Heisig_GmbH/infineon_plc
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Some refactoring after static code analysis

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This commit is contained in:
Matthias Heisig
2026-02-08 12:48:29 +01:00
parent bdaaf1fe9f
commit 69ef2c6904
43 changed files with 3244 additions and 1097 deletions
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224
PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
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@@ -28,44 +28,44 @@ VAR
// 1 - Enable
// 2 - Enable move
// 3 - Conf_Mess (Reset)
_uCtrl AT %Q* : U_KukaRobot_Ctrl;
stCtrl AT %Q* : ST_KukaRobot_Ctrl;
// 0 -> Robot job to do
// 1 -> PLC job which is finished
_uJobs AT %Q* : U_KukaRobot_Jobs;
stJobs AT %Q* : ST_KukaRobot_Jobs;
// 0 - Greifer nummer
// 1 - Drehteller Nummer
// 2 - Position Heizplatte
// 3 - Position Kuehlplatte
_abToolsAndPositions AT %Q* : ARRAY[0..3] OF BYTE;
abyToolsAndPositions AT %Q* : ARRAY[0..3] OF BYTE;
// Positions in um
_diOffsetPosX AT %Q* : DINT;
_diOffsetPosY AT %Q* : DINT;
_diThickness AT %Q* : DINT;
diOffsetPosX AT %Q* : DINT;
diOffsetPosY AT %Q* : DINT;
diThickness AT %Q* : DINT;
// Inputs
_uState AT %I* : U_KukaRobot_State;
_dwErrorBits AT %I* : DWORD;
_awJobStatesFromRobot AT %I* : ARRAY[0..1] OF WORD;
_eJobForPLC AT %I* : E_KukaRobot_JobNumerPLC;
stState AT %I* : ST_KukaRobot_State;
dwErrorBits AT %I* : DWORD;
awJobStatesFromRobot AT %I* : ARRAY[0..1] OF WORD;
eJobForPLC AT %I* : E_KukaRobot_JobNumerPLC;
_abMirrorToolsAndPositions AT %I* : ARRAY[0..3] OF BYTE;
{attribute 'analysis' := '-33'}
abyMirrorToolsAndPositions AT %I* : ARRAY[0..3] OF BYTE;
// Position mirrors
_diMirrorOffsetPosX AT %I* : DINT;
_diMirrorOffsetPosY AT %I* : DINT;
_diMirrorThickness AT %I* : DINT;
diMirrorOffsetPosX AT %I* : DINT;
diMirrorOffsetPosY AT %I* : DINT;
diMirrorThickness AT %I* : DINT;
{attribute 'analysis' := '+33'}
// Motortemperaturen
_asiMotorTemps1To4 AT %I* : ARRAY[0..3] OF SINT;
_asiMotorTemps5To8 AT %I* : ARRAY[0..3] OF SINT;
asiMotorTemps1To4 AT %I* : ARRAY[0..3] OF SINT;
asiMotorTemps5To8 AT %I* : ARRAY[0..3] OF SINT;
_ePlcJob :E_KukaRobot_JobNumerPLC;
_iState : INT;
_xRobotReady : BOOL;
_xError : BOOL;
@@ -91,21 +91,21 @@ END_VAR
// =============
_fbAlarmNotInExtMode(
xActive:= (NOT _uState.stState.bExt),
xActive:= (NOT stState.bExt),
xRelease:= TRUE,
xAcknowledge:= xConfirmAlarms,
timOnDelay:= T#0S,
timOffDelay:= T#0S);
_fbAlarmEStopActive(
xActive:= (NOT _uState.stState.bAlarmStop),
xActive:= (NOT stState.bAlarmStop),
xRelease:= TRUE,
xAcknowledge:= xConfirmAlarms,
timOnDelay:= T#0S,
timOffDelay:= T#0S);
_fbAlarmOperatorSafetyNotOk(
xActive:= (NOT _uState.stState.bUserSAF) AND (_uState.stState.bExt),
xActive:= (NOT stState.bUserSAF) AND (stState.bExt),
xRelease:= TRUE,
xAcknowledge:= xConfirmAlarms,
