Heisig_GmbH/infineon_plc
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Commit before reloading Keyence camera on Profinet

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This commit is contained in:
Matthias Heisig
2026-01-30 16:07:24 +01:00
parent 68aca1956f
commit 8c41ff9bad
16 changed files with 342 additions and 126 deletions
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39
PLC/00_Main/PRG_Main.TcPOU
View File

@@ -8,31 +8,27 @@ VAR
_fbEtcher1 : FB_Etcher;
_fbEtcher2 : FB_Etcher;
_stRobotCmd : ST_PMLc;
_xConfirmAlarms : BOOL;
_stRobotCmd : ST_PMLc;
_stRobotStatus : ST_PMLs;
_stRobotAdmin : ST_PMLa;
_stRobotJobParams : ST_KukaRobot_JobParams;
// DEBUG commands
_xClear : BOOL;
_xReset : BOOL;
_xStart : BOOL;
_stRobotStatus : ST_PMLs;
_stRobotAdmin : ST_PMLa;
_xFirstCycle : BOOL := TRUE;
_stRecipeGripperChange : ST_PackMLRecipe := (
diID := 0,
sName := 'Change gripper'
);
_xStartTrigger : BOOL;
_tofTriggerTime : TOF := (PT := T#1S);
_xTriggerCamera AT %Q* : BOOL;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF _xFirstCycle THEN
_xFirstCycle := FALSE;
END_IF
IF _xClear THEN
<ST><![CDATA[IF _xClear THEN
_xClear := FALSE;
_stRobotCmd.eCntrlCmd := E_PackMLCmd.CLEAR;
_stRobotCmd.xCmdChangeRequest := TRUE;
@@ -52,6 +48,7 @@ END_IF
_fbRobot(
stCommand:= _stRobotCmd,
stJobParams := _stRobotJobParams,
xReleaseAlarms:= TRUE,
xConfirmAlarms:= _xConfirmAlarms,
stStatus => _stRobotStatus,
@@ -72,6 +69,16 @@ _fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
// Call safety program
PRG_Safety(xConfirmAlarms := GVL_SCADA.xErrAck);
// =====
// DEBUG
// =====
_tofTriggerTime(IN := _xStartTrigger);
IF _xStartTrigger THEN
_xStartTrigger := FALSE;
END_IF
_xTriggerCamera := _tofTriggerTime.Q;
// Reset alarm reset request
GVL_SCADA.xErrAck := FALSE;

