Heisig_GmbH/infineon_plc
1
0
Fork 0
Code Issues Activity

Commit before reloading Keyence camera on Profinet

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

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;