timOnDelay:= T#0S,
@@ -126,12 +126,12 @@ _fbAlarmRobotErrorResetTimeout(
// Check if robot is ready
// =======================
_xRobotReady := _uState.stState.bExt
AND _uState.stState.bAlarmStop
AND _uState.stState.bUserSAF
AND _uState.stState.bPeriRdy
AND _uState.stState.bIOActConf
AND (NOT _uState.stState.bStopMess);
_xRobotReady := stState.bExt
AND stState.bAlarmStop
AND stState.bUserSAF
AND stState.bPeriRdy
AND stState.bIOActConf
AND (NOT stState.bStopMess);
// =============================
@@ -145,7 +145,7 @@ SUPER^();
// ==============================
// Allow robot to be moved with programming pendant
_uCtrl.stCtrl.bNotDisableAxes := 1;
stCtrl.bNotDisableAxes := 1;
// Disable move if in T2 for safety reasons
// IF _uState.stState.bT2 THEN
@@ -157,10 +157,10 @@ _uCtrl.stCtrl.bNotDisableAxes := 1;
// Write unit feedbacks outputs
// ============================
_uCtrl.stCtrl.bDoorEtcher1Open := stUnitFeedbacks.xDoorEtcher1Open;
_uCtrl.stCtrl.bDoorEtcher2Open := stUnitFeedbacks.xDoorEtcher2Open;
_uCtrl.stCtrl.bDoorHVTestHotOpen := stUnitFeedbacks.xDoorHVTestHotOpen;
_uCtrl.stCtrl.bDoorHVTestColdOpen := stUnitFeedbacks.xDoorHVTestColdOpen;
stCtrl.bDoorEtcher1Open := stUnitFeedbacks.xDoorEtcher1Open;
stCtrl.bDoorEtcher2Open := stUnitFeedbacks.xDoorEtcher2Open;
stCtrl.bDoorHVTestHotOpen := stUnitFeedbacks.xDoorHVTestHotOpen;
stCtrl.bDoorHVTestColdOpen := stUnitFeedbacks.xDoorHVTestColdOpen;
M_HandlePLCJobs();
@@ -196,16 +196,16 @@ _stSMConfig.xAbortingDisabled := TRUE;]]></ST>
]]></Declaration>
<Implementation>
<ST><![CDATA[// Reset all relevant robot control signals
_uCtrl.stCtrl.bConfMess := 0;
_uCtrl.stCtrl.bExtStart := 0;
_uCtrl.stCtrl.bEnableAxes := 0;
_uCtrl.stCtrl.bEnableMove := 0;
_uCtrl.stCtrl.bNotDisableAxes := 1;
_uCtrl.stCtrl.bAbortJob := 1;
stCtrl.bConfMess := 0;
stCtrl.bExtStart := 0;
stCtrl.bEnableAxes := 0;
stCtrl.bEnableMove := 0;
stCtrl.bNotDisableAxes := 1;
stCtrl.bAbortJob := 1;
// Reset robot program and plc job number
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
_uJobs.stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
</Implementation>
</Method>
<Method Name="M_Clearing" Id="{e6152288-8c7d-4b38-bfbc-4f861d76ccc5}">
@@ -215,8 +215,8 @@ VAR_INST
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[_tonWait(IN := TRUE, PT := T#1S);
_uCtrl.stCtrl.bEnableMove := 1;
_uCtrl.stCtrl.bAbortJob := 0;
stCtrl.bEnableMove := 1;
stCtrl.bAbortJob := 0;
IF _tonWait.Q THEN
_tonWait(IN := FALSE, PT := T#1S);
@@ -234,8 +234,8 @@ END_IF
E_KukaRobot_JobNumberRobot.WARMUP:
CASE _iSSM OF
0: // Wait for program to end
IF _awJobStatesFromRobot[0] = 0 THEN
IF _asiMotorTemps1To4[3] < 40 THEN
IF awJobStatesFromRobot[0] = 0 THEN
IF asiMotorTemps1To4[3] < 40 THEN
_iSSM := 10;
ELSE
_eCmd := E_PackMLCmd.COMPLETE;
@@ -243,17 +243,20 @@ END_IF
END_IF
10: // Write robot number 0
