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_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>