126
PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
View File

@@ -4,7 +4,11 @@
<Declaration><![CDATA[// Positionen in um <=> 0.001mm
FUNCTION_BLOCK FINAL FB_KukaRobot EXTENDS FB_PackMLGeneric
VAR_INPUT
eRobotJob : E_KukaRobot_JobNumberRobot;
stJobParams : ST_KukaRobot_JobParams;
// Feedbacks from other units
// like if a door is open and such things
stUnitFeedbacks : ST_KukaRobot_UnitFeedbacks;
xReleaseAlarms : BOOL;
xConfirmAlarms : BOOL;
@@ -52,13 +56,15 @@ VAR
_asiMotorTemps1To4 AT %I* : ARRAY[0..3] OF SINT;
_asiMotorTemps5To8 AT %I* : ARRAY[0..3] OF SINT;
_eRobotJob : E_KukaRobot_JobNumberRobot;
_ePlcJob :E_KukaRobot_JobNumerPLC;
_xRobotReady : BOOL;
_xError : BOOL;
// Internal job params will be copied from input
// only from IDLE -> STARTING
_stJobParams : ST_KukaRobot_JobParams;
// ======
// Alarms
@@ -139,12 +145,11 @@ IF _uState.stState.bT2 THEN
END_IF
// ==================
// Write job outputs
// ==================
// ============================
// Write unit feedbacks outputs
// ============================
//_uJobs.stJobs.wJobNrForRobot := _eRobotJob;
//_uJobs.stJobs.wFinishedJobNrFromPlc := _ePlcJob;
// =================
@@ -236,8 +241,7 @@ END_IF]]></ST>
<Declaration><![CDATA[METHOD M_Idle
]]></Declaration>
<Implementation>
<ST><![CDATA[
]]></ST>
<ST><![CDATA[_stJobParams := stJobParams;]]></ST>
</Implementation>
</Method>
<Method Name="M_Resetting" Id="{dfe4d36a-80aa-4364-bfd8-6ddd41636d59}">
@@ -309,29 +313,103 @@ END_CASE]]></ST>
</Method>
<Method Name="M_Starting" Id="{011f85d8-1225-4288-876f-918df6e4f235}">
<Declaration><![CDATA[METHOD M_Starting
]]></Declaration>
VAR_INST
_tonTimeout : TON;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[// Write robot job number
_uJobs.stJobs.wJobNrForRobot := DINT_TO_WORD(_stRecipe.stProcessVariables.astParameterDInt[0].Value);
<ST><![CDATA[CASE _iSSM OF
// Check job parameters
0:
IF (_stJobParams.byGripperNumber < 0) OR (_stJobParams.byGripperNumber > 3) // Wrong gripper number
OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
OR (_stJobParams.byGripperSide < 1) OR (_stJobParams.byGripperSide > 2) // Wrong gripper side
THEN
_eCmd := E_PackMLCmd.ABORT;
ELSE
_iSSM := 10;
END_IF
// Transfer job data to robot
10:
// Pos x in um
_diOffsetPosX := REAL_TO_DINT(_stJobParams.rPosX * 1000);
// Pos y in um
_diOffsetPosY := REAL_TO_DINT(_stJobParams.rPosY * 1000);
// Thickness
_diThickness := REAL_TO_DINT(_stJobParams.rThickness * 1000);
// Gripper side
IF _stJobParams.byGripperSide = 1 THEN
_uCtrl.stCtrl.bGripperSide1 := 1;
_uCtrl.stCtrl.bGripperSide2 := 0;
ELSIF _stJobParams.byGripperSide = 2 THEN
_uCtrl.stCtrl.bGripperSide1 := 0;
_uCtrl.stCtrl.bGripperSide2 := 1;
ELSE
_uCtrl.stCtrl.bGripperSide1 := 0;
_uCtrl.stCtrl.bGripperSide2 := 0;
END_IF
// Scan QR code
IF stJobParams.xScanQRCode THEN
_uCtrl.stCtrl.bScanQRCode := 1;
ELSE
_uCtrl.stCtrl.bScanQRCode := 0;
END_IF
// Gripper number
_abToolsAndPositions[0] := DINT_TO_BYTE(_stRecipe.stProcessVariables.astParameterDInt[1].Value);
// Position on hotplate
_abToolsAndPositions[2] := stJobParams.byPlaceOnHotplate;
// Position on coolplate
_abToolsAndPositions[3] := stJobParams.byPlaceOnCoolPlate;
// Gripper number
_abToolsAndPositions[0] := stJobParams.byGripperNumber;
// Chuck for etcher to load
_abToolsAndPositions[1] := stJobParams.byChuckNumber;
// Write robot job number
_uJobs.stJobs.wJobNrForRobot := DINT_TO_WORD(_stJobParams.eJob);
// Safety reset timout fb
_tonTimeout(IN := FALSE);
_iSSM := 20;
// Wait for robot program start
20:
_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;
_tonTimeout(IN := FALSE);
M_StateComplete();
END_IF
// Timeout occured
IF _tonTimeout.Q THEN
_tonTimeout(IN := FALSE);
_eCmd := E_PackMLCmd.ABORT;
END_IF
// Robot has error
IF _dwErrorBits <> 0 THEN
_tonTimeout(IN := FALSE);
_eCmd := E_PackMLCmd.ABORT;
END_IF
END_CASE
// 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;
M_StateComplete();
END_IF
// Wrong job read back from robot -> Abort
// IF _awJobStatesFromRobot[0] <> 0 AND _awJobStatesFromRobot[0] <> E_KukaRobot_JobNumberRobot.WARMUP THEN
// _eCmd := E_PackMLCmd.ABORT;
// END_IF
//
// // Robot has error
// IF _dwErrorBits <> 0 THEN
// _eCmd := E_PackMLCmd.ABORT;
// END_IF]]></ST>
]]></ST>
</Implementation>
</Method>
<Method Name="M_Stopped" Id="{50813767-4bd7-4147-b5dc-1bbd18ae1555}">
@@ -343,7 +421,7 @@ _uCtrl.stCtrl.bEnableAxes := 0;
_uCtrl.stCtrl.bNotDisableAxes := 1;
_uCtrl.stCtrl.bExtStart := 0;
_eRobotJob := E_KukaRobot_JobNumberRobot.NO_JOB;
_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
</Implementation>
</Method>

