Commit before reloading Keyence camera on Profinet

Infineon.tsproj

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19">
+<TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20">
 	<Project ProjectGUID="{CB97A0B0-7E22-470D-8550-AA318EA46E50}" TargetNetId="5.127.104.206.1.1" Target64Bit="true" ShowHideConfigurations="#x6">
 		<System>
 			<Settings MaxCpus="4" NonWinCpus="2">
@@ -12,7 +12,7 @@
 				</Target>
 			</Licenses>
 			<Tasks>
-				<Task Id="3" Priority="20" CycleTime="100000" AmsPort="350" AdtTasks="true">
+				<Task Id="3" Priority="20" CycleTime="80000" AmsPort="350" AdtTasks="true">
 					<Name>PlcTask</Name>
 				</Task>
 			</Tasks>
@@ -43,6 +43,7 @@
 		</Io>
 	</Project>
 	<Mappings>
+		<MappingInfo Identifier="{00000000-2001-0850-0020-500840000403}" Id="#x02030030"/>
 		<MappingInfo Identifier="{00000000-2001-0850-0020-500851000403}" Id="#x02030020"/>
 		<MappingInfo Identifier="{03040050-0050-0304-5000-040350000403}" Id="#x02030010" Watchdog="04000000040000000400000004000000"/>
 	</Mappings>

PLC/00_Main/PRG_Main.TcPOU

@@ -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;
+	_xStartTrigger : BOOL;
-	_stRobotAdmin : ST_PMLa;
+	_tofTriggerTime : TOF := (PT := T#1S);
-	
+	_xTriggerCamera AT %Q* : BOOL;
-	_xFirstCycle : BOOL := TRUE;
-	
-	_stRecipeGripperChange : ST_PackMLRecipe := (
-		diID := 0,
-		sName := 'Change gripper'
-	);
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[IF _xFirstCycle THEN
+      <ST><![CDATA[IF _xClear THEN
-	_xFirstCycle := FALSE;
-END_IF
-
-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;
 

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><![CDATA[_stJobParams := stJobParams;]]></ST>
-]]></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
+        <ST><![CDATA[CASE _iSSM OF
-_uJobs.stJobs.wJobNrForRobot := DINT_TO_WORD(_stRecipe.stProcessVariables.astParameterDInt[0].Value);
+	// 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
 		
-// Gripper number
+	// Transfer job data to robot
-_abToolsAndPositions[0] := DINT_TO_BYTE(_stRecipe.stProcessVariables.astParameterDInt[1].Value);
+	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
+
+		// 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
+]]></ST>
-// IF _dwErrorBits <> 0 THEN
-// 	_eCmd := E_PackMLCmd.ABORT;
-// END_IF]]></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>

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>

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>

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>

PLC/PLC.plcproj

@@ -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>

PLC/PlcTask.TcTTO

@@ -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>

_Config/IO/Device 11 (NOV-DP-RAM).xti

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19" ClassName="CDevDpRamDef" SubType="121">
+<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CDevDpRamDef" SubType="121">
 	<Device Id="11" Disabled="true" DevType="121">
 		<Name>__FILENAME__</Name>
 		<AddressInfo>

