 +23,7 @@ TYPE E_PackMLState :
UNSUSPENDING := 14,
RESETTING := 15,
COMPLETING := 16,
COMPLETE := 17
COMPLETED := 17
) DINT := STOPPED;
END_TYPE
]]></Declaration>

0
PLC/LibraryCandidates/PackML/E_PackMLUnitMode.TcDUT → PLC/LibraryCandidates/PackML/DUTs/E_PackMLUnitMode.TcDUT
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12
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PMLa.TcDUT Normal file
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@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PMLa" Id="{16746b45-38ff-4f58-95c8-eb6734adb976}">
<Declaration><![CDATA[TYPE ST_PMLa :
STRUCT
astProductData : ARRAY[0..(GVL_PackML_Conf.MAX_PRODUCT_DATA-1)] OF ST_PackML_ProductData;
diStopReason : DINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

26
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PMLc.TcDUT Normal file
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@@ -0,0 +1,26 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PMLc" Id="{5cf4c850-57ba-42f8-9986-b146207e1b2f}">
<Declaration><![CDATA[TYPE ST_PMLc :
STRUCT
eUnitMode : E_PackMLUnitMode;
xUnitModeChangeRequest : BOOL;
rMachSpeed : REAL;
eCntrlCmd : E_PackMLCmd;
xCmdChangeRequest : BOOL;
// Parameters
astParameterReal : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamREAL;
astParameterString : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamSTRING;
astParameterLReal : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamLREAL;
astParameterDInt : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamDINT;
// Recipe data
diSelectedRecipe : DINT;
xRecipeChangeRequest : BOOL;
astRecipe : ARRAY[0..(GVL_PackML_Conf.MAX_RECIPES_PER_UNIT - 1)] OF ST_PackMLRecipe;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PMLs.TcDUT Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PMLs" Id="{dace328e-4599-42b5-ac3b-2a705ec8e2f3}">
<Declaration><![CDATA[TYPE ST_PMLs :
STRUCT
eUnitModeCurrent : E_PackMLUnitMode;
eStateCurrent : E_PackMLState;
rMachSpeed : REAL;
rCurMachSpeed : REAL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PackMLPI.TcDUT Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackMLPI" Id="{e7198eb6-2cd3-41c0-be59-e7dbcf10a569}">
<Declaration><![CDATA[TYPE ST_PackMLPI :
STRUCT
astParameterReal : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamREAL;
astParameterString : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamSTRING;
astParameterLReal : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamLREAL;
astParameterDInt : ARRAY[0..(GVL_PackML_Conf.MAX_PARAMS-1)] OF ST_PackMLParamDINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PackMLParamDINT.TcDUT Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackMLParamDINT" Id="{f9801bf5-a73d-450f-b9fc-a5d8229e4946}">
<Declaration><![CDATA[TYPE ST_PackMLParamDINT :
STRUCT
diID : DINT;
sName : STRING;
sUnit : STRING(6);
Value : DINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PackMLParamLREAL.TcDUT Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackMLParamLREAL" Id="{195fabe8-44c0-43ec-8434-75e38b68efb7}">
<Declaration><![CDATA[TYPE ST_PackMLParamLREAL :
STRUCT
diID : DINT;
sName : STRING;
sUnit : STRING(6);
Value : LREAL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PackMLParamREAL.TcDUT Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackMLParamREAL" Id="{373303ba-9979-4979-a439-c899a36baa12}">
<Declaration><![CDATA[TYPE ST_PackMLParamREAL :
STRUCT
diID : DINT;
sName : STRING;
sUnit : STRING(6);
Value : REAL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PackMLParamSTRING.TcDUT Normal file
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@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackMLParamSTRING" Id="{85353d3e-e4c9-4e83-857e-8ce7ed43abaf}">
<Declaration><![CDATA[TYPE ST_PackMLParamSTRING :
STRUCT
diID : DINT;
sName : STRING;
sUnit : STRING(6);
Value : STRING;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

15
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PackMLRecipe.TcDUT Normal file
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@@ -0,0 +1,15 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackMLRecipe" Id="{b453a4b5-bb40-4669-97f2-8d8ab8d3dc26}">
<Declaration><![CDATA[TYPE ST_PackMLRecipe :
STRUCT
diID : DINT;
sName : STRING;
rPrimaryQty : REAL;
stProcessVariables : ST_PackMLPI;
stIngredients : ST_PackMLPI;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

