Fixed aligner and started main state machine

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

PLC/00_Main/PRG_Main.TcPOU

@@ -115,7 +115,9 @@ _fbTrayFeederInput(
 	stStatus=> GVL_SCADA.stTrayFeederInputState,
 	stAdmin=> GVL_SCADA.stTRayFeederInputAdmin);
 
-_fbHeatCoolPlates(xConfirmAlarms:= GVL_SCADA.xErrAck);
+_fbHeatCoolPlates(
+	stHMIInterface := GVL_SCADA.stHCPlatesHMIInterface,
+	xConfirmAlarms:= GVL_SCADA.xErrAck);
 
 _fbAligner(stCommand:= , stStatus=> , stAdmin=> , xConfirmAlarms:= GVL_SCADA.xErrAck);
 
@@ -313,6 +315,70 @@ CASE _iState OF
 					_fbRobot.xAckPLCCmd := TRUE;
 					_iState := 0;
 				END_IF
+				
+			E_KukaRobot_JobNumerPLC.UNLOCK_CHUCK_ETCHER1:
+				_fbEtcher1.xOpenChuckClamp := TRUE;
+				
+				// Check FOR timeout
+				_tonTimeout(IN := TRUE, PT := T#10S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF _fbEtcher1.xChuckClampOpen THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+				
+			E_KukaRobot_JobNumerPLC.LOCK_CHUCK_ETCHER1:
+				_fbEtcher1.xOpenChuckClamp := FALSE;
+				
+				// Check FOR timeout
+				_tonTimeout(IN := TRUE, PT := T#10S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF (NOT _fbEtcher1.xChuckClampOpen) THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+				
+			E_KukaRobot_JobNumerPLC.UNLOCK_CHUCK_ETCHER2:
+				_fbEtcher2.xOpenChuckClamp := TRUE;
+				
+				// Check FOR timeout
+				_tonTimeout(IN := TRUE, PT := T#10S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF _fbEtcher2.xChuckClampOpen THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+				
+			E_KukaRobot_JobNumerPLC.LOCK_CHUCK_ETCHER2:
+				_fbEtcher2.xOpenChuckClamp := FALSE;
+				
+				// Check FOR timeout
+				_tonTimeout(IN := TRUE, PT := T#10S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF (NOT _fbEtcher2.xChuckClampOpen) THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
 			
 			ELSE
 				_iState := 90;

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;
+	_udiXOffset AT %I* : DINT;
-	_udiYOffset AT %I* : UDINT;
+	_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, 
+	xConfirmAlarms:= xConfirmAlarms);
-	xEnabled=> , 
-	xHomed=> , 
-	lrActPosition=> , 
-	xIsStopped=> , 
-	xBusy=> , 
-	xError=> );
 	
 _fbYAxis(
 	xEnable:= TRUE, 
@@ -57,20 +49,14 @@ _fbYAxis(
 	lrAcceleration:= 0, 
 	lrDecelleration:= 0, 
 	lrJerk:= 0, 
-	xConfirmAlarms:= xConfirmAlarms, 
+	xConfirmAlarms:= xConfirmAlarms);
-	xEnabled=> , 
-	xHomed=> , 
-	lrActPosition=> , 
-	xIsStopped=> , 
-	xBusy=> , 
-	xError=> );
 	
 // Drei mal ausführen damit die Position genau ist
 IF xAlign THEN
 	xAlign := FALSE;
 	
-	_rXPosToGo := UDINT_TO_REAL(_udiXOffset) * -0.001;
+	_rXPosToGo := DINT_TO_REAL(_udiXOffset) * -0.001;
-	_rYPosToGo := ((UDINT_TO_REAL(_udiYOffset) * 0.001) - 37.5) * -1;
+	_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
+IF stHMIInterface.xEnable THEN
-	_xTempTest := FALSE;
+	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
+// Output HMI Interface
-// IF _fbTempSensor.rScaledValue < (rTargetTemp - rDeadBand) THEN
+stHMIInterface.rPV := _fbTempSensor.rScaledValue;
-// 	_xEnableHotplate := TRUE;
-// END_IF
-// 
-// IF _fbTempSensor.rScaledValue >= (rTargetTemp) THEN
-// 	_xEnableHotplate := FALSE;
-// END_IF
 ]]></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>

