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
This commit is contained in:
@@ -11,6 +11,14 @@
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</OwnerB>
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</OwnerA>
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</UnrestoredVarLinks>
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<UnrestoredVarLinks ImportTime="2026-02-04T18:53:56">
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<OwnerA Name="InputDst" Prefix="TIPC^PLC^PLC Instance" Type="1">
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 26 (TM-X5K_CB-NEC20E)">
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<Link VarA="PRG_Main._fbAligner._rXOffset" TypeA="REAL" InOutA="0" GuidA="{18071995-0000-0000-0000-00000000000D}" VarB="Module 1 (Result Data 128Byte)^Result Data 128Byte^Result Data7" RestoreInfo="ANotFound"/>
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<Link VarA="PRG_Main._fbAligner._rYOffset" TypeA="REAL" InOutA="0" GuidA="{18071995-0000-0000-0000-00000000000D}" VarB="Module 1 (Result Data 128Byte)^Result Data 128Byte^Result Data8" RestoreInfo="ANotFound"/>
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</OwnerB>
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</OwnerA>
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</UnrestoredVarLinks>
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<Contexts>
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<Context>
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<Id>0</Id>
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@@ -28,12 +36,20 @@
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</Instance>
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<Mappings>
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<OwnerA>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 26 (TM-X5K_CB-NEC20E)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbAligner._udiXOffset" VarB="Module 1 (Result Data 128Byte)^Result Data 128Byte^Result Data7"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbAligner._udiYOffset" VarB="Module 1 (Result Data 128Byte)^Result Data 128Byte^Result Data8"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 44 (EX260-SEC1)">
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<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor1" VarB="Byte 0^Output[3]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xCloseDoor2" VarB="Byte 0^Output[1]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor1" VarB="Byte 0^Output[2]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbHVTester._xOpenDoor2" VarB="Byte 0^Output[0]" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^Box 7 (EX600-SEC#)">
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<Link VarA="PlcTask Outputs^PRG_Main._fbAligner._xDisableVacuum" VarB="Module 1 (EX600-SEC#, 32 Valves)^Valve Outputs^Aligner disable vacuum" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbAligner._xEnableVacuum" VarB="Module 1 (EX600-SEC#, 32 Valves)^Valve Outputs^Aligner enable vacuum" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^HP (EK1100)^Term 47 (EL2004)">
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<Link VarA="PlcTask Outputs^PRG_Main._fbHeatCoolPlates._fbHeatingPlate._xEnableHotplate" VarB="Channel 1^HotplateControl" Size="1"/>
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</OwnerB>
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@@ -97,39 +113,64 @@
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K01_KL01 (EK1100)^K01_KL02 (EL1018)">
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<Link VarA="PlcTask Inputs^PRG_Safety._xRequestOpenDoor" VarB="Channel 4^MainDoorUnlock" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K12_KL01 (EK1100)^K12_KL04 (EL1018)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbAligner._xVacuumOk" VarB="Channel 7^Input" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_A1 (EP1018-0001)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbValveDoor.xCloseFeedback" VarB="Channel 3^ShutterClosed" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbValveDoor.xOpenFeedback" VarB="Channel 2^ShutterOpened" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_QM01 (EX260-SEC1)">
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingBack.xCloseValve" VarB="Byte 0^Output[7]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingBack.xOpenValve" VarB="Byte 0^Output[6]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingFront.xCloseValve" VarB="Byte 0^Output[5]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingFront.xOpenValve" VarB="Byte 0^Output[4]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingLeft.xCloseValve" VarB="Byte 1^Output[1]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingLeft.xOpenValve" VarB="Byte 1^Output[0]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingRight.xCloseValve" VarB="Byte 1^Output[3]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbClampingRight.xOpenValve" VarB="Byte 1^Output[2]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbValveDoor.xCloseValve" VarB="Byte 0^Output[1]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbValveDoor.xOpenValve" VarB="Byte 0^Output[0]" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_A1 (EP1018-0001)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbValveDoor.xCloseFeedback" VarB="Channel 3^ShutterClosed" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbValveDoor.xOpenFeedback" VarB="Channel 2^ShutterOpened" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._xVacuumOk" VarB="Channel 1^ChuckVacuumOn" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_A2 (EP1018-0001)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingBack.xCloseFeedback" VarB="Channel 8^Clamping fixture back closed" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingBack.xOpenFeedback" VarB="Channel 7^Clamping fixture back opened" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingFront.xCloseFeedback" VarB="Channel 6^Clamping fixture in front closed" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingFront.xOpenFeedback" VarB="Channel 5^Clamping fixture in front opened" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingLeft.xCloseFeedback" VarB="Channel 2^Clamping fixture left closed" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingLeft.xOpenFeedback" VarB="Channel 1^Clamping fixture left opened" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingRight.xCloseFeedback" VarB="Channel 4^Clamping fixture right closed" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbClampingRight.xOpenFeedback" VarB="Channel 3^Clamping fixture right opened" Size="1"/>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_A2 (EP1018-0001)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbEjectBack.xCloseFeedback" VarB="Channel 7^Clamping fixture ejector back retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbEjectBack.xOpenFeedback" VarB="Channel 8^Clamping fixture ejector back extended" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbEjectFront.xCloseFeedback" VarB="Channel 5^Clamping fixture ejector front retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbEjectFront.xOpenFeedback" VarB="Channel 6^Clamping fixture ejector front extended" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbUnlockLeft.xCloseFeedback" VarB="Channel 1^Clamping fixture unlock left retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbUnlockLeft.xOpenFeedback" VarB="Channel 2^Clamping fixture unlock left extended" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbUnlockRight.xCloseFeedback" VarB="Channel 3^Clamping fixture unlock right retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher1._fbUnlockRight.xOpenFeedback" VarB="Channel 4^Clamping fixture unlock right extended" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_QM01 (EX260-SEC1)">