_uJobs.stJobs.wJobNrForRobot := stJobParams.eJob;
IF _awJobStatesFromRobot[0] = _uJobs.stJobs.wJobNrForRobot THEN
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
stJobs.wJobNrForRobot := stJobParams.eJob;
IF awJobStatesFromRobot[0] = stJobs.wJobNrForRobot THEN
stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
_iSSM := 0;
END_IF
ELSE
;
END_CASE
ELSE
// Wait for robot to be done
IF _awJobStatesFromRobot[0] = 0 THEN
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
IF awJobStatesFromRobot[0] = 0 THEN
stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
_eCmd := E_PackMLCmd.COMPLETE;
END_IF
END_CASE
@@ -264,35 +267,35 @@ END_CASE
<Method Name="M_HandlePLCJobs" Id="{4e3710b4-697b-42e8-86b1-31b19b3023db}">
<Declaration><![CDATA[METHOD M_HandlePLCJobs
VAR_INST
_rtrigNewJob : R_TRIG;
_rtNewJob : R_TRIG;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[_rtrigNewJob(CLK := (_eJobForPLC <> E_KukaRobot_JobNumberRobot.NO_JOB));
<ST><![CDATA[_rtNewJob(CLK := (eJobForPLC <> E_KukaRobot_JobNumerPLC.NO_JOB));
IF _rtrigNewJob.Q THEN
eCmdFromRobot := _eJobForPLC;
IF _rtNewJob.Q THEN
eCmdFromRobot := eJobForPLC;
xNewCmdRequested := TRUE;
END_IF
IF xNewCmdRequested AND xAckPLCCmd THEN
IF xAckPLCCmd THEN
xNewCmdRequested := FALSE;
IF (NOT xPLCJobFailed) THEN
_uJobs.stJobs.wFinishedJobNrFromPlc := _eJobForPLC;
stJobs.wFinishedJobNrFromPlc := eJobForPLC;
ELSE
_uJobs.stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.JOB_FAILED;
stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.JOB_FAILED;
END_IF
eCmdFromRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
eCmdFromRobot := E_KukaRobot_JobNumerPLC.NO_JOB;
END_IF
// Reset plc job done
IF (_eJobForPLC = E_KukaRobot_JobNumberRobot.NO_JOB)
AND (_uJobs.stJobs.wFinishedJobNrFromPlc <> E_KukaRobot_JobNumberRobot.NO_JOB)
IF (eJobForPLC = E_KukaRobot_JobNumerPLC.NO_JOB)
AND (stJobs.wFinishedJobNrFromPlc <> E_KukaRobot_JobNumberRobot.NO_JOB)
AND (NOT xPLCJobFailed)
THEN
_uJobs.stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumberRobot.NO_JOB;
stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;
END_IF]]></ST>
</Implementation>
</Method>
@@ -307,9 +310,9 @@ END_IF]]></ST>
<Declaration><![CDATA[METHOD PROTECTED M_Holding
]]></Declaration>
<Implementation>
<ST><![CDATA[_uCtrl.stCtrl.bEnableMove := 0;
<ST><![CDATA[stCtrl.bEnableMove := 0;
IF _uState.stState.bRobStopped THEN
IF stState.bRobStopped THEN
M_StateComplete();
END_IF
]]></ST>
@@ -333,37 +336,37 @@ END_VAR]]></Declaration>
CASE _iSSM OF
// Check if com interface is ok
0:
_uCtrl.stCtrl.bEnableMove := 1;
_uCtrl.stCtrl.bConfMess := 1;
stCtrl.bEnableMove := 1;
stCtrl.bConfMess := 1;
_tonTimeout.IN := TRUE;
IF _uState.stState.bIOActConf THEN
_uCtrl.stCtrl.bConfMess := 0;
IF stState.bIOActConf THEN
stCtrl.bConfMess := 0;
_iSSM := 10;
END_IF
// Timeout io_Act_conf ready