PLC/GVLs/GVL_SCADA.TcGVL

@@ -13,6 +13,9 @@ VAR_GLOBAL
 	// Unit states
 	stTrayFeederInputState : ST_PMLs;
 	stTRayFeederInputAdmin : ST_PMLa;
+	
+	// HMI Interface
+	stHCPlatesHMIInterface : ST_HCStationHMIInterface;
 END_VAR]]></Declaration>
   </GVL>
 </TcPlcObject>

PLC/PLC.plcproj

@@ -70,6 +70,12 @@
       <SubType>Code</SubType>
       <LinkAlways>true</LinkAlways>
     </Compile>
+    <Compile Include="01_Stationen\HeatCoolPlates\ST_HCPlateHMIInterface.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\HeatCoolPlates\ST_HCStationHMIInterface.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="01_Stationen\HeatCoolPlates\ST_SerialCrl.TcDUT">
       <SubType>Code</SubType>
     </Compile>
@@ -302,8 +308,8 @@
   <ProjectExtensions>
     <PlcProjectOptions>
       <XmlArchive>
-  <Data>
+        <Data>
-    <o xml:space="preserve" t="OptionKey">
+          <o xml:space="preserve" t="OptionKey">
       <v n="Name">"&lt;ProjectRoot&gt;"</v>
       <d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
         <v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -384,14 +390,14 @@
       </d>
       <d n="Values" t="Hashtable" />
     </o>
-  </Data>
+        </Data>
-  <TypeList>
+        <TypeList>
-    <Type n="Boolean">System.Boolean</Type>
+          <Type n="Boolean">System.Boolean</Type>
-    <Type n="Hashtable">System.Collections.Hashtable</Type>
+          <Type n="Hashtable">System.Collections.Hashtable</Type>
-    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-    <Type n="String">System.String</Type>
+          <Type n="String">System.String</Type>
-  </TypeList>
+        </TypeList>
-</XmlArchive>
+      </XmlArchive>
     </PlcProjectOptions>
   </ProjectExtensions>
 </Project>

_Config/PLC/PLC Instance.xti

@@ -19,6 +19,14 @@
 				</OwnerB>
 			</OwnerA>
 		</UnrestoredVarLinks>
+		<UnrestoredVarLinks ImportTime="2026-02-05T10:33:22">
+			<OwnerA Name="InputDst" Prefix="TIPC^PLC^PLC Instance" Type="1">
+				<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 26 (TM-X5K_CB-NEC20E)">
+					<Link VarA="PRG_Main._fbAligner._udiXOffset" TypeA="UDINT" InOutA="0" GuidA="{18071995-0000-0000-0000-000000000008}" VarB="Module 1 (Result Data 128Byte)^Result Data 128Byte^Result Data7" RestoreInfo="TypeMismatch" OldTypeA="UDINT" OldGuidA="{18071995-0000-0000-0000-000000000008}" NewTypeA="DINT" NewGuidA="{18071995-0000-0000-0000-000000000009}"/>
+					<Link VarA="PRG_Main._fbAligner._udiYOffset" TypeA="UDINT" InOutA="0" GuidA="{18071995-0000-0000-0000-000000000008}" VarB="Module 1 (Result Data 128Byte)^Result Data 128Byte^Result Data8" RestoreInfo="TypeMismatch" OldTypeA="UDINT" OldGuidA="{18071995-0000-0000-0000-000000000008}" NewTypeA="DINT" NewGuidA="{18071995-0000-0000-0000-000000000009}"/>
+				</OwnerB>
+			</OwnerA>
+		</UnrestoredVarLinks>
 		<Contexts>
 			<Context>
 				<Id>0</Id>