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

Infineon.tsproj

@@ -47,6 +47,7 @@
 		<MappingInfo Identifier="{00000000-2001-0850-0020-500851000403}" Id="#x02030030"/>
 		<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
 		<MappingInfo Identifier="{00000000-0020-0304-3000-040322000403}" Id="#x02030040"/>
+		<MappingInfo Identifier="{05000010-2001-0850-3000-040300205008}" Id="#x02030060" Watchdog="10000000040000000400000004000000"/>
 		<MappingInfo Identifier="{03040050-0050-0304-5000-040350000403}" Id="#x02030020" Watchdog="04000000040000000400000004000000"/>
 	</Mappings>
 </TcSmProject>

PLC/00_Main/PRG_Main.TcPOU

@@ -9,6 +9,7 @@ VAR
 	_fbEtcher2 : FB_Etcher;
 	_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
 	_fbHeatCoolPlates : FB_HeatCoolPlates;
+	_fbAligner : FB_Aligner;
 	
 	_xConfirmAlarms : BOOL;
 	
@@ -17,6 +18,7 @@ VAR
 	_stRobotAdmin : ST_PMLa;
 	
 	_stRobotJobParams : ST_KukaRobot_JobParams;
+	_stUnitFeedbacks : ST_KukaRobot_UnitFeedbacks;
 	
 	_stCamResult AT %I* : ST_TrayFeederCamPosData;
 	
@@ -31,9 +33,13 @@ VAR
 	_xUnhold : BOOL;
 	_xStop : BOOL;
 	
+	_xStartCycle : BOOL;
+	
 	_xStartTrigger : BOOL;
 	_tofTriggerTime : TOF := (PT := T#1S);
 	_xTriggerCamera AT %Q* : BOOL;
+	
+	_iState : INT;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -73,11 +79,15 @@ IF _rtStopRobotFromSafety.Q THEN
 	_stRobotCmd.xCmdChangeRequest := TRUE;
 END_IF
 
+_stUnitFeedbacks.xDoorEtcher1Open := _fbEtcher1.xDoorOpen;
+_stUnitFeedbacks.xDoorEtcher2Open := _fbEtcher2.xDoorOpen;
+
 _fbRobot(
 	stCommand:= _stRobotCmd,
 	stJobParams := _stRobotJobParams,
+	stUnitFeedbacks := _stUnitFeedbacks,
 	xReleaseAlarms:= TRUE, 
-	xConfirmAlarms:= _xConfirmAlarms,
+	xConfirmAlarms:= GVL_SCADA.xErrAck,
 	stStatus => _stRobotStatus,
 	stAdmin => _stRobotAdmin,
 	xReady=> , 
@@ -89,23 +99,84 @@ END_IF
 
 _fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers);
 
-_fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers, xConfirmAlarms := GVL_SCADA.xErrAck);
+_fbEtcher1(
-_fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers, xConfirmAlarms := GVL_SCADA.xErrAck);
+	xOpenDoor:= GVL_SCADA.xOpenAllChambers,
+	xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher1,
+	xConfirmAlarms := GVL_SCADA.xErrAck);
 	
-// _fbTrayFeederInput(
+_fbEtcher2(
-// 	stCommand:= ,
+	xOpenDoor:= GVL_SCADA.xOpenAllChambers,
-// 	xConfirmAlarms := GVL_SCADA.xErrAck,
+	xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher2,
-// 	stStatus=> GVL_SCADA.stTrayFeederInputState,
+	xConfirmAlarms := GVL_SCADA.xErrAck);
-// 	stAdmin=> GVL_SCADA.stTRayFeederInputAdmin);
+
+_fbTrayFeederInput(
+	stCommand:= ,
+	xConfirmAlarms := GVL_SCADA.xErrAck,
+	stStatus=> GVL_SCADA.stTrayFeederInputState,
+	stAdmin=> GVL_SCADA.stTRayFeederInputAdmin);
 
 _fbHeatCoolPlates(xConfirmAlarms:= GVL_SCADA.xErrAck);
 
+_fbAligner(stCommand:= , stStatus=> , stAdmin=> , xConfirmAlarms:= GVL_SCADA.xErrAck);
+
 
 // Call safety program
 PRG_Safety(
 	xConfirmAlarms := GVL_SCADA.xErrAck,
 	xRobotStopped := (_stRobotStatus.eStateCurrent <> E_PackMLState.EXECUTE));
 	