19
PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
View File

@@ -28,6 +28,25 @@ STRUCT
// Abort job with rising edge
bAbortJob : BIT;
// Scan qr code
bScanQRCode : BIT;
// Dummy bits
bDummy5 : BIT;
bDummy6 : BIT;
bDummy7 : BIT;
bDummy8 : BIT;
bDummy9 : BIT;
bGripperSide1 : BIT;
bGripperSide2 : BIT;
bDummy10 : BIT;
bDoorEtcher1Open : BIT;
bDoorEtcher2Open : BIT;
bDoorHVTestHotOpen : BIT;
bDoorHVTestColdOpen : BIT;
END_STRUCT
END_TYPE
]]></Declaration>

39
PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT Normal file
View File

@@ -0,0 +1,39 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_KukaRobot_JobParams" Id="{2332c64b-5fcf-4fc7-9272-3ad3ef2767d3}">
<Declaration><![CDATA[TYPE ST_KukaRobot_JobParams :
STRUCT
// Robot job number
eJob : E_KukaRobot_JobNumberRobot;
// Position in x in mm
rPosX : REAL;
// Position in y in mm
rPosY : REAL;
// Substrate thickness in mm
rThickness : REAL;
// Gripper side (1 or 2)
byGripperSide : BYTE;
// Scan QR Code during pickup from loading station
xScanQRCode : BOOL;
// Position on hotplate (1-9)
byPlaceOnHotplate : BYTE;
// Position on coolplate (1-9)
byPlaceOnCoolPlate : BYTE;
// Gripper tool number (0-3)
byGripperNumber : BYTE;
// Chuck for etcher to load (1-6)
byChuckNumber : BYTE;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_UnitFeedbacks.TcDUT Normal file
View File

@@ -0,0 +1,14 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<DUT Name="ST_KukaRobot_UnitFeedbacks" Id="{d247890a-fdb7-498e-85a5-2423833e65fc}">
<Declaration><![CDATA[TYPE ST_KukaRobot_UnitFeedbacks :
STRUCT
xDoorEthcher1Open : BOOL;
xDoorEther2Open : BOOL;
xDoorHVTestHotOpen : BOOL;
xDoorHVTestColdOpen : BOOL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

14
PLC/PLC.plcproj
View File

@@ -9,7 +9,7 @@
<WriteProductVersion>false</WriteProductVersion>
<GenerateTpy>false</GenerateTpy>
<Name>PLC</Name>
<ProgramVersion>3.1.4026.19</ProgramVersion>
<ProgramVersion>3.1.4026.20</ProgramVersion>
<WriteBookmarksToFile>true</WriteBookmarksToFile>
<Application>{504e694b-aca9-4a4a-af71-0bcb7e8cc6f1}</Application>
<TypeSystem>{ca7afa57-b1d9-4c28-bd68-15ebf02c76f4}</TypeSystem>
@@ -60,6 +60,12 @@
<Compile Include="01_Stationen\Kuka_Robot\InterfaceUnions\U_KukaRobot_Ctrl.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="01_Stationen\Kuka_Robot\ST_KukaRobot_JobParams.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="01_Stationen\Kuka_Robot\ST_KukaRobot_UnitFeedbacks.TcDUT">
<SubType>Code</SubType>
</Compile>
<Compile Include="01_Stationen\TrayFeeder\FB_TrayFeeder.TcPOU">
<SubType>Code</SubType>
</Compile>
@@ -297,6 +303,12 @@
<v>410,5410</v>
</d>
</o>
<v>{eeeeeeee-3909-4298-8022-501ac3238667}</v>
<o>
<v n="Name">"{eeeeeeee-3909-4298-8022-501ac3238667}"</v>
<d n="SubKeys" t="Hashtable" />
<d n="Values" t="Hashtable" />
</o>
<v>{F66C7017-BDD8-4114-926C-81D6D687E35F}</v>
<o>
<v n="Name">"{F66C7017-BDD8-4114-926C-81D6D687E35F}"</v>

36
PLC/PLC.tmc
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File diff suppressed because one or more lines are too long

2
PLC/PlcTask.TcTTO
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@@ -2,7 +2,7 @@
<TcPlcObject Version="1.1.0.1">
<Task Name="PlcTask" Id="{023d9255-c87e-4da8-8cda-8bd3501e3aa4}">
<!--CycleTime in micro seconds.-->
<CycleTime>10000</CycleTime>
<CycleTime>8000</CycleTime>
<Priority>20</Priority>
<PouCall>
<Name>PRG_Main</Name>