Heisig_GmbH/infineon_plc
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Fixed aligner and started main state machine

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- Fixed datatype for received offsets
- Added HMI Interface for Hot and Coolplate
This commit is contained in:
Matthias Heisig
2026-02-06 14:39:41 +01:00
parent c1850f780b
commit bdaaf1fe9f
13 changed files with 295 additions and 4599 deletions
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68
PLC/00_Main/PRG_Main.TcPOU
View File

@@ -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);
@@ -314,6 +316,70 @@ CASE _iState OF
_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;
END_CASE

26
PLC/01_Stationen/Aligner/FB_Aligner.TcPOU
View File

@@ -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);

4
PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
View File

@@ -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}">

10
PLC/01_Stationen/HeatCoolPlates/FB_CoolPlate.TcPOU
View File

@@ -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>

6
PLC/01_Stationen/HeatCoolPlates/FB_HeatCoolPlates.TcPOU
View File

@@ -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>

29
PLC/01_Stationen/HeatCoolPlates/FB_HotPlate.TcPOU
View File

@@ -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;
@@ -54,12 +57,22 @@ _fbTempSensor(
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);
@@ -83,14 +96,8 @@ _fbPWMOut(
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}">

13
PLC/01_Stationen/HeatCoolPlates/ST_HCPlateHMIInterface.TcDUT Normal file
View File

@@ -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>

12
PLC/01_Stationen/HeatCoolPlates/ST_HCStationHMIInterface.TcDUT Normal file
View File

@@ -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>

3
PLC/GVLs/GVL_SCADA.TcGVL
View File

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

8
PLC/PLC.plcproj
View File

@@ -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>
@@ -391,7 +397,7 @@
<Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
<Type n="String">System.String</Type>
</TypeList>
</XmlArchive>
</XmlArchive>
</PlcProjectOptions>
</ProjectExtensions>
</Project>

32
PLC/PLC.tmc
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File diff suppressed because one or more lines are too long

4655
_Config/IO/Device 1 (EtherCAT).xti
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File diff suppressed because it is too large Load Diff

8
_Config/PLC/PLC Instance.xti
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@@ -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>