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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26
_Config/NC/NC.xti
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@@ -1449,7 +1449,7 @@ External Setpoint Generation:
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="8">
<EncPara ScaleFactorNumerator="360" ScaleFactorDenominator="1048576" Offset="28.5" MaxCount="#xffffffff" ReferenceSystem="4">
<EncPara ScaleFactorNumerator="360" ScaleFactorDenominator="1048576" Offset="28.5" MaxCount="#xffffffff" ReferenceSystem="1">
<FilterTime TVelo="0.2"/>
</EncPara>
<Vars VarGrpType="1">
@@ -1509,7 +1509,7 @@ External Setpoint Generation:
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="9">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00000100">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00030100">
<Analog VeloReferenz="35031.3336914063" VeloScale="1.02400649589962" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
@@ -1798,7 +1798,7 @@ External Setpoint Generation:
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="9">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00000100">
<DrvPara MaxCount="#xffffffff" DriveControlDWord="#x00030100">
<Analog VeloReferenz="35031.3336914063" VeloScale="1.02400649589962" TorqueSetpointScale="10" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
@@ -2018,16 +2018,16 @@ External Setpoint Generation:
</Var>
</Vars>
</Axis>
<Axis Id="5" CreateSymbols="true" AxisType="1" SimulationMode="true">
<Axis Id="5" CreateSymbols="true" AxisType="1">
<Name>AlignerXAxis</Name>
<AxisPara>
<Dynamic Acceleration="15" Deceleration="15" Jerk="45"/>
<Velo RefSearch="5" RefSync="0.5" SlowManual="1" FastManual="5" Fast="12.834" Maximum="10"/>
<Dynamic AccelerationMaximum="2000" DecelerationMaximum="2000" Acceleration="2" Deceleration="2" Jerk="2"/>
<Velo RefSearch="1.5" RefSync="0.5" SlowManual="1" FastManual="5" Fast="12.834" Maximum="5"/>
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="4">
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="12800" MaxCount="#xffffffff">
<Inc RefSearchInverse="true" RefSyncInverse="false" RefPosition="-14.2" RefMode="1" RefSoftSyncMask="#x0000ffff" HomingSensorSource="2"/>
<Inc RefSearchInverse="true" RefSyncInverse="false" RefPosition="-34.47" RefMode="1" RefSoftSyncMask="#x0000ffff" HomingSensorSource="2"/>
</EncPara>
<Vars VarGrpType="1">
<Name>Inputs</Name>
@@ -2177,16 +2177,16 @@ External Setpoint Generation:
</Var>
</Vars>
</Axis>
<Axis Id="6" CreateSymbols="true" AxisType="1" SimulationMode="true">
<Axis Id="6" CreateSymbols="true" AxisType="1">
<Name>AlignerYAxis</Name>
<AxisPara>
<Dynamic Acceleration="15" Deceleration="15" Jerk="45"/>
<Velo RefSearch="5" RefSync="0.5" SlowManual="1" FastManual="5" Fast="12.834" Maximum="10"/>
<Dynamic AccelerationMaximum="2000" DecelerationMaximum="2000" Acceleration="1.99999914163127" Deceleration="1.99999914163127" Jerk="22.4999806867077"/>
<Velo RefSearch="1.5" RefSync="0.5" SlowManual="1" FastManual="5" Fast="12.834" Maximum="5"/>
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="4">
<EncPara ScaleFactorNumerator="1" ScaleFactorDenominator="12800" MaxCount="#xffffffff">
<Inc RefSearchInverse="true" RefSyncInverse="false" RefPosition="-34.46" RefMode="1" RefSoftSyncMask="#x0000ffff" HomingSensorSource="2"/>
<Inc RefSearchInverse="true" RefSyncInverse="false" RefPosition="-11.67" RefMode="1" RefSoftSyncMask="#x0000ffff" HomingSensorSource="2"/>
</EncPara>
<Vars VarGrpType="1">
<Name>Inputs</Name>
@@ -2339,7 +2339,7 @@ External Setpoint Generation:
</NC>
<Mappings>
<OwnerA Name="Axes^AlignerXAxis">
<OwnerB Name="TIID^Device 1 (EtherCAT)^K12_KL01 (EK1100)^K12_KL07 (EL7037)">
<OwnerB Name="TIID^Device 1 (EtherCAT)^K12_KL01 (EK1100)^K12_KL08 (EL7037)">
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving negative" Size="1" OffsA="5"/>
@@ -2383,7 +2383,7 @@ External Setpoint Generation:
</OwnerB>
</OwnerA>
<OwnerA Name="Axes^AlignerYAxis">
<OwnerB Name="TIID^Device 1 (EtherCAT)^K12_KL01 (EK1100)^K12_KL08 (EL7037)">
<OwnerB Name="TIID^Device 1 (EtherCAT)^K12_KL01 (EK1100)^K12_KL07 (EL7037)">
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving negative" Size="1" OffsA="5"/>