_Config/IO/Device 2 (Profinet Controller).xti

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19" ClassName="CDevEthernetProtocolPnMasterDef" SubType="113">
+<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CDevEthernetProtocolPnMasterDef" SubType="113">
 	<DataTypes>
 		<DataType>
 			<Name GUID="{E8444853-3BAA-51A1-0E64-2996EF2FA842}">PN_Status_Register_0__6D643818</Name>
@@ -1060,7 +1060,7 @@
 			</SubItem>
 		</DataType>
 	</DataTypes>
-	<Device Id="2" Disabled="true" DevType="113" AmsPort="28674" AmsNetId="0.0.0.0.3.1" RemoteName="Device 2 (Profinet Controller)">
+	<Device Id="2" DevType="113" AmsPort="28674" AmsNetId="0.0.0.0.3.1" RemoteName="Device 2 (Profinet Controller)">
 		<Name>__FILENAME__</Name>
 		<AddressInfo>
 			<Pnp>
@@ -1072,12 +1072,9 @@
 		<Image Id="4" AddrType="1" ImageType="3" SizeIn="2" SizeOut="6">
 			<Name>Image</Name>
 		</Image>
-		<Box Id="4" BoxType="9121">
+		<Box Id="4" Disabled="true" BoxType="9121">
 			<Name>vs-0001</Name>
-			<Comment><![CDATA[
+			<Comment><![CDATA[GSDML Name: GSDML-V2.42-Keyence-VS-XXXX-20230509.xml
-The GSDML is not available!
-
-GSDML Name: GSDML-V2.42-Keyence-VS-XXXX-20230509.xml
 Path: $(TWINCAT3DIR)Config\Io\Profinet\
 VendorName: Keyence
 OrderNumber: VS-XXXX
@@ -1135,7 +1132,7 @@ SW Release Version: 1.0]]></Comment>
 					<Type>UINT</Type>
 				</Var>
 			</Vars>
-			<Profinet DeviceId="5013" VendorId="509" FrameOffset="32768" Flags="16" IPAdd="c0a80102" ProtocolType="3" BoxOnDeviceTyp="113" MaxPhysSlotNr="16" AvailableSlots="0..16" InstanceServerPort="61000" InstanceClientPort="60000" InstanceId="1" InstanceNumberOfARs="1" InstanceNumberOfAPIs="1" MinDeviceInterval="32" SavePnIoBoxValues="0100" MultipleWriteSupported="true" Phase="1" WatchdogFaktor="3" ReductionRatio="1" SendClockFaktor="32" MaxInputLen="1440" MaxOutputLen="1440" SendClockFactorData="200040008000" RedRatio="0100020004000800100020004000800000010002" BoxTypeInfo="VS-XXXX Series Machine Vision System" MacAdd5="176" GSDMLPath="$(TWINCAT3DIR)Config\Io\Profinet\GSDML-V2.42-Keyence-VS-XXXX-20230509.xml" ImagePath="C:\TwinCAT\3.1\Config\Io\Profinet\GSDML-01FD-1395-VS-XXXX.bmp" MainFamily="Sensors" ProductFamily="Keyence Machine Vision System" OrderNr="VS-XXXX" DefaultDNSName="vs-xxxx" VendorName="Keyence" FamDescription="VS Series Machine Vision System" GraphicFile="GSDML-01FD-1395-VS-XXXX" SWVersion="1.0" HWVersion="1.0" AltLanguage="7">
+			<Profinet DeviceId="5013" VendorId="509" FrameOffset="32768" Flags="16" IPAdd="c0a80102" ProtocolType="3" BoxOnDeviceTyp="113" MaxPhysSlotNr="16" AvailableSlots="0..16" InstanceServerPort="61000" InstanceClientPort="60000" InstanceId="1" InstanceNumberOfARs="1" InstanceNumberOfAPIs="1" MinDeviceInterval="32" SavePnIoBoxValues="0100" MultipleWriteSupported="true" Phase="1" WatchdogFaktor="3" ReductionRatio="4" SendClockFaktor="32" MaxInputLen="1440" MaxOutputLen="1440" SendClockFactorData="200040008000" RedRatio="0100020004000800100020004000800000010002" BoxTypeInfo="VS-XXXX Series Machine Vision System" MacAdd5="176" GSDMLPath="$(TWINCAT3DIR)Config\Io\Profinet\GSDML-V2.42-Keyence-VS-XXXX-20230509.xml" ImagePath="C:\TwinCAT\3.1\Config\Io\Profinet\GSDML-01FD-1395-VS-XXXX.bmp" MainFamily="Sensors" ProductFamily="Keyence Machine Vision System" OrderNr="VS-XXXX" DefaultDNSName="vs-xxxx" VendorName="Keyence" FamDescription="VS Series Machine Vision System" GraphicFile="GSDML-01FD-1395-VS-XXXX" SWVersion="1.0" HWVersion="1.0" AltLanguage="7">
 				<UsedGsdmlModule ModuleIdentNumber="1" ModuleName="DAP Module" InfoText="VS-XXXX Series Machine Vision System" OrderNumber="VS-XXXX">
 					<Slot>0</Slot>
 				</UsedGsdmlModule>