12
PLC/LibraryCandidates/PackML/DUTs/PackTags/ST_PackML_ProductData.TcDUT Normal file
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@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackML_ProductData" Id="{2af30e31-0927-41d2-9df4-7ed222070c13}">
<Declaration><![CDATA[TYPE ST_PackML_ProductData :
STRUCT
diProcessedCount : DINT;
diDefectiveCount : DINT;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

27
PLC/LibraryCandidates/PackML/DUTs/ST_PackMLStateMachineConfig.TcDUT Normal file
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@@ -0,0 +1,27 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_PackMLStateMachineConfig" Id="{ced5a276-0ad8-4ce9-8d27-4b268a010876}">
<Declaration><![CDATA[TYPE ST_PackMLStateMachineConfig :
STRUCT
xClearingDisabled : BOOL;
// xStoppedDisabled : BOOL;
xStartingDisabled : BOOL;
// xIdleDisabled : BOOL;
xSuspededDisabled : BOOL;
// xExecuteDisabled : BOOL;
xStoppingDisabled : BOOL;
xAbortingDisabled : BOOL;
// xAbortedDisabled : BOOL;
xHoldingDisabled : BOOL;
xHeldDisabled : BOOL;
xUnholdingDisabled : BOOL;
xSuspendingDisabled : BOOL;
xUnsuspendingDisabled : BOOL;
xResettingDisabled : BOOL;
xCompletingDisabled : BOOL;
xCompletedDisabled : BOOL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

244
PLC/LibraryCandidates/PackML/FB_PackMLStateMachine.TcPOU
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@@ -1,244 +0,0 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<POU Name="FB_PackMLStateMachine" Id="{784ceb84-1721-424f-89d1-422a24198e57}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLStateMachine
VAR_INPUT
eMode : E_PackMLUnitMode;
eCmd : E_PackMLCmd;
END_VAR
VAR_OUTPUT
eState : E_PackMLState;
eCurrentMode : E_PackMLUnitMode;
xError : BOOL;
END_VAR
VAR
// Internal mode
_eMode : E_PackMLUnitMode;
// Internal state
_eState : E_PackMLState;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[// Check for mode switch
IF eMode <> _eMode THEN
// Only allow mode switch in stopped state
// or in aborted state when target mode ist manual mode
IF (_eState = E_PackMLState.STOPPED) OR (_eState = E_PackMLState.ABORTED AND eMode = E_PackMLUnitMode.MANUAL) THEN
_eMode := eMode;
END_IF
END_IF
// Base state machine
CASE _eState OF
E_PackMLState.STOPPING:
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.STOPPED:
IF eCmd = E_PackMLCmd.RESET THEN
_eState := E_PackMLState.RESETTING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.RESETTING:
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.IDLE:
IF eCmd = E_PackMLCmd.START THEN
_eState := E_PackMLState.STARTING;
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.STARTING:
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.EXECUTE:
IF eCmd = E_PackMLCmd.SUSPEND THEN
_eState := E_PackMLState.SUSPENDING;
END_IF
IF eCmd = E_PackMLCmd.HOLD THEN
_eState := E_PackMLState.HOLDING;
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.SUSPENDING:
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.SUSPENDED:
IF eCmd = E_PackMLCmd.UNSUSPEND THEN
_eState := E_PackMLState.UNSUSPENDING;
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.UNSUSPENDING:
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.HOLDING:
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.HELD:
IF eCmd = E_PackMLCmd.UNHOLD THEN
_eState := E_PackMLState.UNHOLDING;
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.UNHOLDING:
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.COMPLETING:
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.COMPLETE:
IF eCmd = E_PackMLCmd.RESET THEN
_eState := E_PackMLState.RESETTING;
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
_eState := E_PackMLState.STOPPING;
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
E_PackMLState.ABORTED:
IF eCmd = E_PackMLCmd.CLEAR THEN
_eState := E_PackMLState.CLEARING;
END_IF
E_PackMLState.CLEARING:
IF eCmd = E_PackMLCmd.ABORT THEN
_eState := E_PackMLState.ABORTING;
END_IF
ELSE
;
END_CASE
// Copy internal state value to fb output
eState := _eState;
eCurrentMode := _eMode;]]></ST>
</Implementation>
<Method Name="M_StateComplete" Id="{e2f1bae5-5059-4baa-8ba2-8dfa58d439e5}">
<Declaration><![CDATA[METHOD M_StateComplete
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[CASE _eState OF
E_PackMLState.STOPPING:
_eState := E_PackMLState.STOPPED;
E_PackMLState.RESETTING:
_eState := E_PackMLState.IDLE;
E_PackMLState.STARTING:
_eState := E_PackMLState.EXECUTE;
E_PackMLState.EXECUTE:
_eState := E_PackMLState.COMPLETING;
E_PackMLState.SUSPENDING:
_eState := E_PackMLState.SUSPENDED;
E_PackMLState.UNSUSPENDING:
_eState := E_PackMLState.EXECUTE;
E_PackMLState.HOLDING:
_eState := E_PackMLState.HELD;
E_PackMLState.UNHOLDING:
_eState := E_PackMLState.EXECUTE;
E_PackMLState.COMPLETING:
_eState := E_PackMLState.COMPLETE;
E_PackMLState.ABORTING:
_eState := E_PackMLState.ABORTED;
E_PackMLState.CLEARING:
_eState := E_PackMLState.STOPPED;
END_CASE
eState := _eState;]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>

