Heisig_GmbH/infineon_plc
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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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8
PLC/LibraryCandidates/Unittests/FB_PackMLStateMachine_Test.TcPOU
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@@ -194,7 +194,7 @@ fbPackML.M_StateComplete();
AssertEquals_DINT(E_PackMLState.COMPLETING, fbPackML.eState, 'Should transition to COMPLETING');
fbPackML.M_StateComplete();
AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Should transition to COMPLETE');
AssertEquals_DINT(E_PackMLState.COMPLETED, fbPackML.eState, 'Should transition to COMPLETE');
TEST_FINISHED();]]></ST>
</Implementation>
@@ -221,7 +221,7 @@ AssertEquals_DINT(E_PackMLState.EXECUTE, fbPackML.eState, 'Should reach EXECUTE'
// EXECUTE -> COMPLETING -> COMPLETE
fbPackML.M_StateComplete();
fbPackML.M_StateComplete();
AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Should reach COMPLETE');
AssertEquals_DINT(E_PackMLState.COMPLETED, fbPackML.eState, 'Should reach COMPLETE');
// COMPLETE -> RESETTING -> IDLE
fbPackML(eCmd := E_PackMLCmd.RESET);
@@ -425,7 +425,7 @@ fbPackML(eCmd := E_PackMLCmd.START);
fbPackML.M_StateComplete();
fbPackML.M_StateComplete();
fbPackML.M_StateComplete();
AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Setup: Should be COMPLETE');
AssertEquals_DINT(E_PackMLState.COMPLETED, fbPackML.eState, 'Setup: Should be COMPLETE');
// Test RESET from COMPLETE
fbPackML(eCmd := E_PackMLCmd.RESET);
@@ -452,7 +452,7 @@ fbPackML(eCmd := E_PackMLCmd.START);
fbPackML.M_StateComplete();
fbPackML.M_StateComplete();
fbPackML.M_StateComplete();
AssertEquals_DINT(E_PackMLState.COMPLETE, fbPackML.eState, 'Setup: Should be COMPLETE');
AssertEquals_DINT(E_PackMLState.COMPLETED, fbPackML.eState, 'Setup: Should be COMPLETE');
// Test STOP from COMPLETE
fbPackML(eCmd := E_PackMLCmd.STOP);