First bigger step to automation

- Aligned X and Y NC Axis with aligner camera coordination system
- Added robot plc jobs and feedback
- Began Meca500 robot interface
- Changed hotplate control to slow PWM
- PackML statemachine now starts in aborted state
- Fixed StateML start method

PLC/01_Stationen/Aligner/FB_Aligner.TcPOU

@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Aligner" Id="{5be6cab7-2294-48e5-869c-33773329143e}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Aligner EXTENDS FB_PackMLGeneric
+VAR_INPUT
+	xEnableVacuum : BOOL;
+	xAlign : BOOL;
+	
+	xConfirmAlarms : BOOL;
+END_VAR
+VAR_OUTPUT
+	xVacuumEnabled : BOOL;
+END_VAR
+VAR
+	_fbXAxis : FB_AxisPTP;
+	_fbYAxis : FB_AxisPTP;
+	
+	_xEnableVacuum AT %Q* : BOOL := FALSE;
+	_xDisableVacuum AT %Q* : BOOL := TRUE;
+	_xVacuumOk AT %I* : BOOL;
+	
+	_udiXOffset AT %I* : UDINT;
+	_udiYOffset AT %I* : UDINT;
+	
+	_rXPosToGo : REAL;
+	_rYPosToGo : REAL;
+	
+	_iState : INT := 0;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[_fbXAxis(
+	xEnable:= TRUE, 
+	xInvertCalibrationCam:= FALSE, 
+	xEnablePositive:= TRUE, 
+	xEnableNegative:= TRUE, 
+	rOverride:= 100.0, 
+	lrVelocity:= 2.5, 
+	lrAcceleration:= 0, 
+	lrDecelleration:= 0, 
+	lrJerk:= 0, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	xEnabled=> , 
+	xHomed=> , 
+	lrActPosition=> , 
+	xIsStopped=> , 
+	xBusy=> , 
+	xError=> );
+	
+_fbYAxis(
+	xEnable:= TRUE, 
+	xInvertCalibrationCam:= FALSE, 
+	xEnablePositive:= TRUE, 
+	xEnableNegative:= TRUE, 
+	rOverride:= 100.0, 
+	lrVelocity:= 2.5, 
+	lrAcceleration:= 0, 
+	lrDecelleration:= 0, 
+	lrJerk:= 0, 
+	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;
+	_rYPosToGo := ((UDINT_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);
+		_fbYAxis.M_MoveRel(lrRelDist := _rYPosToGo);
+	END_IF
+END_IF
+	
+// Handle enable disable vacuum command
+_xEnableVacuum := xEnableVacuum;
+_xDisableVacuum := (NOT xEnableVacuum);
+xVacuumEnabled := _xVacuumOk;]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>