+// Handle robot cmds
+M_HandleRobotCmd();
+	
+// Main state machine
+CASE _iState OF
+	0: // Idle
+		IF _xStartCycle THEN
+			_xStartCycle := FALSE;
+			
+			// Only start with robot in idle
+			IF _stRobotStatus.eStateCurrent = E_PackMLState.IDLE THEN
+				_iState := 10;
+			END_IF
+		END_IF
+		
+	// Grab from position 1
+	10:
+		// Prepare robot command
+		_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_INPUT;
+		_stRobotJobParams.rPosX := 88.0;
+		_stRobotJobParams.rPosY := 79.0;
+		_stRobotJobParams.byGripperSide := 3;
+		
+		_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
+		_stRobotCmd.xCmdChangeRequest := TRUE;
+		
+		_iState := 20;
+		
+	// Wait for Robot to be done
+	20:
+		IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
+			_iState := 30;
+		END_IF
+		
+		// Job aborted
+		IF (_stRobotStatus.eStateCurrent = E_PackMLState.ABORTED) OR (_stRobotStatus.eStateCurrent = E_PackMLState.STOPPED) THEN
+			_iState := 900;
+		END_IF
+		
+	// Put part onto aligner
+	30:
+		_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
+		
+		_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
+		_stRobotCmd.xCmdChangeRequest := TRUE;
+		
+		_iState := 40;
+		
+	// Align blank
+	40:
+END_CASE
+
 // =====
 // DEBUG
 // =====
@@ -123,5 +194,131 @@ IF _xConfirmAlarms THEN
 	_xConfirmAlarms := FALSE;
 END_IF]]></ST>
     </Implementation>
+    <Method Name="M_HandleRobotCmd" Id="{14934aaa-b667-4ddb-915d-1d84e8eb799d}">
+      <Declaration><![CDATA[METHOD PRIVATE M_HandleRobotCmd
+VAR_INST
+	_iState : INT;
+	_tonTimeout : TON;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Handle robot commands to plc
+CASE _iState OF
+	// Wait for command
+	0:
+		_fbRobot.xAckPLCCmd := FALSE;
+		
+		IF _fbRobot.xNewCmdRequested THEN
+			_tonTimeout(IN := FALSE);
+			_fbRobot.xAckPLCCmd := FALSE;
+			_fbRobot.xPLCJobFailed := FALSE;
+			_iState := 10;
+		END_IF
+		
+	// Do command
+	10:
+		CASE _fbRobot.eCmdFromRobot OF
+			E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ALIGNER:
+				_fbAligner.xEnableVacuum := TRUE;
+				
+				// Check for timeout
+				_tonTimeout(IN := TRUE, PT := T#10S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF _fbAligner.xVacuumEnabled THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+				
+			E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ALIGNER:
+				_fbAligner.xEnableVacuum := FALSE;
+				
+				// Check for timeout
+				_tonTimeout(IN := TRUE, PT := T#10S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF (NOT _fbAligner.xVacuumEnabled) THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+			
+			E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ETCHER1:
+				_fbEtcher1.xEnableVacuum := TRUE;
+				
+				// Check for timeout
+				_tonTimeout(IN := TRUE, PT := T#20S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF _fbEtcher1.xVacuumEnabled THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+				
+			E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ETCHER1:
+				_fbEtcher1.xEnableVacuum := FALSE;
+				
+				// Check for timeout
+				_tonTimeout(IN := TRUE, PT := T#20S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF (NOT _fbEtcher1.xVacuumEnabled) THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+				
+			E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ETCHER2:
+				_fbEtcher2.xEnableVacuum := TRUE;
+				
+				// Check for timeout
+				_tonTimeout(IN := TRUE, PT := T#20S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF _fbEtcher2.xVacuumEnabled THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+				
+			E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ETCHER2:
+				_fbEtcher2.xEnableVacuum := FALSE;
+				
+				// Check for timeout
+				_tonTimeout(IN := TRUE, PT := T#20S);
+				IF _tonTimeout.Q THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_fbRobot.xPLCJobFailed := TRUE;
+					_iState := 0;
+				END_IF
+				
+				IF (NOT _fbEtcher2.xVacuumEnabled) THEN
+					_fbRobot.xAckPLCCmd := TRUE;
+					_iState := 0;
+				END_IF
+			
+			ELSE
+				_iState := 90;
+		END_CASE
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
   </POU>
 </TcPlcObject>

PLC/01_Stationen/Aligner/FB_Aligner.TcPOU

@@ -0,0 +1,87 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Aligner" Id="{5be6cab7-2294-48e5-869c-33773329143e}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Aligner EXTENDS FB_PackMLGeneric
+VAR_INPUT
+	xEnableVacuum : BOOL;
+	xAlign : BOOL;
+	
+	xConfirmAlarms : BOOL;
+END_VAR
+VAR_OUTPUT
+	xVacuumEnabled : BOOL;
+END_VAR
+VAR
+	_fbXAxis : FB_AxisPTP;
+	_fbYAxis : FB_AxisPTP;
+	
+	_xEnableVacuum AT %Q* : BOOL := FALSE;
+	_xDisableVacuum AT %Q* : BOOL := TRUE;
+	_xVacuumOk AT %I* : BOOL;
+	
+	_udiXOffset AT %I* : UDINT;
+	_udiYOffset AT %I* : UDINT;
+	
+	_rXPosToGo : REAL;
+	_rYPosToGo : REAL;
+	
+	_iState : INT := 0;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[_fbXAxis(
+	xEnable:= TRUE, 
+	xInvertCalibrationCam:= FALSE, 
+	xEnablePositive:= TRUE, 
+	xEnableNegative:= TRUE, 
+	rOverride:= 100.0, 
+	lrVelocity:= 2.5, 
+	lrAcceleration:= 0, 
+	lrDecelleration:= 0, 
+	lrJerk:= 0, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	xEnabled=> , 
+	xHomed=> , 
+	lrActPosition=> , 
+	xIsStopped=> , 
+	xBusy=> , 
+	xError=> );
+	
+_fbYAxis(
+	xEnable:= TRUE, 
+	xInvertCalibrationCam:= FALSE, 
+	xEnablePositive:= TRUE, 
+	xEnableNegative:= TRUE, 
+	rOverride:= 100.0, 
+	lrVelocity:= 2.5, 
+	lrAcceleration:= 0, 
+	lrDecelleration:= 0, 
+	lrJerk:= 0, 
+	xConfirmAlarms:= xConfirmAlarms, 
+	xEnabled=> , 
+	xHomed=> , 
+	lrActPosition=> , 
+	xIsStopped=> , 
+	xBusy=> , 
+	xError=> );
+	
+// Drei mal ausführen damit die Position genau ist
+IF xAlign THEN
+	xAlign := FALSE;
+	
+	_rXPosToGo := UDINT_TO_REAL(_udiXOffset) * -0.001;
+	_rYPosToGo := ((UDINT_TO_REAL(_udiYOffset) * 0.001) - 37.5) * -1;
+	
+	IF (ABS(_rXPosToGo) < 10.0) AND (ABS(_rYPosToGo) < 10.0) AND (NOT _fbXAxis.xError) AND (NOT _fbYAxis.xError) THEN
+		_fbXAxis.M_MoveRel(lrRelDist := _rXPosToGo);
+		_fbYAxis.M_MoveRel(lrRelDist := _rYPosToGo);
+	END_IF
+END_IF
+	
+// Handle enable disable vacuum command
+_xEnableVacuum := xEnableVacuum;
+_xDisableVacuum := (NOT xEnableVacuum);
+xVacuumEnabled := _xVacuumOk;]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>