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K20_QM01 (EX260-SEC1)">
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbEjectBack.xCloseValve" VarB="Byte 0^Output[7]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbEjectBack.xOpenValve" VarB="Byte 0^Output[6]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbEjectFront.xCloseValve" VarB="Byte 0^Output[5]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbEjectFront.xOpenValve" VarB="Byte 0^Output[4]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbUnlockLeft.xCloseValve" VarB="Byte 1^Output[1]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbUnlockLeft.xOpenValve" VarB="Byte 1^Output[0]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbUnlockRight.xCloseValve" VarB="Byte 1^Output[3]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbUnlockRight.xOpenValve" VarB="Byte 1^Output[2]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbValveDoor.xCloseValve" VarB="Byte 0^Output[1]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._fbValveDoor.xOpenValve" VarB="Byte 0^Output[0]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher1._xDisableVacuum" VarB="Byte 0^Output[2]" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_A1 (EP1018-0001)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbValveDoor.xCloseFeedback" VarB="Channel 3^ShutterClosed" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbValveDoor.xOpenFeedback" VarB="Channel 2^ShutterOpened" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._xVacuumOk" VarB="Channel 1^ChuckVacuumOn" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_A2 (EP1018-0001)">
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbEjectBack.xCloseFeedback" VarB="Channel 7^Clamping fixture ejector back retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbEjectBack.xOpenFeedback" VarB="Channel 8^Clamping fixture ejector back extended" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbEjectFront.xCloseFeedback" VarB="Channel 5^Clamping fixture ejector front retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbEjectFront.xOpenFeedback" VarB="Channel 6^Clamping fixture ejector front extended" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbUnlockLeft.xCloseFeedback" VarB="Channel 1^Clamping fixture unlock left retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbUnlockLeft.xOpenFeedback" VarB="Channel 2^Clamping fixture unlock left extended" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbUnlockRight.xCloseFeedback" VarB="Channel 3^Clamping fixture unlock right retracted" Size="1"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbEtcher2._fbUnlockRight.xOpenFeedback" VarB="Channel 4^Clamping fixture unlock right extended" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^K21_QM01 (EX260-SEC1)">
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbEjectBack.xCloseValve" VarB="Byte 0^Output[7]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbEjectBack.xOpenValve" VarB="Byte 0^Output[6]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbEjectFront.xCloseValve" VarB="Byte 0^Output[5]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbEjectFront.xOpenValve" VarB="Byte 0^Output[4]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbUnlockLeft.xCloseValve" VarB="Byte 1^Output[1]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbUnlockLeft.xOpenValve" VarB="Byte 1^Output[0]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbUnlockRight.xCloseValve" VarB="Byte 1^Output[3]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbUnlockRight.xOpenValve" VarB="Byte 1^Output[2]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbValveDoor.xCloseValve" VarB="Byte 0^Output[1]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._fbValveDoor.xOpenValve" VarB="Byte 0^Output[0]" Size="1"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbEtcher2._xDisableVacuum" VarB="Byte 0^Output[2]" Size="1"/>
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</OwnerB>
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<OwnerB Name="TIID^Device 1 (EtherCAT)^PC_K01_KL01 (EK1100)^PC_K01_KL02 (EL1918)">
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<Link VarA="PlcTask Inputs^PRG_Safety._xComStartup" VarB="StandardInputs^Standard Out Var 12" Size="1"/>
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@@ -145,7 +186,7 @@
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<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorOffsetPosY" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 6 (Offset Y)"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._diMirrorThickness" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 7 (Thickness)"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._dwErrorBits" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 1 (Errorbits)"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._dwJobForPLC" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 3 (JobForPLC)"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._eJobForPLC" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 3 (JobForPLC)" Size="16"/>
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<Link VarA="PlcTask Inputs^PRG_Main._fbRobot._uState" VarB="Module 3 (Default IO)^Std. In (64 Bytes)^Input DWORD 0 (Status)"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._abToolsAndPositions" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 2 (Greifer/Drehteller/Positionen)"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbRobot._diOffsetPosX" VarB="Module 3 (Default IO)^Std. Out (64 Bytes)^Output DWORD 3 (Offset X)"/>
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@@ -158,6 +199,14 @@
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<Link VarA="PlcTask Inputs^PRG_Main._stCamResult" VarB="API^Term 4 (Result Data 128Byte)^Subterm 6 (Result Data 128Byte)^Inputs^Result Data" Size="264" OffsB="224"/>
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<Link VarA="PlcTask Outputs^PRG_Main._xTriggerCamera" VarB="API^Term 10 (Control)^Subterm 12 (Control)^Outputs^Control Register[0]^Trigger" Size="1"/>
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</OwnerB>
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^AlignerXAxis">
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<Link VarA="PlcTask Inputs^PRG_Main._fbAligner._fbXAxis._fbAxis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbAligner._fbXAxis._fbAxis.PlcToNc" VarB="Inputs^FromPlc"/>
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</OwnerB>
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<OwnerB Name="TINC^NC-Task 1 SAF^Axes^AlignerYAxis">
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<Link VarA="PlcTask Inputs^PRG_Main._fbAligner._fbYAxis._fbAxis.NcToPlc" VarB="Outputs^ToPlc"/>
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<Link VarA="PlcTask Outputs^PRG_Main._fbAligner._fbYAxis._fbAxis.PlcToNc" VarB="Inputs^FromPlc"/>
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</OwnerB>
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</OwnerA>
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</Mappings>
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</TcSmItem>
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