Fixed aligner and started main state machine

- Fixed datatype for received offsets
- Added HMI Interface for Hot and Coolplate

PLC/01_Stationen/Aligner/FB_Aligner.TcPOU

@@ -19,13 +19,11 @@ VAR
 	_xDisableVacuum AT %Q* : BOOL := TRUE;
 	_xVacuumOk AT %I* : BOOL;
 	
-	_udiXOffset AT %I* : UDINT;
-	_udiYOffset AT %I* : UDINT;
+	_udiXOffset AT %I* : DINT;
+	_udiYOffset AT %I* : DINT;
 	
 	_rXPosToGo : REAL;
 	_rYPosToGo : REAL;
-	
-	_iState : INT := 0;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -39,13 +37,7 @@ END_VAR
 	lrAcceleration:= 0, 
 	lrDecelleration:= 0, 
 	lrJerk:= 0, 
-	xConfirmAlarms:= xConfirmAlarms, 
-	xEnabled=> , 
-	xHomed=> , 
-	lrActPosition=> , 
-	xIsStopped=> , 
-	xBusy=> , 
-	xError=> );
+	xConfirmAlarms:= xConfirmAlarms);
 	
 _fbYAxis(
 	xEnable:= TRUE, 
@@ -57,20 +49,14 @@ _fbYAxis(
 	lrAcceleration:= 0, 
 	lrDecelleration:= 0, 
 	lrJerk:= 0, 
-	xConfirmAlarms:= xConfirmAlarms, 
-	xEnabled=> , 
-	xHomed=> , 
-	lrActPosition=> , 
-	xIsStopped=> , 
-	xBusy=> , 
-	xError=> );
+	xConfirmAlarms:= xConfirmAlarms);
 	
 // Drei mal ausführen damit die Position genau ist
 IF xAlign THEN
 	xAlign := FALSE;
 	
-	_rXPosToGo := UDINT_TO_REAL(_udiXOffset) * -0.001;
-	_rYPosToGo := ((UDINT_TO_REAL(_udiYOffset) * 0.001) - 37.5) * -1;
+	_rXPosToGo := DINT_TO_REAL(_udiXOffset) * -0.001;
+	_rYPosToGo := ((DINT_TO_REAL(_udiYOffset) * 0.001) - 37.5) * -1;
 	
 	IF (ABS(_rXPosToGo) < 10.0) AND (ABS(_rYPosToGo) < 10.0) AND (NOT _fbXAxis.xError) AND (NOT _fbYAxis.xError) THEN
 		_fbXAxis.M_MoveRel(lrRelDist := _rXPosToGo);

PLC/01_Stationen/Etcher/FB_Etcher.TcPOU

@@ -86,7 +86,7 @@ _fbValveDoor(
 	xConfirmAlarms:= xConfirmAlarms,  
 	stHMIInterface:= stHMIInterface.stDoorHMIInterface);
 	
-xDoorOpen := _fbValveDoor.IsOpen;
+
 	
 // Chuck
 _rtEjectChuckCmd(CLK := xEjectChuck);
@@ -134,6 +134,8 @@ _xDisableVacuum := (NOT xEnableVacuum);
 SUPER^();
 
 // Copy internal signals to output
+xDoorOpen := _fbValveDoor.IsOpen;
+xChuckClampOpen := _fbUnlockLeft.IsOpen AND _fbUnlockRight.IsOpen;
 xVacuumEnabled := _xVacuumOk;]]></ST>
     </Implementation>
     <Method Name="FB_Init" Id="{afcda70c-3e52-4a32-9ca9-670a6b854f24}">

PLC/01_Stationen/HeatCoolPlates/FB_CoolPlate.TcPOU

@@ -7,6 +7,9 @@ VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
+VAR_IN_OUT
+	stHMIInterface : ST_HCPlateHMIInterface;
+END_VAR
 VAR
 	// Card inputs
 	_stStatus AT %I* : ST_SerialStatus;
@@ -31,7 +34,8 @@ END_VAR
 ]]></Declaration>
     <Implementation>
       <ST><![CDATA[// Clamp temperature settings
-_rTempSetpoint := rTempSetpoint;
+// Currently only controlled throught hmi interface
+_rTempSetpoint := stHMIInterface.rSetpoint;
 
 IF _rTempSetpoint > 60.0 THEN
 	_rTempSetpoint := 60.0;
@@ -62,8 +66,8 @@ IF _stStatus.bTransmitAccepted THEN
 END_IF
 