PLC/01_Stationen/Etcher/FB_Etcher.TcPOU

@@ -4,12 +4,17 @@
     <Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher EXTENDS FB_PackMLGeneric
 VAR_INPUT
 	xOpenDoor : BOOL;
+	xEnableVacuum : BOOL;
 	xOpenChuckClamp : BOOL;
 	xEjectChuck : BOOL;
+	xReleaseManualMode : BOOL;
 	xConfirmAlarms : BOOL;
+	stHMIInterface : ST_Etcher_HMIInterface;
 END_VAR
 VAR_OUTPUT
+	xDoorOpen : BOOL;
 	xChuckClampOpen : BOOL;
+	xVacuumEnabled : BOOL;
 END_VAR
 VAR
 	_fbValveDoor : FB_Valve('Door');
@@ -18,39 +23,39 @@ VAR
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stDoorHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingLeft : FB_Valve('Clamping left');
+	
-	_stValveClampingLeftCfg : ST_ValveConfig := (
+	_fbUnlockLeft : FB_Valve('Clamping left');
+	_stValveUnlockLeftCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingLeftHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingRight : FB_Valve('Clamping right');
+	
-	_stValveClampingRightCfg : ST_ValveConfig := (
+	_fbUnlockRight : FB_Valve('Clamping right');
+	_stValveUnlockRightCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingRightHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingFront : FB_Valve('Clamping front');
+	
+	_fbEjectFront : FB_Valve('Clamping front');
 	_stValveClampingFrontCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingFrontHMIInterface : ST_HMI_VALVE_DATA;
 	
-	_fbClampingBack : FB_Valve('Clamping back');
+	
-	_stValveClampingBackCfg : ST_ValveConfig := (
+	_fbEjectBack : FB_Valve('Clamping back');
+	_stValveEjectBackCfg : ST_ValveConfig := (
 		xHasClosedFeedback := TRUE,
 		xHasOpenFeedback := TRUE,
 		timTimeoutOpen := T#5S,
 		timTimeoutClose := T#5S);
-	_stClampingBackHMIInterface : ST_HMI_VALVE_DATA;
+	
 	
 	_rtEjectChuckCmd : R_TRIG;
 	_tpEjectChuck : TP;
@@ -59,6 +64,8 @@ VAR
 	// Sensors
 	// =======
 	
+	_xVacuumOk AT %I* : BOOL;
+	
 	// Spinner vibration sensor
 	_xVibrationSensor AT %I* : BOOL;
 	
@@ -66,7 +73,7 @@ VAR
 	// Actuators
 	// =========
 	
-	
+	_xDisableVacuum AT %Q* : BOOL;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -77,7 +84,9 @@ _fbValveDoor(
 	stValveConfig:= _stValveDoorCfg, 
 	xReleaseManualMode:= FALSE, 
 	xConfirmAlarms:= xConfirmAlarms,  
-	stHMIInterface:= _stDoorHMIInterface);
+	stHMIInterface:= stHMIInterface.stDoorHMIInterface);
+	
+xDoorOpen := _fbValveDoor.IsOpen;
 	
 // Chuck
 _rtEjectChuckCmd(CLK := xEjectChuck);
@@ -87,40 +96,45 @@ ELSE
 	_tpEjectChuck(IN := FALSE);
 END_IF
 
-_fbClampingLeft( 
+_fbUnlockLeft( 
 	xAutomaticOpen:= xOpenChuckClamp, 
 	xReleaseErrors:= TRUE, 
-	stValveConfig:= _stValveClampingLeftCfg, 
+	stValveConfig:= _stValveUnlockLeftCfg, 
-	xReleaseManualMode:= FALSE, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingLeftHMIInterface);
+	stHMIInterface:= stHMIInterface.stUnlockLeftHMIInterface);
 	
-_fbClampingRight( 
+_fbUnlockRight( 
 	xAutomaticOpen:= xOpenChuckClamp, 
 	xReleaseErrors:= TRUE, 
-	stValveConfig:= _stValveClampingRightCfg, 
+	stValveConfig:= _stValveUnlockRightCfg, 
-	xReleaseManualMode:= FALSE, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingRightHMIInterface);
+	stHMIInterface:= stHMIInterface.stUnlockRightHMIInterface);
 	
-_fbClampingFront( 
+_fbEjectFront( 
 	xAutomaticOpen:= _tpEjectChuck.Q, 
 	xReleaseErrors:= TRUE, 
 	stValveConfig:= _stValveClampingFrontCfg, 
-	xReleaseManualMode:= FALSE, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingFrontHMIInterface);
+	stHMIInterface:= stHMIInterface.stEjectFrontHMIInterface);
 	
-_fbClampingBack( 
+_fbEjectBack( 
 	xAutomaticOpen:= _tpEjectChuck.Q, 
 	xReleaseErrors:= TRUE, 
-	stValveConfig:= _stValveClampingBackCfg, 
+	stValveConfig:= _stValveEjectBackCfg, 
-	xReleaseManualMode:= FALSE, 
+	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
-	stHMIInterface:= _stClampingBackHMIInterface);
+	stHMIInterface:= stHMIInterface.stEjectBackHMIInterface);
+	
+_xDisableVacuum := (NOT xEnableVacuum);
 
 // Call base sm
-SUPER^();]]></ST>
+SUPER^();
+
+// Copy internal signals to output
+xVacuumEnabled := _xVacuumOk;]]></ST>
     </Implementation>
     <Method Name="FB_Init" Id="{afcda70c-3e52-4a32-9ca9-670a6b854f24}">
       <Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.

PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Etcher_HMIInterface.TcDUT

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Etcher_HMIInterface" Id="{b42cab98-5a22-4703-a464-a4d1f5cdc177}">
+    <Declaration><![CDATA[TYPE ST_Etcher_HMIInterface :
+STRUCT
+	stDoorHMIInterface : ST_HMI_VALVE_DATA;
+	stUnlockLeftHMIInterface : ST_HMI_VALVE_DATA;
+	stUnlockRightHMIInterface : ST_HMI_VALVE_DATA;
+	stEjectFrontHMIInterface : ST_HMI_VALVE_DATA;
+	stEjectBackHMIInterface : ST_HMI_VALVE_DATA;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_JointSet.TcDUT

@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_JointSet" Id="{11c9caa0-793d-42a4-a6d6-9b5ea59d2923}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_Meca_JointSet :
+STRUCT
+	rSubIndex001 : REAL;
+	rSubIndex002 : REAL;
+	rSubIndex003 : REAL;
+	rSubIndex004 : REAL;
+	rSubIndex005 : REAL;
+	rSubIndex006 : REAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_MotionStatus.TcDUT

@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_MotionStatus" Id="{5e335d40-97f1-424a-b3e3-1b2de304decf}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_Meca_MotionStatus :
+STRUCT
+	uiReachedCheckPointId : UINT;
+	uiDiscardedCheckpointId : UINT;
+	uiMoveID : UINT;
+	uiFIFOSpace : UINT;
+	bPaused : BIT;
+	bEOB : BIT;
+	bEOM : BIT;
+	bFIFOCleared : BIT;
+	PStop2 : BIT;
+	bExcessiveTorque : BIT;
+	uiOfflineProgramID : UINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_RobotStatus.TcDUT

@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_RobotStatus" Id="{2543bfc1-49aa-4184-94d9-b32f02498fcc}">
+    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
+TYPE ST_Meca_RobotStatus :
+STRUCT
+	bBusy : BIT;
+	bActivated : BIT;
+	bHomed : BIT;
+	bSimActivated : BIT;
+	bBrakesEngaged : BIT;
+	bRecoveryMode : BIT;
+	bEStop : BIT;
+	bCollisionStatus : BIT;
+	bWorkZoneStatus : BIT;
+	uiError : UINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>

PLC/01_Stationen/Etcher/Mecademics/FB_Mecademics.TcPOU

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Mecademics" Id="{c81cf0ae-3f01-4427-918b-0d3e1c93ae01}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Mecademics
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>

PLC/01_Stationen/HeatCoolPlates/FB_HotPlate.TcPOU

@@ -35,6 +35,12 @@ VAR
 			timWarningLowOn := T#1S,
 			timHardwareSignalLevelOff := T#1S));
 	
+	_fbPITempControl : FB_PI;
+	_xSaturatedUpper : BOOL;
+	_xSaturatedLower : BOOL;
+	_rMV : REAL;
+	_fbPulsOut : TP;
+	_fbPWMOut : FB_PWM;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -48,15 +54,43 @@ _fbTempSensor(
 	xConfirmAlarms:= xConfirmAlarms, 
 	stHMIInterface=> );
 
+_fbPITempControl(
+	rSP:= rTargetTemp, 
+	rPV:= _fbTempSensor.rScaledValue, 
+	rKp:= 2, 
+	rTn:= 0, 
+	xEnable:= xEnable, 
+	xSaturatedUpper:= _xSaturatedUpper, 
+	xSaturatedLower:= _xSaturatedLower, 
+	rMV=> _rMV);
+	
+IF _rMV >= 100.0 THEN
+	_rMV := 100.0;
+	_xSaturatedUpper := TRUE;
+ELSE
+	_xSaturatedUpper := FALSE;
+END_IF
+
+IF _rMV <=0 THEN
+	_rMV := 0.0;
+	_xSaturatedLower := TRUE;
+ELSE
+	_xSaturatedLower := FALSE;
+END_IF
+
+_fbPWMOut(
+	rPWM:= _rMV,
+	timPeriod:= T#10S,
+	xOutput=> _xEnableHotplate);
 
 // Control temperature with two point controller
-IF _fbTempSensor.rScaledValue < (rTargetTemp - rDeadBand) THEN
+// IF _fbTempSensor.rScaledValue < (rTargetTemp - rDeadBand) THEN
-	_xEnableHotplate := TRUE;
+// 	_xEnableHotplate := TRUE;
-END_IF
+// END_IF
-
+// 
-IF _fbTempSensor.rScaledValue >= (rTargetTemp) THEN
+// IF _fbTempSensor.rScaledValue >= (rTargetTemp) THEN
-	_xEnableHotplate := FALSE;
+// 	_xEnableHotplate := FALSE;
-END_IF
+// END_IF
 ]]></ST>
     </Implementation>
     <Method Name="M_AddItem" Id="{9707459a-6558-487c-b730-c9dc92d598ed}">

