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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126
PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
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@@ -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>