Heisig_GmbH/infineon_plc
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First bigger step to automation

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- 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
This commit is contained in:
Matthias Heisig
2026-02-04 19:31:13 +01:00
parent 677c03d51d
commit c1850f780b
29 changed files with 1249 additions and 374 deletions
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40
_Config/IO/Device 1 (EtherCAT).xti
View File

@@ -26305,42 +26305,42 @@ Bit 8 - 15 : reserved]]></Comment>
<SyncMan>001001000000010004000000010001000100001000010000</SyncMan>
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
<Pdo Name="Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture left opened" Index="#x6000" Sub="#x01">
<Entry Name="Clamping fixture unlock left retracted" Index="#x6000" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture left closed" Index="#x6010" Sub="#x01">
<Entry Name="Clamping fixture unlock left extended" Index="#x6010" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture right opened" Index="#x6020" Sub="#x01">
<Entry Name="Clamping fixture unlock right retracted" Index="#x6020" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture right closed" Index="#x6030" Sub="#x01">
<Entry Name="Clamping fixture unlock right extended" Index="#x6030" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 5" Index="#x1a04" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture in front opened" Index="#x6040" Sub="#x01">
<Entry Name="Clamping fixture ejector front retracted" Index="#x6040" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 6" Index="#x1a05" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture in front closed" Index="#x6050" Sub="#x01">
<Entry Name="Clamping fixture ejector front extended" Index="#x6050" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 7" Index="#x1a06" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture back opened" Index="#x6060" Sub="#x01">
<Entry Name="Clamping fixture ejector back retracted" Index="#x6060" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 8" Index="#x1a07" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture back closed" Index="#x6070" Sub="#x01">
<Entry Name="Clamping fixture ejector back extended" Index="#x6070" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
@@ -32104,42 +32104,42 @@ Bit 8 - 15 : reserved]]></Comment>
<SyncMan>001001000000010004000000010001000100001000010000</SyncMan>
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
<Pdo Name="Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture left opened" Index="#x6000" Sub="#x01">
<Entry Name="Clamping fixture unlock left retracted" Index="#x6000" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture left closed" Index="#x6010" Sub="#x01">
<Entry Name="Clamping fixture unlock left extended" Index="#x6010" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture right opened" Index="#x6020" Sub="#x01">
<Entry Name="Clamping fixture unlock right retracted" Index="#x6020" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture right closed" Index="#x6030" Sub="#x01">
<Entry Name="Clamping fixture unlock right extended" Index="#x6030" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 5" Index="#x1a04" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture in front opened" Index="#x6040" Sub="#x01">
<Entry Name="Clamping fixture ejector front retracted" Index="#x6040" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 6" Index="#x1a05" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture in front closed" Index="#x6050" Sub="#x01">
<Entry Name="Clamping fixture ejector front extended" Index="#x6050" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 7" Index="#x1a06" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture back opened" Index="#x6060" Sub="#x01">
<Entry Name="Clamping fixture ejector back retracted" Index="#x6060" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 8" Index="#x1a07" Flags="#x0011" SyncMan="0">
<Entry Name="Clamping fixture back closed" Index="#x6070" Sub="#x01">
<Entry Name="Clamping fixture ejector back extended" Index="#x6070" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
@@ -32225,10 +32225,10 @@ Bit 8 - 15 : reserved]]></Comment>
<Entry Name="Channel 1" Index="#x7000" Sub="#x02" Flags="#x00001000">
<Type>BIT</Type>
</Entry>
<Entry Name="Channel 2" Index="#x7000" Sub="#x03" Flags="#x00001000">
<Entry Name="Aligner enable vacuum" Index="#x7000" Sub="#x03" Flags="#x00001000">
<Type>BIT</Type>
</Entry>
<Entry Name="Channel 3" Index="#x7000" Sub="#x04" Flags="#x00001000">
<Entry Name="Aligner disable vacuum" Index="#x7000" Sub="#x04" Flags="#x00001000">
<Type>BIT</Type>
</Entry>
<Entry Name="Channel 4" Index="#x7000" Sub="#x05" Flags="#x00001000">
@@ -34991,7 +34991,7 @@ Bit 8 - 15 : reserved]]></Comment>
<ModuleIdent>640</ModuleIdent>
<Module Id="#x03090055" Type="Sync Inputs" Class="">
<Name>Module 1 (Sync Inputs)</Name>
<ImageId>564</ImageId>
<ImageId>565</ImageId>
<ModuleData>c860000080020000000004000000000000000000000000000000000000000000</ModuleData>
<PdoIndex>6657</PdoIndex>
</Module>
@@ -35020,7 +35020,7 @@ Bit 8 - 15 : reserved]]></Comment>
<ModuleIdent>519</ModuleIdent>
<Module Id="#x0309000d" Type="Default IO" Class="">
<Name>Module 3 (Default IO)</Name>
<ImageId>564</ImageId>
<ImageId>565</ImageId>
<ModuleData>c860000004020000000004000000000000000000000000000000000000000000</ModuleData>
<PdoIndex>6676</PdoIndex>
<PdoIndex>5652</PdoIndex>

2
_Config/IO/Device 11 (NOV-DP-RAM).xti
View File

@@ -1,6 +1,6 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CDevDpRamDef" SubType="121">
<Device Id="11" Disabled="true" DevType="121">
<Device Id="11" DevType="121">
<Name>__FILENAME__</Name>
<AddressInfo>
<Pci>

4
_Config/IO/Device 5 (EtherCAT).xti
View File

@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19" ClassName="CDevEtherCATDef" SubType="111">
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CDevEtherCATDef" SubType="111">
<DataTypes>
<DataType>
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
<BitSize>7</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
<ArrayInfo>

4
_Config/IO/Device 7 (EtherCAT).xti
View File

@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.19" ClassName="CDevEtherCATDef" SubType="111">
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CDevEtherCATDef" SubType="111">
<DataTypes>
<DataType>
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
<Name GUID="{18071995-0000-0000-0000-002000000007}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..6] OF BIT</Name>
<BitSize>7</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
<ArrayInfo>