_Config/PLC/PLC Instance.xti

@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19" ClassName="CTComPlcObjDef">
+<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CTComPlcObjDef">
 	<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" XtvPath="PLC\PLC Instance.xtv" TmcPath="PLC\PLC.tmc">
 		<Name>__FILENAME__</Name>
 		<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
@@ -11,7 +11,7 @@
 					<OTCID>#x02010030</OTCID>
 				</ManualConfig>
 				<Priority>20</Priority>
-				<CycleTime>10000000</CycleTime>
+				<CycleTime>8000000</CycleTime>
 			</Context>
 		</Contexts>
 		<TaskPouOids>
@@ -20,6 +20,29 @@
 	</Instance>
 	<Mappings>
 		<OwnerA>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 44 (EX260-SEC1)">
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor1" VarB="Byte 0^Output[3]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor2" VarB="Byte 0^Output[1]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor1" VarB="Byte 0^Output[2]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor2" VarB="Byte 0^Output[0]" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^HV_K01_KL01^HV_K01_KL07 (EL2008)">
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber1" VarB="Channel 6^HV Hot_CloseChamber" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber2" VarB="Channel 3^HV Cold_CloseChamber" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber1" VarB="Channel 5^HV Hot_OpenChamber" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber2" VarB="Channel 2^HV Cold_OpenChamber" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^K01_KL01 (EK1100)^K01_KL02 (EL1018)">
+				<Link VarA="PlcTask Inputs^PRG_Safety._xRequestOpenDoor" VarB="Channel 4^MainDoorUnlock" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_QM01 (EX260-SEC1)">
+				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
+			</OwnerB>
+			<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_QM01 (EX260-SEC1)">
+				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
+			</OwnerB>
 			<OwnerB Name="TIID^Device 1 (EtherCAT)^PC_K01_KL01 (EK1100)^PC_K01_KL02 (EL1918)">
 				<Link VarA="PlcTask Inputs^PRG_Safety._xComStartup" VarB="StandardInputs^Standard Out Var 12" Size="1"/>
 				<Link VarA="PlcTask Outputs^PRG_Safety._xErrorAck" VarB="StandardOutputs^Standard In Var 212" Size="1"/>
@@ -44,28 +67,8 @@
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._uCtrl" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 0 (CMDs)"/>
 				<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._uJobs" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 1 (JobNr/PLCJobNr)"/>
 			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 44 (EX260-SEC1)">
+			<OwnerB Name="TIID^Device 2 (Profinet Controller)^vs-0001">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor1" VarB="Byte 0^Output[3]" Size="1"/>
+				<Link VarA="PlcTask Outputs^PRG_Main._xTriggerCamera" VarB="API^Term 10 (Control)^Subterm 12 (Control)^Outputs^Control Register[0]^Trigger" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor2" VarB="Byte 0^Output[1]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor1" VarB="Byte 0^Output[2]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor2" VarB="Byte 0^Output[0]" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^HV_K01_KL01^HV_K01_KL07 (EL2008)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber1" VarB="Channel 6^HV Hot_CloseChamber" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseChamber2" VarB="Channel 3^HV Cold_CloseChamber" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber1" VarB="Channel 5^HV Hot_OpenChamber" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenChamber2" VarB="Channel 2^HV Cold_OpenChamber" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^K01_KL01 (EK1100)^K01_KL02 (EL1018)">
-				<Link VarA="PlcTask Inputs^PRG_Safety._xRequestOpenDoor" VarB="Channel 4^MainDoorUnlock" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_QM01 (EX260-SEC1)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
-			</OwnerB>
-			<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_QM01 (EX260-SEC1)">
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xCloseDoor" VarB="Byte 0^Output[1]" Size="1"/>
-				<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xOpenDoor" VarB="Byte 0^Output[0]" Size="1"/>
 			</OwnerB>
 		</OwnerA>
 	</Mappings>