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>

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,
+	UNLOCK_CHUCK_ETCHER2 := 61,
-	LOCK_CHUCK_ETCHER2 := 63
+	LOCK_CHUCK_ETCHER2 := 63,
+	
+	JOB_FAILED := 99
 ) WORD := NO_JOB;
 END_TYPE
 ]]></Declaration>

PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU

@@ -10,10 +10,16 @@ VAR_INPUT
 	// 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
+        <ST><![CDATA[CASE stJobParams.eJob OF
-IF _awJobStatesFromRobot[0] = 0 THEN
+	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
+		IF (_stJobParams.byGripperNumber < 0) OR (_stJobParams.byGripperNumber > 4) // Wrong gripper number
-			OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
+			//OR (_stJobParams.byChuckNumber < 1) OR (_stJobParams.byChuckNumber > 6) // Wrong chuck number
-			OR (_stJobParams.byGripperSide < 1) OR (_stJobParams.byGripperSide > 2) // Wrong gripper side
+			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.byGripperSide := _stJobParams.byGripperSide;
-			_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
 		
 		// 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;
+	xDoorEtcher1Open : BOOL;
-	xDoorEther2Open : BOOL;
+	xDoorEtcher2Open : BOOL;
 	xDoorHVTestHotOpen : BOOL;
 	xDoorHVTestColdOpen : BOOL;
 END_STRUCT

PLC/01_Stationen/TrayFeeder/FB_TFProtocol.TcPOU

@@ -32,13 +32,14 @@ VAR
 	_fbSocketReceive : FB_SocketReceive;
 	_timReceiveTimeout : TIME := T#5S;
 	_abReceivedBuffer : ARRAY[0..100] OF BYTE;
-	_sReceivedResponse : STRING;
+	_asReceivedResponse : ARRAY[0..9] OF STRING;
+	_uiBufferPos : UINT;
 	_udiCounterReceive : UDINT;
 	_udiReceivedBytes : UDINT;
-	_timPollingTime : TIME := T#50MS;
+	_timPollingTime : TIME := T#1S;
 	_tonPollTimer : TON;
 	_xEnableReceiveTimeout : BOOL;
-	_timReceiveTimeoutTime : TIME := T#500MS;
+	_timReceiveTimeoutTime : TIME := T#5S;
 	_tonReceiveTimeout : TON;
 	_uiLastReceivedResponseId : UINT := 0;
 	
@@ -141,194 +142,369 @@ CASE _iStateReceive OF
 		// Check if we are still connected
 		IF (NOT _xConnected) THEN
 			_tonPollTimer(IN := FALSE);
-			_sReceivedResponse := '';
+			//_asReceivedResponse[] := '';
 			_iStateReceive := 0;
 		END_IF
 			
 	// Check received data
 	20:
 		// Check if received command is complete
-		MEMCPY(destAddr := ADR(_sReceivedResponse), srcAddr := ADR(_abReceivedBuffer), n := _udiReceivedBytes);
+		MEMCPY(destAddr := ADR(_asReceivedResponse[_uiBufferPos]), srcAddr := ADR(_abReceivedBuffer), n := _udiReceivedBytes);
+		_uiBufferPos := _uiBufferPos + 1;
+		IF _uiBufferPos > 9 THEN
+			_uiBufferPos := 0;
+		END_IF
 		_udiReceivedBytes := 0;
-		//_xCmdReceived := TRUE;
+		_xCmdReceived := TRUE;
 		
