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/Kuka_Robot/E_KukaRobot_JobNumerPLC.TcDUT

@@ -15,15 +15,17 @@ TYPE E_KukaRobot_JobNumerPLC :
 	
 	// Etcher 1 station
 	ENABLE_VACUUM_ETCHER1 := 20,
-	DISABLE_VACUUM_ETHER1 := 22,
+	DISABLE_VACUUM_ETCHER1 := 22,
 	UNLOCK_CHUCK_ETCHER1 := 60,
 	LOCK_CHUCK_ETCHER1 := 62,
 	
 	// Ether 2 station
 	ENABLE_VACUUM_ETCHER2 := 21,
 	DISABLE_VACUUM_ETCHER2 := 23,
-	UNLOCK_CHUCK_ETHCER2 := 61,
-	LOCK_CHUCK_ETCHER2 := 63
+	UNLOCK_CHUCK_ETCHER2 := 61,
+	LOCK_CHUCK_ETCHER2 := 63,
+	
+	JOB_FAILED := 99
 ) WORD := NO_JOB;
 END_TYPE
 ]]></Declaration>

PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU

@@ -9,11 +9,17 @@ VAR_INPUT
 	// Feedbacks from other units
 	// like if a door is open and such things
 	stUnitFeedbacks : ST_KukaRobot_UnitFeedbacks;
+	
+	xAckPLCCmd : BOOL;
+	xPLCJobFailed : BOOL;
 
 	xReleaseAlarms : BOOL;
 	xConfirmAlarms : BOOL;
 END_VAR
 VAR_OUTPUT
+	eCmdFromRobot : E_KukaRobot_JobNumerPLC;
+	xNewCmdRequested : BOOL;
+
 	xReady : BOOL;
 	xError : BOOL;
 END_VAR
@@ -43,7 +49,7 @@ VAR
 	_uState AT %I* : U_KukaRobot_State;
 	_dwErrorBits AT %I* : DWORD;
 	_awJobStatesFromRobot AT %I* : ARRAY[0..1] OF WORD;
-	_dwJobForPLC AT %I* : DWORD;
+	_eJobForPLC AT %I* : E_KukaRobot_JobNumerPLC;
 	
 	_abMirrorToolsAndPositions AT %I* : ARRAY[0..3] OF BYTE;
 	
@@ -58,6 +64,8 @@ VAR
 	
 	_ePlcJob :E_KukaRobot_JobNumerPLC;
 	
+	_iState : INT;
+	
 	_xRobotReady : BOOL;
 	
 	_xError : BOOL;
@@ -97,7 +105,7 @@ _fbAlarmEStopActive(
 	timOffDelay:= T#0S);
 	
 _fbAlarmOperatorSafetyNotOk(
-	xActive:= (NOT _uState.stState.bUserSAF), 
+	xActive:= (NOT _uState.stState.bUserSAF) AND (_uState.stState.bExt), 
 	xRelease:= TRUE, 
 	xAcknowledge:= xConfirmAlarms, 
 	timOnDelay:= T#0S, 
@@ -149,7 +157,12 @@ _uCtrl.stCtrl.bNotDisableAxes := 1;
 // Write unit feedbacks outputs
 // ============================
 
+_uCtrl.stCtrl.bDoorEtcher1Open := stUnitFeedbacks.xDoorEtcher1Open;
+_uCtrl.stCtrl.bDoorEtcher2Open := stUnitFeedbacks.xDoorEtcher2Open;
+_uCtrl.stCtrl.bDoorHVTestHotOpen := stUnitFeedbacks.xDoorHVTestHotOpen;
+_uCtrl.stCtrl.bDoorHVTestColdOpen := stUnitFeedbacks.xDoorHVTestColdOpen;
 
+M_HandlePLCJobs();
 
