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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51
_Config/PLC/PLC Instance.xti
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@@ -18,4 +18,55 @@
<TaskPouOid Prio="20" OTCID="#x08502001"/>
</TaskPouOids>
</Instance>
<Mappings>
<OwnerA>
<OwnerB Name="TIID^Device 1 (EtherCAT)^PC_K01_KL01 (EK1100)^PC_K01_KL02 (EL1918)">
<Link VarA="PlcTask Inputs^PRG_Safety._xComStartup" VarB="StandardInputs^Standard Out Var 12" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Safety._xErrorAck" VarB="StandardOutputs^Standard In Var 212" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Safety._xLockDoor" VarB="StandardOutputs^Standard In Var 192" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Safety._xRun" VarB="StandardOutputs^Standard In Var 9" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^RobotMain">
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._abMirrorToolsAndPositions" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 4 (Greifer/Drehteller/Positionen)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._asiMotorTemps1To4" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 8 (Motor Temp)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._asiMotorTemps5To8" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 9 (Motor Temp)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._awJobStatesFromRobot" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 2 (JobAktiv/JobEnde)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorOffsetPosX" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 5 (Offset X)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorOffsetPosY" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 6 (Offset Y)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorThickness" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 7 (Thickness)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._dwErrorBits" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 1 (Errorbits)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._dwJobForPLC" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 3 (JobForPLC)"/>
<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._uState" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 0 (Status)"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._abToolsAndPositions" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 2 (Greifer/Drehteller/Positionen)"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._diOffsetPosX" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 3 (Offset X)"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._diOffsetPosY" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 4 (Offset Y)"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._diThickness" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^ Output DWORD 5 (Thickness)"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._uCtrl" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 0 (CMDs)"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._uJobs" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 1 (JobNr/PLCJobNr)"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 44 (EX260-SEC1)">
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor1" VarB="Byte 0^Output[3]" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor2" VarB="Byte 0^Output[1]" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor1" VarB="Byte 0^Output[2]" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor2" VarB="Byte 0^Output[0]" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^HV_K01_KL01^HV_K01_KL07 (EL2008)">
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber1" VarB="Channel 6^HV Hot_CloseChamber" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber2" VarB="Channel 3^HV Cold_CloseChamber" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber1" VarB="Channel 5^HV Hot_OpenChamber" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber2" VarB="Channel 2^HV Cold_OpenChamber" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^K01_KL01 (EK1100)^K01_KL02 (EL1018)">
<Link VarA="PlcTask Inputs^PRG_Safety._xRequestOpenDoor" VarB="Channel 4^MainDoorUnlock" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_QM01 (EX260-SEC1)">
<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_QM01 (EX260-SEC1)">
<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
</OwnerB>
</OwnerA>
</Mappings>
</TcSmItem>