IF _tonTimeout.Q THEN
_uCtrl.stCtrl.bConfMess := 0;
stCtrl.bConfMess := 0;
_tonTimeout(IN := FALSE);
_eCmd := E_PackMLCmd.ABORT;
END_IF
// Enable axes
10:
_uCtrl.stCtrl.bEnableAxes := 1;
stCtrl.bEnableAxes := 1;
_tonTimeout.IN := TRUE;
// Wait for drives to be ready
IF _uState.stState.bPeriRdy THEN
_uCtrl.stCtrl.bEnableAxes := 0;
IF stState.bPeriRdy THEN
stCtrl.bEnableAxes := 0;
_tonTimeout(IN := FALSE);
_iSSM := 20;
END_IF
// Timeout drives ready
IF _tonTimeout.Q THEN
_uCtrl.stCtrl.bEnableAxes := 0;
stCtrl.bEnableAxes := 0;
_fbAlarmDrivesEnableTimeout.xRelease := TRUE;
_tonTimeout(IN := FALSE);
_eCmd := E_PackMLCmd.ABORT;
@@ -371,12 +374,12 @@ CASE _iSSM OF
// Reset move stop
20:
_uCtrl.stCtrl.bConfMess := 1;
stCtrl.bConfMess := 1;
_tonTimeout.IN := TRUE;
// Wait for errors to be reset
IF (NOT _uState.stState.bStopMess) THEN
_uCtrl.stCtrl.bConfMess := 0;
IF (NOT stState.bStopMess) THEN
stCtrl.bConfMess := 0;
_tonTimeout(IN := FALSE);
_iSSM := 30;
END_IF
@@ -390,7 +393,7 @@ CASE _iSSM OF
// Start program
30:
_uCtrl.stCtrl.bExtStart := 1;
stCtrl.bExtStart := 1;
_tonTimeout.IN := TRUE;
IF _tonTimeout.Q THEN
@@ -398,12 +401,14 @@ CASE _iSSM OF
_eCmd := E_PackMLCmd.ABORT;
END_IF
IF _uState.stState.bProAct THEN
_uCtrl.stCtrl.bExtStart := 0;
IF stState.bProAct THEN
stCtrl.bExtStart := 0;
_tonTimeout(IN := FALSE);
M_StateComplete();
END_IF
ELSE
;
END_CASE]]></ST>
</Implementation>
</Method>
@@ -416,7 +421,7 @@ END_VAR]]></Declaration>
<ST><![CDATA[CASE _iSSM OF
// Check job parameters
0:
IF (_stJobParams.byGripperNumber < 0) OR (_stJobParams.byGripperNumber > 4) // Wrong gripper number
IF (_stJobParams.byGripperNumber > 4) // Wrong gripper number
//OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
OR (_stJobParams.byGripperSide < 1) OR (_stJobParams.byGripperSide > 6) // Wrong gripper side
THEN
@@ -433,38 +438,38 @@ END_VAR]]></Declaration>
// Transfer job data to robot
10:
// Pos x in um
_diOffsetPosX := REAL_TO_DINT(_stJobParams.rPosX * 1000);
diOffsetPosX := REAL_TO_DINT(_stJobParams.rPosX * 1000);
// Pos y in um
_diOffsetPosY := REAL_TO_DINT(_stJobParams.rPosY * 1000);
diOffsetPosY := REAL_TO_DINT(_stJobParams.rPosY * 1000);
// Thickness
_diThickness := REAL_TO_DINT(_stJobParams.rThickness * 1000);
diThickness := REAL_TO_DINT(_stJobParams.rThickness * 1000);
// Gripper side
_uCtrl.stCtrl.byGripperSide := _stJobParams.byGripperSide;
stCtrl.byGripperSide := _stJobParams.byGripperSide;
// Scan QR code
IF stJobParams.xScanQRCode THEN
_uCtrl.stCtrl.bScanQRCode := 1;
stCtrl.bScanQRCode := 1;
ELSE
_uCtrl.stCtrl.bScanQRCode := 0;
stCtrl.bScanQRCode := 0;
END_IF
// Position on hotplate
_abToolsAndPositions[2] := stJobParams.byPlaceOnHotplate;
abyToolsAndPositions[2] := stJobParams.byPlaceOnHotplate;
// Position on coolplate
_abToolsAndPositions[3] := stJobParams.byPlaceOnCoolPlate;