 
 // =================
@@ -217,9 +230,69 @@ END_IF
       <Declaration><![CDATA[METHOD PROTECTED M_Execute
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[// Wait for robot to be done
-IF _awJobStatesFromRobot[0] = 0 THEN
-	_eCmd := E_PackMLCmd.COMPLETE;
+        <ST><![CDATA[CASE stJobParams.eJob OF
+	E_KukaRobot_JobNumberRobot.WARMUP:
+		CASE _iSSM OF
+			0: // Wait for program to end
+				IF _awJobStatesFromRobot[0] = 0 THEN
+					IF _asiMotorTemps1To4[3] < 40 THEN
+						_iSSM := 10;
+					ELSE
+						_eCmd := E_PackMLCmd.COMPLETE;
+					END_IF
+				END_IF
+			
+			10: // Write robot number 0
+				_uJobs.stJobs.wJobNrForRobot := stJobParams.eJob;
+				IF _awJobStatesFromRobot[0] = _uJobs.stJobs.wJobNrForRobot THEN
+					_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
+					_iSSM := 0;
+				END_IF
+		END_CASE
+		
+	ELSE
+		// Wait for robot to be done
+		IF _awJobStatesFromRobot[0] = 0 THEN
+			_uJobs.stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
+			_eCmd := E_PackMLCmd.COMPLETE;
+		END_IF
+END_CASE
+
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_HandlePLCJobs" Id="{4e3710b4-697b-42e8-86b1-31b19b3023db}">
+      <Declaration><![CDATA[METHOD M_HandlePLCJobs
+VAR_INST
+	_rtrigNewJob : R_TRIG;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_rtrigNewJob(CLK := (_eJobForPLC <> E_KukaRobot_JobNumberRobot.NO_JOB));
+
+IF _rtrigNewJob.Q THEN
+	eCmdFromRobot := _eJobForPLC;
+	xNewCmdRequested := TRUE;
+END_IF
+
+IF xNewCmdRequested AND xAckPLCCmd THEN
+	xNewCmdRequested := FALSE;
+	
+	IF (NOT xPLCJobFailed) THEN
+		_uJobs.stJobs.wFinishedJobNrFromPlc := _eJobForPLC;
+	ELSE
+		_uJobs.stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.JOB_FAILED;
+	END_IF
+	
+	eCmdFromRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
+END_IF
+
+// Reset plc job done
+IF (_eJobForPLC = E_KukaRobot_JobNumberRobot.NO_JOB)
+	AND (_uJobs.stJobs.wFinishedJobNrFromPlc <> E_KukaRobot_JobNumberRobot.NO_JOB)
+	AND (NOT xPLCJobFailed)
+THEN
+	_uJobs.stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumberRobot.NO_JOB;
 END_IF]]></ST>
       </Implementation>
     </Method>
@@ -343,15 +416,20 @@ END_VAR]]></Declaration>
         <ST><![CDATA[CASE _iSSM OF
 	// Check job parameters
 	0:
-		IF (_stJobParams.byGripperNumber < 0) OR (_stJobParams.byGripperNumber > 3) // Wrong gripper number
-			OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
-			OR (_stJobParams.byGripperSide < 1) OR (_stJobParams.byGripperSide > 2) // Wrong gripper side
+		IF (_stJobParams.byGripperNumber < 0) OR (_stJobParams.byGripperNumber > 4) // Wrong gripper number
+			//OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
+			OR (_stJobParams.byGripperSide < 1) OR (_stJobParams.byGripperSide > 6) // Wrong gripper side
 		THEN
 			_eCmd := E_PackMLCmd.ABORT;
 		ELSE
 			_iSSM := 10;
 		END_IF
 		
+		// BLOCKIERE GREIFER TAUSCH, DA AKTUELL KABEL DEFEKT !!!!!
+		IF _stJobParams.eJob = E_KukaRobot_JobNumberRobot.CHANGE_GRIPPER THEN
+			_eCmd := E_PackMLCmd.ABORT;;
+		END_IF
+		
 	// Transfer job data to robot
 	10:
 		// Pos x in um
@@ -364,16 +442,7 @@ END_VAR]]></Declaration>
 		_diThickness := REAL_TO_DINT(_stJobParams.rThickness * 1000);
 		
