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
2026-02-04 19:31:13 +01:00
parent 677c03d51d
commit c1850f780b
29 changed files with 1249 additions and 374 deletions
--- a/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
+++ b/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
@@ -4,12 +4,17 @@
    <Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher EXTENDS FB_PackMLGeneric
 VAR_INPUT
 	xOpenDoor : BOOL;
+	xEnableVacuum : BOOL;
 	xOpenChuckClamp : BOOL;
 	xEjectChuck : BOOL;
+	xReleaseManualMode : BOOL;
 	xConfirmAlarms : BOOL;
+	stHMIInterface : ST_Etcher_HMIInterface;
 END_VAR
 VAR_OUTPUT
+	xDoorOpen : BOOL;
 	xChuckClampOpen : BOOL;
+	xVacuumEnabled : BOOL;
 END_VAR
 VAR
 	_fbValveDoor : FB_Valve('Door');
@@ -18,39 +23,39 @@ VAR
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stDoorHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingLeft : FB_Valve('Clamping left');
-	_stValveClampingLeftCfg : ST_ValveConfig := (
+	
+	_fbUnlockLeft : FB_Valve('Clamping left');
+	_stValveUnlockLeftCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingLeftHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingRight : FB_Valve('Clamping right');
-	_stValveClampingRightCfg : ST_ValveConfig := (
+	
+	_fbUnlockRight : FB_Valve('Clamping right');
+	_stValveUnlockRightCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingRightHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingFront : FB_Valve('Clamping front');
+	
+	_fbEjectFront : FB_Valve('Clamping front');
 	_stValveClampingFrontCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingFrontHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingBack : FB_Valve('Clamping back');
-	_stValveClampingBackCfg : ST_ValveConfig := (
+	
+	_fbEjectBack : FB_Valve('Clamping back');
+	_stValveEjectBackCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingBackHMIInterface : ST_HMI_VALVE_DATA;
+	
 	
 	_rtEjectChuckCmd : R_TRIG;
 	_tpEjectChuck : TP;
@@ -59,6 +64,8 @@ VAR
 	// Sensors
 	// =======
 	
+	_xVacuumOk AT %I* : BOOL;
+	
 	// Spinner vibration sensor
 	_xVibrationSensor AT %I* : BOOL;
 	
@@ -66,7 +73,7 @@ VAR
 	// Actuators
 	// =========
 	
-	
+	_xDisableVacuum AT %Q* : BOOL;
 END_VAR
 ]]></Declaration>
    <Implementation>
@@ -77,7 +84,9 @@ _fbValveDoor(
 	stValveConfig:= _stValveDoorCfg, 
 	xReleaseManualMode:= FALSE, 
 	xConfirmAlarms:= xConfirmAlarms,  
-	stHMIInterface:= _stDoorHMIInterface);
+	stHMIInterface:= stHMIInterface.stDoorHMIInterface);
+	
+xDoorOpen := _fbValveDoor.IsOpen;
 	
 // Chuck
 _rtEjectChuckCmd(CLK := xEjectChuck);
@@ -87,40 +96,45 @@ ELSE
 	_tpEjectChuck(IN := FALSE);
 END_IF

-_fbClampingLeft( 
+_fbUnlockLeft( 
 	xAutomaticOpen:= xOpenChuckClamp, 
 	xReleaseErrors:= TRUE, 
-	stValveConfig:= _stValveClampingLeftCfg, 
-	xReleaseManualMode:= FALSE, 
+	stValveConfig:= _stValveUnlockLeftCfg, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingLeftHMIInterface);
+	stHMIInterface:= stHMIInterface.stUnlockLeftHMIInterface);
 	
-_fbClampingRight( 
+_fbUnlockRight( 
 	xAutomaticOpen:= xOpenChuckClamp, 
 	xReleaseErrors:= TRUE, 
-	stValveConfig:= _stValveClampingRightCfg, 
-	xReleaseManualMode:= FALSE, 
+	stValveConfig:= _stValveUnlockRightCfg, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingRightHMIInterface);
+	stHMIInterface:= stHMIInterface.stUnlockRightHMIInterface);
 	
