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/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.