11
PLC/LibraryCandidates/PackML/GVL_PackML_Conf.TcGVL Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<GVL Name="GVL_PackML_Conf" Id="{b46d8e14-5a19-467d-bb78-56321e43ef47}">
<Declaration><![CDATA[{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
MAX_PARAMS : UINT := 10;
MAX_PRODUCT_DATA : UINT := 10;
MAX_RECIPES_PER_UNIT : UINT := 5;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>

98
PLC/LibraryCandidates/PackML/FB_PackMLGeneric.TcPOU → PLC/LibraryCandidates/PackML/POUs/FB_PackMLGeneric.TcPOU
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@@ -3,39 +3,90 @@
<POU Name="FB_PackMLGeneric" Id="{f562a10e-01bc-407d-9fc0-2837d13c10b1}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLGeneric IMPLEMENTS I_UnitState
VAR_INPUT
// Mode from superior unit
eModeCmd : E_PackMLUnitMode;
// Command for new state from superior unit
eCmd : E_PackMLCmd;
stCommand : ST_PMLc;
END_VAR
VAR_OUTPUT
// Current mode of unit
eMode : E_PackMLUnitMode;
// Unit status
stStatus : ST_PMLs;
// Current state of unit
eState : E_PackMLState;
// xInvalidModeCmd : BOOL;
// Admin data
stAdmin : ST_PMLa;
END_VAR
VAR
// State machine handler
_fbStateMachine : FB_PackMLStateMachine;
_fbStateMachine : FB_PackMLStateMachine;
// State machine config
_stSMConfig : ST_PackMLStateMachineConfig;
// Internal unit command
_eCmd : E_PackMLCmd;
// Internal unit mode
_eMode : E_PackMLUnitMode;
// Internal unit state
_eState : E_PackMLState;
// Last state
_eLastState : E_PackMLState;
// Current recipe
_stRecipe : ST_PackMLRecipe;
// Trigger for new command
_rtChangeCmdRequest : R_TRIG;
// Trigger for new mode
_rtChangeModeRequest : R_TRIG;
// Trigger change recipe
_rtChangeRecipeRequest : R_TRIG;
// State state machine variable
_iSSM : INT := 0;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[_fbStateMachine(
eMode:= eMode,
eCmd:= eCmd,
eState=> _eState,
<ST><![CDATA[// Handle command change request
_rtChangeCmdRequest(CLK:= stCommand.xCmdChangeRequest);
IF _rtChangeCmdRequest.Q THEN
_eCmd := stCommand.eCntrlCmd;
END_IF
// Hande mode change request
_rtChangeModeRequest(CLK := stCommand.xUnitModeChangeRequest);
IF _rtChangeModeRequest.Q THEN
_eMode := stCommand.eUnitMode;
END_IF
// Handle recipe change rewuest
_rtChangeRecipeRequest(CLK := stCommand.xRecipeChangeRequest);
IF _rtChangeRecipeRequest.Q THEN
_stRecipe := stCommand.astRecipe[stCommand.diSelectedRecipe];
END_IF
// Call PackML state machine handler
_fbStateMachine(
eMode:= _eMode,
eCmd:= _eCmd,
stConfig := _stSMConfig,
eState=> stStatus.eStateCurrent,
eCurrentMode => stStatus.eUnitModeCurrent,
xError=> );
// Reset state state machine
IF _eLastState <> stStatus.eStateCurrent THEN
_iSSM := 0;
_eLastState := stStatus.eStateCurrent;
END_IF
// Call state method according to current state
CASE _eState OF
CASE stStatus.eStateCurrent OF
E_PackMLState.CLEARING:
M_Clearing();
@@ -84,16 +135,13 @@ CASE _eState OF
E_PackMLState.COMPLETING:
M_Completing();
E_PackMLState.COMPLETE:
E_PackMLState.COMPLETED:
M_Complete();
ELSE
;
END_CASE
// Copy internal flags to output
eState := _eState;]]></ST>
END_CASE]]></ST>
</Implementation>
<Method Name="M_Aborted" Id="{db1a684f-e4e1-4d89-a3aa-9b9dfde0508c}">
<Declaration><![CDATA[METHOD M_Aborted
@@ -176,7 +224,11 @@ eState := _eState;]]></ST>
<Declaration><![CDATA[METHOD M_StateComplete
]]></Declaration>
<Implementation>
<ST><![CDATA[_fbStateMachine.M_StateComplete();]]></ST>
<ST><![CDATA[// Reset state state machine
_iSSM := 0;
// Call state change in PackML state manager
_fbStateMachine.M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Stopped" Id="{9f8a09cf-f3be-4d60-b5e4-cd9572fae88c}">

