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/HeatCoolPlates/FB_HotPlate.TcPOU

@@ -35,6 +35,12 @@ VAR
 			timWarningLowOn := T#1S,
 			timHardwareSignalLevelOff := T#1S));
 	
+	_fbPITempControl : FB_PI;
+	_xSaturatedUpper : BOOL;
+	_xSaturatedLower : BOOL;
+	_rMV : REAL;
+	_fbPulsOut : TP;
+	_fbPWMOut : FB_PWM;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -48,15 +54,43 @@ _fbTempSensor(
 	xConfirmAlarms:= xConfirmAlarms, 
 	stHMIInterface=> );
 
+_fbPITempControl(
+	rSP:= rTargetTemp, 
+	rPV:= _fbTempSensor.rScaledValue, 
+	rKp:= 2, 
+	rTn:= 0, 
+	xEnable:= xEnable, 
+	xSaturatedUpper:= _xSaturatedUpper, 
+	xSaturatedLower:= _xSaturatedLower, 
+	rMV=> _rMV);
+	
+IF _rMV >= 100.0 THEN
+	_rMV := 100.0;
+	_xSaturatedUpper := TRUE;
+ELSE
+	_xSaturatedUpper := FALSE;
+END_IF
+
+IF _rMV <=0 THEN
+	_rMV := 0.0;
+	_xSaturatedLower := TRUE;
+ELSE
+	_xSaturatedLower := FALSE;
+END_IF
+
+_fbPWMOut(
+	rPWM:= _rMV,
+	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
+// IF _fbTempSensor.rScaledValue < (rTargetTemp - rDeadBand) THEN
+// 	_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/FB_PWM.TcPOU

@@ -0,0 +1,35 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_PWM" Id="{39ea0d97-8eb7-44fa-b55f-8461b6c6c8ae}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_PWM
+VAR_INPUT
+	rPWM : REAL;
+	timPeriod : TIME;
+END_VAR
+VAR_OUTPUT
+	xOutput : BOOL;
+END_VAR
+VAR
+	_tonTimer : TON;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[_tonTimer(IN := TRUE, PT := timPeriod);
+IF _tonTimer.Q THEN
+	_tonTimer(IN := FALSE);
+END_IF
+
+IF rPWM = 0.0 THEN
+	xOutput := FALSE;
+ELSIF rPWM >= 100.0 THEN
+	xOutput := TRUE;
+ELSE
+	IF (1.0 - (TIME_TO_REAL(_tonTimer.ET) / TIME_TO_REAL(timPeriod))) <= (rPWM * 0.01) THEN
+		xOutput := TRUE;
+	ELSE
+		xOutput := FALSE;
+	END_IF
+END_IF]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>