 		// Gripper side
-		IF _stJobParams.byGripperSide = 1 THEN
-			_uCtrl.stCtrl.bGripperSide1 := 1;
-			_uCtrl.stCtrl.bGripperSide2 := 0;
-		ELSIF _stJobParams.byGripperSide = 2 THEN
-			_uCtrl.stCtrl.bGripperSide1 := 0;
-			_uCtrl.stCtrl.bGripperSide2 := 1;
-		ELSE
-			_uCtrl.stCtrl.bGripperSide1 := 0;
-			_uCtrl.stCtrl.bGripperSide2 := 0;	
-		END_IF
+		_uCtrl.stCtrl.byGripperSide := _stJobParams.byGripperSide;
 		
 		// Scan QR code
 		IF stJobParams.xScanQRCode THEN

PLC/01_Stationen/Kuka_Robot/InterfaceStructs/ST_KukaRobot_Ctrl.TcDUT

@@ -38,15 +38,18 @@ STRUCT
 	bDummy8 : BIT;
 	bDummy9 : BIT;
 	
-	bGripperSide1 : BIT;
-	bGripperSide2 : BIT;
-	
 	bDummy10 : BIT;
+	bDummy11 : BIT;
+	
+	bDummy12 : BIT;
 	
 	bDoorEtcher1Open : BIT;
 	bDoorEtcher2Open : BIT;
 	bDoorHVTestHotOpen : BIT;
 	bDoorHVTestColdOpen : BIT;
+	bDummy13: BIT;
+	
+	byGripperSide : BYTE;
 END_STRUCT
 END_TYPE
 ]]></Declaration>

PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_JobParams.TcDUT

@@ -7,31 +7,31 @@ STRUCT
 	eJob : E_KukaRobot_JobNumberRobot;
 	
 	// Position in x in mm
-	rPosX : REAL;
+	rPosX : REAL := 78;
 	
 	// Position in y in mm
-	rPosY : REAL;
+	rPosY : REAL := 88;
 	
 	// Substrate thickness in mm
-	rThickness : REAL;
+	rThickness : REAL := 2.7;
 	
 	// Gripper side (1 or 2)
-	byGripperSide : BYTE;
+	byGripperSide : BYTE := 3;
 	
 	// Scan QR Code during pickup from loading station
 	xScanQRCode : BOOL;
 	
 	// Position on hotplate (1-9)
-	byPlaceOnHotplate : BYTE;
+	byPlaceOnHotplate : BYTE := 1;
 	
 	// Position on coolplate (1-9)
-	byPlaceOnCoolPlate : BYTE;
+	byPlaceOnCoolPlate : BYTE := 1;
 	
 	// Gripper tool number (0-3)
-	byGripperNumber : BYTE;
+	byGripperNumber : BYTE := 2;
 	
 	// Chuck for etcher to load (1-6)
-	byChuckNumber : BYTE;
+	byChuckNumber : BYTE := 1;
 END_STRUCT
 END_TYPE
 ]]></Declaration>

PLC/01_Stationen/Kuka_Robot/ST_KukaRobot_UnitFeedbacks.TcDUT

@@ -3,8 +3,8 @@
   <DUT Name="ST_KukaRobot_UnitFeedbacks" Id="{d247890a-fdb7-498e-85a5-2423833e65fc}">
     <Declaration><![CDATA[TYPE ST_KukaRobot_UnitFeedbacks :
 STRUCT
-	xDoorEthcher1Open : BOOL;
-	xDoorEther2Open : BOOL;
+	xDoorEtcher1Open : BOOL;
+	xDoorEtcher2Open : BOOL;
 	xDoorHVTestHotOpen : BOOL;
 	xDoorHVTestColdOpen : BOOL;
 END_STRUCT