428
PLC/LibraryCandidates/PackML/POUs/FB_PackMLStateMachine.TcPOU Normal file
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@@ -0,0 +1,428 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<POU Name="FB_PackMLStateMachine" Id="{784ceb84-1721-424f-89d1-422a24198e57}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLStateMachine
VAR_INPUT
eMode : E_PackMLUnitMode;
eCmd : E_PackMLCmd;
stConfig : ST_PackMLStateMachineConfig;
END_VAR
VAR_OUTPUT
eState : E_PackMLState;
eCurrentMode : E_PackMLUnitMode;
xError : BOOL;
END_VAR
VAR
// Internal mode
_eMode : E_PackMLUnitMode;
// Internal state
_eState : E_PackMLState;
// Rerun state machine
_xRerunSM : BOOL;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[// Check for mode switch
IF eMode <> _eMode THEN
// Only allow mode switch in stopped state
// or in aborted state when target mode ist manual mode
IF (_eState = E_PackMLState.STOPPED) OR (_eState = E_PackMLState.ABORTED AND eMode = E_PackMLUnitMode.MANUAL) THEN
_eMode := eMode;
END_IF
END_IF
REPEAT
_xRerunSM := FALSE;
// Base state machine
CASE _eState OF
E_PackMLState.STOPPING:
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.STOPPED:
IF eCmd = E_PackMLCmd.RESET THEN
IF (NOT stConfig.xResettingDisabled)THEN
_eState := E_PackMLState.RESETTING;
ELSE
_eState := E_PackMLState.IDLE;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.RESETTING:
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.IDLE:
IF eCmd = E_PackMLCmd.START THEN
IF (NOT stConfig.xStartingDisabled) THEN
_eState := E_PackMLState.STARTING;
ELSE
_eState := E_PackMLState.EXECUTE;
END_IF
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.STARTING:
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.EXECUTE:
IF eCmd = E_PackMLCmd.SUSPEND AND (NOT stConfig.xSuspededDisabled) THEN
IF (NOT stConfig.xSuspendingDisabled) THEN
_eState := E_PackMLState.SUSPENDING;
ELSE
_eState := E_PackMLState.SUSPENDED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.HOLD AND (NOT stConfig.xHeldDisabled) THEN
IF (NOT stConfig.xHoldingDisabled) THEN
_eState := E_PackMLState.HOLDING;
ELSE
_eState := E_PackMLState.HELD;
END_IF
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.COMPLETE THEN
IF (NOT stConfig.xCompletedDisabled)THEN
IF (NOT stConfig.xCompletingDisabled) THEN
_eState := E_PackMLState.COMPLETING;
ELSE
_eState := E_PackMLState.COMPLETED;
END_IF
ELSE
IF (NOT stConfig.xResettingDisabled) THEN
_eState := E_PackMLState.RESETTING;
ELSE
_eState := E_PackMLState.IDLE;
END_IF
END_IF
END_IF
E_PackMLState.SUSPENDING:
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.SUSPENDED:
IF eCmd = E_PackMLCmd.UNSUSPEND THEN
IF (NOT stConfig.xUnsuspendingDisabled) THEN