 		// Go back to polling wait state
 		_iStateReceive := 15;
 END_CASE
 
-CASE _iState OF
+// CASE _iState OF
-	// Wait for active connection to tray feeder
+// 	// Wait for active connection to tray feeder
-	0: 
+// 	0: 
-		IF _xConnected THEN
+// 		IF _xConnected THEN
-			_iState := 10;
+// 			_iState := 10;
-		END_IF
+// 		END_IF
-		
+// 		
-	// Connected and idle
+// 	// Connected and idle
-	10:
+// 	10:
-		// Got to disconnected state if connection is lost
+// 		// Got to disconnected state if connection is lost
-		IF (NOT _xConnected) THEN
+// 		IF (NOT _xConnected) THEN
-			_iState := 0;
+// 			_iState := 0;
-		END_IF
+// 		END_IF
-		
+// 		
-		IF _xSendCmd THEN
+// 		IF _xSendCmd THEN
-			_xSendCmd := FALSE;
+// 			_xSendCmd := FALSE;
-			_xBusy := TRUE;
+// 			_xBusy := TRUE;
-			_iState := 20;
+// 			_iState := 20;
-		END_IF
+// 		END_IF
-		
+// 		
-		// Check if we received a response without sending a command
+// 		// Check if we received a response without sending a command
 // 		IF _xCmdReceived THEN
+// 			_xCmdReceived := FALSE;
 // 			_iState := 50;
 // 		END_IF
-		
+// 		
-	// Send command
+// 	// Send command
-	20:
+// 	20:
-		_fbSocketSend(
+// 		_fbSocketSend(
-			sSrvNetId:= '', 
+// 			sSrvNetId:= '', 
-			hSocket:= _hSocket, 
+// 			hSocket:= _hSocket, 
-			cbLen:= SIZEOF(_sCmd), 
+// 			cbLen:= SIZEOF(_sCmd), 
-			pSrc:= ADR(_sCmd), 
+// 			pSrc:= ADR(_sCmd), 
-			bExecute:= TRUE, 
+// 			bExecute:= TRUE, 
-			tTimeout:= _timSendTimeout, 
+// 			tTimeout:= _timSendTimeout, 
-			bBusy=> , 
+// 			bBusy=> , 
-			bError=> , 
+// 			bError=> , 
-			nErrId=> );
+// 			nErrId=> );
-			
+// 			
-		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
+// 		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
-			_fbSocketSend(bExecute := FALSE);
+// 			_fbSocketSend(bExecute := FALSE);
-			//_xEnableReceiveTimeout := TRUE;
+// 			_xEnableReceiveTimeout := TRUE;
-			//_iState := 30;
+// 			_iState := 30;
-		END_IF
+// 		END_IF
-		
+// 		
-		IF _fbSocketSend.bError THEN
+// 		IF _fbSocketSend.bError THEN
-			_fbSocketSend(bExecute := FALSE);
+// 			_fbSocketSend(bExecute := FALSE);
-			_iState := 90;
+// 			_iState := 90;
-		END_IF
+// 		END_IF
-		
+// 		
-	// Wait for response
+// 	// Wait for response
-	30:
+// 	30:
-		// Received a response
+// 		// Received a response
-		IF _xCmdReceived THEN
+// 		IF _xCmdReceived THEN
-			_xCmdReceived := FALSE;
+// 			_xCmdReceived := FALSE;
-			_xEnableReceiveTimeout := FALSE;
+// 			_xEnableReceiveTimeout := FALSE;
-			_uiRetries := 0;
+// 			_uiRetries := 0;
-			_iState := 40;
+// 			_iState := 40;
-		END_IF
+// 		END_IF
-		
+// 		
-		// Didnt receive command ack in time
+// 		// Didnt receive command ack in time
-		// So resend the command if max retries are not reached
+// 		// So resend the command if max retries are not reached
-		IF _tonReceiveTimeout.Q THEN
+// 		IF _tonReceiveTimeout.Q THEN
-			_xEnableReceiveTimeout := FALSE;
+// 			_xEnableReceiveTimeout := FALSE;
-			_uiRetries := _uiRetries + 1;
+// 			_uiRetries := _uiRetries + 1;
-			
+// 			
-			// Check if we reached the max number of retries
+// 			// Check if we reached the max number of retries
-			IF _uiRetries > MAX_RETRIES THEN
+// 			IF _uiRetries > MAX_RETRIES THEN
-				_iState := 90;
+// 				_iState := 90;
-			ELSE
+// 			ELSE
-				// Retry by sendind command again
+// 				// Retry by sendind command again
-				_iState := 20;
+// 				_iState := 20;
-			END_IF
+// 			END_IF
-		END_IF
+// 		END_IF
-		
+// 		
-	// Check response
+// 	// Check response
-	40:
+// 	40:
-		// Check for cmd id
+// 		// Check for cmd id
-		IF (TO_STRING(_sReceivedResponse[0]) <> UINT_TO_STRING(_uiCmdId)) THEN
+// 		IF (TO_STRING(_sReceivedResponse[0]) <> UINT_TO_STRING(_uiCmdId)) THEN
-			// Wrong command id received
+// 			// Wrong command id received
-			_iState := 90;
+// 			_iState := 900;
-		END_IF
+// 		END_IF
-		
+// 		
-		// For for response indicator
+// 		// For for response indicator
-		IF _sReceivedResponse[1] <> F_ToASC('<') THEN