-_fbClampingFront( 
+_fbEjectFront( 
 	xAutomaticOpen:= _tpEjectChuck.Q, 
 	xReleaseErrors:= TRUE, 
 	stValveConfig:= _stValveClampingFrontCfg, 
-	xReleaseManualMode:= FALSE, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingFrontHMIInterface);
+	stHMIInterface:= stHMIInterface.stEjectFrontHMIInterface);
 	
-_fbClampingBack( 
+_fbEjectBack( 
 	xAutomaticOpen:= _tpEjectChuck.Q, 
 	xReleaseErrors:= TRUE, 
-	stValveConfig:= _stValveClampingBackCfg, 
-	xReleaseManualMode:= FALSE, 
+	stValveConfig:= _stValveEjectBackCfg, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingBackHMIInterface);
+	stHMIInterface:= stHMIInterface.stEjectBackHMIInterface);
+	
+_xDisableVacuum := (NOT xEnableVacuum);

 // Call base sm
-SUPER^();]]></ST>
+SUPER^();
+
+// Copy internal signals to output
+xVacuumEnabled := _xVacuumOk;]]></ST>
    </Implementation>
    <Method Name="FB_Init" Id="{afcda70c-3e52-4a32-9ca9-670a6b854f24}">
      <Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Etcher_HMIInterface.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Etcher_HMIInterface.TcDUT
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Etcher_HMIInterface" Id="{b42cab98-5a22-4703-a464-a4d1f5cdc177}">
+    <Declaration><![CDATA[TYPE ST_Etcher_HMIInterface :
+STRUCT
+	stDoorHMIInterface : ST_HMI_VALVE_DATA;
+	stUnlockLeftHMIInterface : ST_HMI_VALVE_DATA;
+	stUnlockRightHMIInterface : ST_HMI_VALVE_DATA;
+	stEjectFrontHMIInterface : ST_HMI_VALVE_DATA;
+	stEjectBackHMIInterface : ST_HMI_VALVE_DATA;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_JointSet.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_JointSet.TcDUT
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_JointSet" Id="{11c9caa0-793d-42a4-a6d6-9b5ea59d2923}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_Meca_JointSet :
+STRUCT
+	rSubIndex001 : REAL;
+	rSubIndex002 : REAL;
+	rSubIndex003 : REAL;
+	rSubIndex004 : REAL;
+	rSubIndex005 : REAL;
+	rSubIndex006 : REAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_MotionStatus.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_MotionStatus.TcDUT
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_MotionStatus" Id="{5e335d40-97f1-424a-b3e3-1b2de304decf}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_Meca_MotionStatus :
+STRUCT
+	uiReachedCheckPointId : UINT;
+	uiDiscardedCheckpointId : UINT;
+	uiMoveID : UINT;
+	uiFIFOSpace : UINT;
+	bPaused : BIT;
+	bEOB : BIT;
+	bEOM : BIT;
+	bFIFOCleared : BIT;
+	PStop2 : BIT;
+	bExcessiveTorque : BIT;
+	uiOfflineProgramID : UINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_RobotStatus.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_RobotStatus.TcDUT
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_RobotStatus" Id="{2543bfc1-49aa-4184-94d9-b32f02498fcc}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_Meca_RobotStatus :
+STRUCT
+	bBusy : BIT;
+	bActivated : BIT;
+	bHomed : BIT;
+	bSimActivated : BIT;
+	bBrakesEngaged : BIT;
+	bRecoveryMode : BIT;
+	bEStop : BIT;
+	bCollisionStatus : BIT;
+	bWorkZoneStatus : BIT;
+	uiError : UINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/FB_Mecademics.TcPOU
+++ b/PLC/01_Stationen/Etcher/Mecademics/FB_Mecademics.TcPOU
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Mecademics" Id="{c81cf0ae-3f01-4427-918b-0d3e1c93ae01}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Mecademics
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>