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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
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277
PLC/LibraryCandidates/PackML/POUs/FB_PackMLGeneric.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<POU Name="FB_PackMLGeneric" Id="{f562a10e-01bc-407d-9fc0-2837d13c10b1}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLGeneric IMPLEMENTS I_UnitState
VAR_INPUT
stCommand : ST_PMLc;
END_VAR
VAR_OUTPUT
// Unit status
stStatus : ST_PMLs;
// Admin data
stAdmin : ST_PMLa;
END_VAR
VAR
// State machine handler
_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[// 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 stStatus.eStateCurrent OF
E_PackMLState.CLEARING:
M_Clearing();
E_PackMLState.STOPPED:
M_Stopped();
E_PackMLState.STARTING:
M_Starting();
E_PackMLState.IDLE:
M_Idle();
E_PackMLState.SUSPENDED:
M_Suspended();
E_PackMLState.EXECUTE:
M_Execute();
E_PackMLState.STOPPING:
M_Stopping();
E_PackMLState.ABORTING:
M_Aborting();
E_PackMLState.ABORTED:
M_Aborted();
E_PackMLState.HOLDING:
M_Holding();
E_PackMLState.HELD:
M_Held();
E_PackMLState.UNHOLDING:
M_Unholding();
E_PackMLState.SUSPENDING:
M_Suspending();
E_PackMLState.UNSUSPENDING:
M_Unsuspending();
E_PackMLState.RESETTING:
M_Resetting();
E_PackMLState.COMPLETING:
M_Completing();
E_PackMLState.COMPLETED:
M_Complete();
ELSE
;
END_CASE]]></ST>
</Implementation>
<Method Name="M_Aborted" Id="{db1a684f-e4e1-4d89-a3aa-9b9dfde0508c}">
<Declaration><![CDATA[METHOD M_Aborted
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Aborting" Id="{928ad614-a3a7-4c6c-b1bc-55ae54e4c95f}">
<Declaration><![CDATA[METHOD M_Aborting
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Clearing" Id="{1716cf1b-94c6-4995-8b3f-c7ebcf5727d3}">
<Declaration><![CDATA[METHOD M_Clearing
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Complete" Id="{33df5dea-d83b-48e1-8898-d7c8e1f031bd}">
<Declaration><![CDATA[METHOD M_Complete
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Completing" Id="{341608cb-1218-481f-929c-cb79602c11ab}">
<Declaration><![CDATA[METHOD M_Completing
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Execute" Id="{2a469169-0eb2-43c9-be21-48909285ee44}">
<Declaration><![CDATA[METHOD M_Execute
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Held" Id="{05b040b0-b1b9-4afd-81d0-88fc1f1a7f9b}">
<Declaration><![CDATA[METHOD M_Held
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Holding" Id="{519b03b3-2409-4b45-818f-535b3e16b22e}">
<Declaration><![CDATA[METHOD M_Holding
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Idle" Id="{aa784f5c-7adf-4c9f-a414-65b10afd2772}">
<Declaration><![CDATA[METHOD M_Idle
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Resetting" Id="{4050ed6f-edbe-4c3e-ac42-919a37a47ea9}">
<Declaration><![CDATA[METHOD M_Resetting
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Starting" Id="{0059e7f6-5f2a-40e4-9d9b-652f221495a9}">
<Declaration><![CDATA[METHOD M_Starting
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_StateComplete" Id="{0cf3625e-8009-4108-a9f4-d98c991f9930}">
<Declaration><![CDATA[METHOD M_StateComplete
]]></Declaration>
<Implementation>
<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}">
<Declaration><![CDATA[METHOD M_Stopped
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Stopping" Id="{193565ef-cf20-428c-b726-e7c1b61375c5}">
<Declaration><![CDATA[METHOD M_Stopping
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Suspended" Id="{222c3ad7-f7d5-4773-8e98-863345472053}">
<Declaration><![CDATA[METHOD M_Suspended
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Suspending" Id="{0f5d52e2-2a54-4ea9-a0c4-7f08229c4f21}">
<Declaration><![CDATA[METHOD M_Suspending
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Unholding" Id="{662dd054-329b-4e57-ba77-486f92af795a}">
<Declaration><![CDATA[METHOD M_Unholding
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
<Method Name="M_Unsuspending" Id="{80fb11c4-916a-4f8f-9cf9-b9a2d51524a1}">
<Declaration><![CDATA[METHOD M_Unsuspending
]]></Declaration>
<Implementation>
<ST><![CDATA[M_StateComplete();]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>

428
PLC/LibraryCandidates/PackML/POUs/FB_PackMLStateMachine.TcPOU Normal file
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<?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>