_eState := E_PackMLState.UNSUSPENDING;
ELSE
_eState := E_PackMLState.EXECUTE;
END_IF
END_IF
IF eCmd = E_PackMLCmd.HOLD AND (NOT stConfig.xHeldDisabled) THEN
IF (NOT stConfig.xHoldingDisabled) THEN
_eState := E_PackMLState.HOLDING;
ELSE
_eState := E_PackMLState.HELD;
END_IF
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.UNSUSPENDING:
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.HOLDING:
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.HELD:
IF eCmd = E_PackMLCmd.UNHOLD THEN
IF (NOT stConfig.xUnholdingDisabled) THEN
_eState := E_PackMLState.UNHOLDING;
ELSE
_eState := E_PackMLState.EXECUTE;
END_IF
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.UNHOLDING:
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.COMPLETING:
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.COMPLETED:
IF eCmd = E_PackMLCmd.RESET THEN
IF (NOT stConfig.xResettingDisabled)THEN
_eState := E_PackMLState.RESETTING;
ELSE
_eState := E_PackMLState.IDLE;
END_IF
END_IF
IF eCmd = E_PackMLCmd.STOP THEN
IF (NOT stConfig.xStoppingDisabled) THEN
_eState := E_PackMLState.STOPPING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
E_PackMLState.ABORTED:
IF eCmd = E_PackMLCmd.CLEAR THEN
IF (NOT stConfig.xClearingDisabled) THEN
_eState := E_PackMLState.CLEARING;
ELSE
_eState := E_PackMLState.STOPPED;
END_IF
END_IF
E_PackMLState.CLEARING:
IF eCmd = E_PackMLCmd.ABORT THEN
IF (NOT stConfig.xAbortingDisabled) THEN
_eState := E_PackMLState.ABORTING;
ELSE
_eState := E_PackMLState.ABORTED;
END_IF
END_IF
ELSE
;
END_CASE
UNTIL (NOT _xRerunSM)
END_REPEAT
// Copy internal state value to fb output
eState := _eState;
eCurrentMode := _eMode;]]></ST>
</Implementation>
<Method Name="M_StateComplete" Id="{e2f1bae5-5059-4baa-8ba2-8dfa58d439e5}">
<Declaration><![CDATA[METHOD M_StateComplete
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[CASE _eState OF
E_PackMLState.STOPPING:
_eState := E_PackMLState.STOPPED;
E_PackMLState.RESETTING:
_eState := E_PackMLState.IDLE;
E_PackMLState.STARTING:
_eState := E_PackMLState.EXECUTE;
E_PackMLState.SUSPENDING:
_eState := E_PackMLState.SUSPENDED;
E_PackMLState.UNSUSPENDING:
_eState := E_PackMLState.EXECUTE;
E_PackMLState.HOLDING:
_eState := E_PackMLState.HELD;
E_PackMLState.UNHOLDING:
_eState := E_PackMLState.EXECUTE;
E_PackMLState.COMPLETING:
IF (NOT stConfig.xCompletedDisabled)THEN
_eState := E_PackMLState.COMPLETED;
ELSE
IF (NOT stConfig.xResettingDisabled) THEN
_eState := E_PackMLState.RESETTING;
ELSE
_eState := E_PackMLState.IDLE;
END_IF
END_IF
E_PackMLState.ABORTING:
_eState := E_PackMLState.ABORTED;
E_PackMLState.CLEARING:
_eState := E_PackMLState.STOPPED;
END_CASE
eState := _eState;]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>