+// 		IF _sReceivedResponse[1] <> F_ToASC('<') THEN
-			// Wrong response indicator
+// 			// Wrong response indicator
-			_iState := 90;
+// 			_iState := 901;
-		END_IF
+// 		END_IF
-		
+// 		
-		// Check for correct cmd
+// 		// Check for correct cmd
-		_xReceivedResponseOk := TRUE;
+// 		_xReceivedResponseOk := TRUE;
-		FOR _diCounter := 2 TO (LEN(_sReceivedResponse) - 1) DO
+// 		FOR _diCounter := 2 TO 10 DO
-			IF _sReceivedResponse[_diCounter] = F_ToASC(':') THEN
+// 			IF _sReceivedResponse[_diCounter] <> _sCmd[_diCounter] THEN
-				EXIT;
+// 				_xReceivedResponseOk := FALSE;
-			ELSIF _sReceivedResponse[_diCounter] <> _sCmd[_diCounter] THEN
+// 				EXIT;
-				_xReceivedResponseOk := FALSE;
+// 			END_IF
-				EXIT;
+// 		END_FOR
-			END_IF
+// 		
-		END_FOR
+// 		IF _xReceivedResponseOk THEN
-		
+// 			_xBusy := FALSE;
-		IF _xReceivedResponseOk THEN
+// 			_iState := 10;
-			_iState := 10;
+// 		ELSE
-		ELSE
+// 			_iState := 902;
-			_iState := 90;
+// 		END_IF
-		END_IF
+// 		
-		
+// 	50:
-	50:
+// 		// Get command id
-		// Get command id
+// 		_uiReceivedCommandId := _sReceivedResponse[0] - 16#30;
-		_uiReceivedCommandId := STRING_TO_UINT(TO_STRING(_sReceivedResponse[0]));
+// 		
-		
+// 		// Check if it is a new command
-		// Check if it is a new command
+// 		IF (_uiReceivedCommandId <> _uiLastReceivedResponseId) OR (_uiReceivedCommandId = 0) THEN
-		IF (_uiReceivedCommandId <> _uiLastReceivedResponseId) OR (_uiReceivedCommandId = 0) THEN
+// 			_uiLastReceivedResponseId := _uiReceivedCommandId;
-			_uiLastReceivedResponseId := _uiReceivedCommandId;
+// 			xNewResponseReady := FALSE;
-			xNewResponseReady := TRUE;
+// 			
-			
+// 			// Send acknowledgement
-			// Send acknowledgement
+// 			_iState := 60;
-			_iState := 60;
+// 		END_IF
-		END_IF
+// 		
-		
+// 	// Prepare ack response
-	// Prepare ack response
+// 	60:
-	60:
+// 		FOR _diCounter := 0 TO 10 DO
-		_sAck := CONCAT(UINT_TO_STRING(_uiLastReceivedResponseId), '<');
+// 			_sAck[_diCounter] := _sReceivedResponse[_diCounter];
-		
+// 		END_FOR
-		FOR _diCounter := 2 TO (LEN(_sReceivedResponse) - 1) DO
+// 		_sAck[11] := 0;
-			IF _sReceivedResponse[_diCounter] <> F_ToASC(':') THEN
+// 		
-				_sAck[_diCounter] := _sReceivedResponse[_diCounter];
+// 		IF _sReceivedResponse[1] = F_ToAsc('>') THEN
-			ELSE
+// 			_iState := 70;
-				_sAck[_diCounter] := F_ToASC('\0');
+// 		ELSE
-				EXIT;
+// 			_iState := 10;
-			END_IF
+// 		END_IF
-		END_FOR
+// 		
-		
+// 		
-		_iState := 70;
+// 	// Send ack response
-		
+// 	70:
-	// Send ack response
+// 		_fbSocketSend(
-	70:
+// 			sSrvNetId:= '', 
-		_fbSocketSend(
+// 			hSocket:= _hSocket, 
-			sSrvNetId:= '', 
+// 			cbLen:= SIZEOF(_sAck), 
-			hSocket:= _hSocket, 
+// 			pSrc:= ADR(_sAck), 
-			cbLen:= SIZEOF(_sAck), 
+// 			bExecute:= TRUE, 
-			pSrc:= ADR(_sAck), 
+// 			tTimeout:= _timSendTimeout, 
-			bExecute:= TRUE, 
+// 			bBusy=> , 
-			tTimeout:= _timSendTimeout, 
+// 			bError=> , 
-			bBusy=> , 
+// 			nErrId=> );
-			bError=> , 
+// 			
-			nErrId=> );
+// 		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
-			
+// 			_fbSocketSend(bExecute := FALSE);
-		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
+// 			_xEnableReceiveTimeout := TRUE;
-			_fbSocketSend(bExecute := FALSE);
+// 			_xBusy := FALSE;
-			_xEnableReceiveTimeout := TRUE;
+// 			_iState := 10;
-			_iState := 10;
+// 		END_IF
-		END_IF
+// 		
-		
+// 		IF _fbSocketSend.bError THEN
-		IF _fbSocketSend.bError THEN
+// 			_fbSocketSend(bExecute := FALSE);
-			_fbSocketSend(bExecute := FALSE);
+// 			_iState := 90;
-			_iState := 90;
+// 		END_IF
-		END_IF
+// 		
-		
+// 	// Error
-	// Error
+// 	90:
-	90:
+// 		_xError := TRUE;
-		_xError := TRUE;
+// 		_xBusy := FALSE;
-		_xBusy := FALSE;
+// 		
-		
+// 		IF xConfirmAlarms THEN
-		IF xConfirmAlarms THEN
+// 			_xError := FALSE;
-			_xError := FALSE;
+// 			_uiRetries := 0;
-			_iState := 0;
+// 			_iState := 0;
-		END_IF
+// 		END_IF
-END_CASE
+// END_CASE
 
