Commit before reloading Keyence camera on Profinet

2026-01-30 16:07:24 +01:00
parent 68aca1956f
commit 8c41ff9bad
16 changed files with 342 additions and 126 deletions
--- a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
+++ b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
@@ -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>
--- a/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT
@@ -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>
--- a/PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT
@@ -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>
--- a/PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_UnitFeedbacks.TcDUT
+++ b/PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_UnitFeedbacks.TcDUT
@@ -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>