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