doc/etcher_recipe_data.json

@@ -1,50 +1,33 @@
 {
     "metadata": {
         "version": "1.0",
-        "description": "Beschreibung der Rezeptparameter",
+        "description": "Description of the etcher recipe parameters",
         "maxParams": 5
     },
     "processVariables": {
         "real": [
             {
                 "index": 0,
-                "id": 1,
+                "name": "Temperature hot plate",
-                "name": "Temperatur",
                 "unit": "degC",
                 "min": 0.0,
-                "max": 60.5
+                "max": 60.0
             },
             {
                 "index": 1,
-                "id": 2,
+                "name": "Temperature cold plate",
-                "name": "Dummy 1",
+                "unit": "degC",
-                "unit": "mm",
                 "min": 0.0,
-                "max": 100.0
+                "max": 60.0
             }
         ],
         "string": [
-            {
-                "index": "0",
-                "id": 4,
-                "name": "Dummy string",
-                "unit": ""
-            }
         ],
         "lreal": [
-            {
-                "index": 0,
-                "id": 5,
-                "name": "Test lreal",
-                "unit": "um",
-                "min": -123000.3,
-                "max": 450000.264
-            }
         ],
         "dint": [
             {
                 "index": 0,
-                "id": 6,
                 "name": "Greifer Nummer",
                 "unit": "",
                 "min": 1,
@@ -52,7 +35,6 @@
             },
             {
                 "index": 1,
-                "id": 7,
                 "name": "Teller nummer",
                 "unit": "",
                 "min": 1,

doc/main_recipe_data.json

@@ -0,0 +1,66 @@
+{
+    "metadata": {
+        "version": "1.0",
+        "description": "Description of the main recipe parameters",
+        "maxParams": 5
+    },
+    "processVariables": {
+        "real": [
+            {
+                "index": 0,
+                "name": "Durchmesser der Scheibe",
+                "unit": "mm",
+                "min": 0,
+                "max": 200
+            },
+            {
+                "index": 1,
+                "name": "Dicke der Scheibe",
+                "unit": "mm",
+                "min": 0,
+                "max": 10
+            },
+            {
+                "index": 2,
+                "name": "Temperature hot plate",
+                "unit": "degC",
+                "min": 0.0,
+                "max": 60.0
+            },
+            {
+                "index": 3,
+                "name": "Temperature cold plate",
+                "unit": "degC",
+                "min": 0.0,
+                "max": 60.0
+            }
+        ],
+        "string": [
+        ],
+        "lreal": [
+        ],
+        "dint": [
+            {
+                "index": 0,
+                "name": "Greifer Nummer",
+                "unit": "",
+                "min": 1,
+                "max": 3
+            },
+            {
+                "index": 1,
+                "name": "Teller nummer",
+                "unit": "",
+                "min": 1,
+                "max": 3
+            },
+            {
+                "index": 2,
+                "name": "Aetzer rezept",
+                "unit": "",
+                "min": 1,
+                "max": 10
+            }
+        ]
+    }
+}

doc/recipe_data_schema.json

@@ -21,10 +21,9 @@
           "type": "array",
           "items": {
             "type": "object",
-            "required": ["index", "id", "name", "unit", "min", "max"],
+            "required": ["index", "name", "unit", "min", "max"],
             "properties": {
               "index": { "type": "integer", "minimum": 0 },
-              "id": { "type": "integer", "minimum": 0 },
               "name": { "type": "string", "maxLength": 80 },
               "unit": { "type": "string", "maxLength": 6 },
               "min": { "type": "number" },
@@ -37,10 +36,9 @@
           "type": "array",
           "items": {
             "type": "object",
-            "required": ["index", "id", "name", "unit", "min", "max"],
+            "required": ["index", "name", "unit", "min", "max"],
             "properties": {
               "index": { "type": "integer", "minimum": 0 },
-              "id": { "type": "integer", "minimum": 0 },
               "name": { "type": "string", "maxLength": 80 },
               "unit": { "type": "string", "maxLength": 6 },
               "min": { "type": "number" },
@@ -53,10 +51,9 @@
           "type": "array",
           "items": {
             "type": "object",
-            "required": ["index", "id", "name", "unit", "min", "max"],
+            "required": ["index", "name", "unit", "min", "max"],
             "properties": {
               "index": { "type": "integer", "minimum": 0 },
-              "id": { "type": "integer", "minimum": 0 },
               "name": { "type": "string", "maxLength": 80 },
               "unit": { "type": "string", "maxLength": 6 },
               "min": { "type": "integer" },
@@ -69,10 +66,9 @@
           "type": "array",
           "items": {
             "type": "object",
-            "required": ["index", "id", "name", "unit"],
+            "required": ["index", "name", "unit"],
             "properties": {
               "index": { "type": [ "integer", "string" ] },
-              "id": { "type": "integer", "minimum": 0 },
               "name": { "type": "string", "maxLength": 80 },
               "unit": { "type": "string", "maxLength": 6 }
             },