 // Debug test
-IF _xTempTest THEN
-	_xTempTest := FALSE;
+IF stHMIInterface.xEnable THEN
+	stHMIInterface.xEnable := FALSE;
 	M_SetTemp(rTemp := _rTempSetpoint);
 	_xSend := TRUE;
 END_IF]]></ST>

PLC/01_Stationen/HeatCoolPlates/FB_HeatCoolPlates.TcPOU

@@ -7,6 +7,9 @@ VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
+VAR_IN_OUT
+	stHMIInterface : ST_HCStationHMIInterface;
+END_VAR
 VAR
 	_fbHeatingPlate : FB_HotPlate;
 	
@@ -21,11 +24,12 @@ END_VAR
       <ST><![CDATA[_fbHeatingPlate(
 	xEnable:= _xEnableHotplate, 
 	rTargetTemp:= _rTargetTemp, 
+	stHMIInterface := stHMIInterface.stHotplateHMIInterface,
 	xConfirmAlarms:= xConfirmAlarms, 
 	uiNextFreeSlot=> , 
 	uiNextReadySlot=> );
 	
-_fbCoolPlate();]]></ST>
+_fbCoolPlate(stHMIInterface := stHMIInterface.stCoolplateHMIInterface);]]></ST>
     </Implementation>
   </POU>
 </TcPlcObject>

PLC/01_Stationen/HeatCoolPlates/FB_HotPlate.TcPOU

@@ -13,6 +13,9 @@ VAR_OUTPUT
 	uiNextFreeSlot : UINT;
 	uiNextReadySlot : UINT;
 END_VAR
+VAR_IN_OUT
+	stHMIInterface : ST_HCPlateHMIInterface;
+END_VAR
 VAR
 	_xEnableHotplate AT %Q* : BOOL;	
 
@@ -53,13 +56,23 @@ _fbTempSensor(
 	xReleaseHardwareErrors:= TRUE, 
 	xConfirmAlarms:= xConfirmAlarms, 
 	stHMIInterface=> );
+	
+// Clamp HMI Setpoint
+IF stHMIInterface.rSetpoint > 140.0 THEN
+	stHMIInterface.rSetpoint := 140;
+END_IF
 
+IF stHMIInterface.rSetpoint < 0.0 THEN
+	stHMIInterface.rSetpoint := 0.0;
+END_IF
+
+// For now get setpoint from HMI interface
 _fbPITempControl(
-	rSP:= rTargetTemp, 
+	rSP:= stHMIInterface.rSetpoint, 
 	rPV:= _fbTempSensor.rScaledValue, 
-	rKp:= 2, 
+	rKp:= 6, 
 	rTn:= 0, 
-	xEnable:= xEnable, 
+	xEnable:= stHMIInterface.xEnable, 
 	xSaturatedUpper:= _xSaturatedUpper, 
 	xSaturatedLower:= _xSaturatedLower, 
 	rMV=> _rMV);
@@ -82,15 +95,9 @@ _fbPWMOut(
 	rPWM:= _rMV,
 	timPeriod:= T#10S,
 	xOutput=> _xEnableHotplate);
-
-// Control temperature with two point controller
-// IF _fbTempSensor.rScaledValue < (rTargetTemp - rDeadBand) THEN
-// 	_xEnableHotplate := TRUE;
-// END_IF
-// 
-// IF _fbTempSensor.rScaledValue >= (rTargetTemp) THEN
-// 	_xEnableHotplate := FALSE;
-// END_IF
+	
+// Output HMI Interface
+stHMIInterface.rPV := _fbTempSensor.rScaledValue;
 ]]></ST>
     </Implementation>
     <Method Name="M_AddItem" Id="{9707459a-6558-487c-b730-c9dc92d598ed}">

PLC/01_Stationen/HeatCoolPlates/ST_HCPlateHMIInterface.TcDUT

@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_HCPlateHMIInterface" Id="{cc97f396-14fe-4cf1-8a0f-254b86749233}">
+    <Declaration><![CDATA[TYPE ST_HCPlateHMIInterface :
+STRUCT
+	xEnable : BOOL;
+	rSetpoint : REAL;
+	rPV : REAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/01_Stationen/HeatCoolPlates/ST_HCStationHMIInterface.TcDUT

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_HCStationHMIInterface" Id="{2459de16-cb2e-4745-be67-cc251c8b91cf}">
+    <Declaration><![CDATA[TYPE ST_HCStationHMIInterface :
+STRUCT
+	stHotplateHMIInterface : ST_HCPlateHMIInterface;
+	stCoolplateHMIInterface : ST_HCPlateHMIInterface;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>