abyToolsAndPositions[3] := stJobParams.byPlaceOnCoolPlate;
// Gripper number
_abToolsAndPositions[0] := stJobParams.byGripperNumber;
abyToolsAndPositions[0] := stJobParams.byGripperNumber;
// Chuck for etcher to load
_abToolsAndPositions[1] := stJobParams.byChuckNumber;
abyToolsAndPositions[1] := stJobParams.byChuckNumber;
// Write robot job number
_uJobs.stJobs.wJobNrForRobot := DINT_TO_WORD(_stJobParams.eJob);
stJobs.wJobNrForRobot := DINT_TO_WORD(_stJobParams.eJob);
// Safety reset timout fb
_tonTimeout(IN := FALSE);
@@ -476,8 +481,8 @@ END_VAR]]></Declaration>
_tonTimeout(IN := TRUE, PT := T#5S);
// If job number is read back correct, go to next state
IF _awJobStatesFromRobot[0] = _uJobs.stJobs.wJobNrForRobot THEN
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
IF awJobStatesFromRobot[0] = stJobs.wJobNrForRobot THEN
stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
_tonTimeout(IN := FALSE);
M_StateComplete();
END_IF
@@ -489,10 +494,13 @@ END_VAR]]></Declaration>
END_IF
// Robot has error
IF _dwErrorBits <> 0 THEN
IF dwErrorBits <> 0 THEN
_tonTimeout(IN := FALSE);
_eCmd := E_PackMLCmd.ABORT;
END_IF
ELSE
;
END_CASE
@@ -509,11 +517,11 @@ END_CASE
]]></Declaration>
<Implementation>
<ST><![CDATA[// _uCtrl.stCtrl.bConfMess := 0;
_uCtrl.stCtrl.bEnableAxes := 0;
_uCtrl.stCtrl.bNotDisableAxes := 1;
_uCtrl.stCtrl.bExtStart := 0;
stCtrl.bEnableAxes := 0;
stCtrl.bNotDisableAxes := 1;
stCtrl.bExtStart := 0;
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
</Implementation>
</Method>
@@ -541,33 +549,33 @@ END_VAR]]></Declaration>
CASE _iSSM OF
0:
_uCtrl.stCtrl.bEnableMove := 1;
_uCtrl.stCtrl.bEnableAxes := 1;
stCtrl.bEnableMove := 1;
stCtrl.bEnableAxes := 1;
_tonTimeout.IN := TRUE;
// Wait for drives to be ready
IF _uState.stState.bPeriRdy THEN
_uCtrl.stCtrl.bEnableAxes := 0;
IF stState.bPeriRdy THEN
stCtrl.bEnableAxes := 0;
_tonTimeout(IN := FALSE);
_iSSM := 10;
END_IF
// Timeout drives ready
IF _tonTimeout.Q THEN
_uCtrl.stCtrl.bEnableAxes := 0;
stCtrl.bEnableAxes := 0;
_fbAlarmDrivesEnableTimeout.xRelease := TRUE;
_tonTimeout(IN := FALSE);
_eCmd := E_PackMLCmd.ABORT;
END_IF
10:
_uCtrl.stCtrl.bConfMess := 1;
stCtrl.bConfMess := 1;
_tonTimeout.IN := TRUE;
// Wait for errors to be reset
IF (NOT _uState.stState.bStopMess) THEN
_uCtrl.stCtrl.bConfMess := 0;
IF (NOT stState.bStopMess) THEN
stCtrl.bConfMess := 0;
_tonTimeout(IN := FALSE);
_iSSM := 20;
END_IF
@@ -581,7 +589,7 @@ CASE _iSSM OF
20:
// Start main program
_uCtrl.stCtrl.bExtStart := 1;
stCtrl.bExtStart := 1;
_tonTimeout.IN := TRUE;
@@ -590,12 +598,14 @@ CASE _iSSM OF
_eCmd := E_PackMLCmd.ABORT;
END_IF
IF _uState.stState.bProAct THEN
_uCtrl.stCtrl.bExtStart := 0;
IF stState.bProAct THEN
stCtrl.bExtStart := 0;
_tonTimeout(IN := FALSE);
M_StateComplete();
END_IF
ELSE
;
END_CASE]]></ST>
</Implementation>
</Method>