 // Copy output buffers to outputs
 xConnected := _xConnected;
 xBusy := _xBusy;
 xError := _xError;]]></ST>
     </Implementation>
+    <Method Name="M_Debug" Id="{24e700f8-310e-46c8-98c0-8a10312afeda}">
+      <Declaration><![CDATA[METHOD M_Debug
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// CASE _iState OF
+// 	// Wait for active connection to tray feeder
+// 	0: 
+// 		IF _xConnected THEN
+// 			_iState := 10;
+// 		END_IF
+// 		
+// 	// Connected and idle
+// 	10:
+// 		// Got to disconnected state if connection is lost
+// 		IF (NOT _xConnected) THEN
+// 			_iState := 0;
+// 		END_IF
+// 		
+// 		IF _xSendCmd THEN
+// 			_xSendCmd := FALSE;
+// 			_xBusy := TRUE;
+// 			_iState := 20;
+// 		END_IF
+// 		
+// 	// Send command
+// 	20:
+// 		_fbSocketSend(
+// 			sSrvNetId:= '', 
+// 			hSocket:= _hSocket, 
+// 			cbLen:= SIZEOF(_sCmd), 
+// 			pSrc:= ADR(_sCmd), 
+// 			bExecute:= TRUE, 
+// 			tTimeout:= _timSendTimeout, 
+// 			bBusy=> , 
+// 			bError=> , 
+// 			nErrId=> );
+// 			
+// 		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
+// 			_fbSocketSend(bExecute := FALSE);
+// 			_xEnableReceiveTimeout := TRUE;
+// 			_iState := 30;
+// 		END_IF
+// 		
+// 		IF _fbSocketSend.bError THEN
+// 			_fbSocketSend(bExecute := FALSE);
+// 			_iState := 90;
+// 		END_IF
+// 		
+// 	// Wait for response
+// 	30:
+// 		// Received a response
+// 		IF _xCmdReceived THEN
+// 			_xCmdReceived := FALSE;
+// 			_xEnableReceiveTimeout := FALSE;
+// 			_uiRetries := 0;
+// 			_iState := 40;
+// 		END_IF
+// 		
+// 		// Didnt receive command ack in time
+// 		// So resend the command if max retries are not reached
+// 		IF _tonReceiveTimeout.Q THEN
+// 			_xEnableReceiveTimeout := FALSE;
+// 			_uiRetries := _uiRetries + 1;
+// 			
+// 			// Check if we reached the max number of retries
+// 			IF _uiRetries > MAX_RETRIES THEN
+// 				_iState := 90;
+// 			ELSE
+// 				// Retry by sendind command again
+// 				_iState := 20;
+// 			END_IF
+// 		END_IF
+// 		
+// 	// Check response
+// 	40:
+// 		// Check for cmd id
+// 		IF (TO_STRING(_asReceivedResponse[0]) <> UINT_TO_STRING(_uiCmdId)) THEN
+// 			// Wrong command id received
+// 			_iState := 900;
+// 		END_IF
+// 		
+// 		// For for response indicator
+// 		IF _asReceivedResponse[1] <> F_ToASC('<') THEN
+// 			// Wrong response indicator
+// 			_iState := 901;
+// 		END_IF
+// 		
+// 		// Check for correct cmd
+// 		_xReceivedResponseOk := TRUE;
+// 		FOR _diCounter := 2 TO 10 DO
+// 			IF _asReceivedResponse[_diCounter] <> _sCmd[_diCounter] THEN
+// 				_xReceivedResponseOk := FALSE;
+// 				EXIT;
+// 			END_IF
+// 		END_FOR
+// 		
+// 		IF _xReceivedResponseOk THEN
+// 			_xBusy := FALSE;
+// 			_iState := 10;
+// 		ELSE
+// 			_iState := 902;
+// 		END_IF
+// 		
+// 	50:
+// 		// Get command id
+// 		_uiReceivedCommandId := _asReceivedResponse[0] - 16#30;
+// 		
+// 		// Check if it is a new command
+// 		IF (_uiReceivedCommandId <> _uiLastReceivedResponseId) OR (_uiReceivedCommandId = 0) THEN
+// 			_uiLastReceivedResponseId := _uiReceivedCommandId;
+// 			xNewResponseReady := FALSE;
+// 			
+// 			// Send acknowledgement
+// 			_iState := 60;
+// 		END_IF
+// 		
+// 	// Prepare ack response
+// 	60:
+// 		FOR _diCounter := 0 TO 10 DO
+// 			_sAck[_diCounter] := _asReceivedResponse[_diCounter];
+// 		END_FOR
+// 		_sAck[11] := 0;
+// 		
+// 		IF _asReceivedResponse[1] = F_ToAsc('>') THEN
+// 			_iState := 70;
+// 		ELSE
+// 			_iState := 10;
+// 		END_IF
+// 		
+// 		
+// 	// Send ack response
+// 	70:
+// 		_fbSocketSend(
+// 			sSrvNetId:= '', 
+// 			hSocket:= _hSocket, 
+// 			cbLen:= SIZEOF(_sAck), 
+// 			pSrc:= ADR(_sAck), 
+// 			bExecute:= TRUE, 
+// 			tTimeout:= _timSendTimeout, 
+// 			bBusy=> , 
+// 			bError=> , 
+// 			nErrId=> );
+// 			
+// 		IF (NOT _fbSocketSend.bBusy) AND (NOT _fbSocketSend.bError) THEN
+// 			_fbSocketSend(bExecute := FALSE);
+// 			_xEnableReceiveTimeout := TRUE;
+// 			_xBusy := FALSE;
+// 			_iState := 10;
+// 		END_IF
+// 		
+// 		IF _fbSocketSend.bError THEN
+// 			_fbSocketSend(bExecute := FALSE);
+// 			_iState := 90;
+// 		END_IF
+// 		
+// 	// Error
+// 	90:
+// 		_xError := TRUE;
+// 		_xBusy := FALSE;
+// 		
+// 		IF xConfirmAlarms THEN
+// 			_xError := FALSE;
+// 			_uiRetries := 0;
+// 			_iState := 0;
+// 		END_IF
+// END_CASE]]></ST>
+      </Implementation>
+    </Method>
     <Method Name="M_GetResponse" Id="{48f8719d-7ed0-4fb1-824a-0bf475fcfc2c}">
       <Declaration><![CDATA[METHOD M_GetResponse : STRING
 VAR
@@ -337,7 +513,7 @@ END_VAR
 ]]></Declaration>
       <Implementation>
         <ST><![CDATA[xNewResponseReady := FALSE;
-MEMCPY(destAddr := ADR(_sTmp), ADR(_sReceivedResponse) + 2, n := INT_TO_UDINT(LEN(_sReceivedResponse) - 2));
+//MEMCPY(destAddr := ADR(_sTmp), ADR(_asReceivedResponse) + 2, n := INT_TO_UDINT(LEN(_asReceivedResponse) - 2));
 M_GetResponse := _sTmp;]]></ST>
       </Implementation>
     </Method>

PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU

@@ -15,7 +15,7 @@ VAR
 	
 	_xTest : BOOL;
 	_xSendResult : BOOL;
-	_sCmd : STRING := 'STAT-FEED:';
+	_sCmd : STRING := 'STAT-FEED';
 END_VAR
 ]]></Declaration>
     <Implementation>

PLC/GVLs/GVL_SCADA.TcGVL

@@ -7,6 +7,9 @@ VAR_GLOBAL
 	
 	xOpenAllChambers : BOOL;
 	
+	xOpenChuckClampEtcher1 : BOOL;
+	xOpenChuckClampEtcher2 : BOOL;
+	
 	// Unit states
 	stTrayFeederInputState : ST_PMLs;
 	stTRayFeederInputAdmin : ST_PMLa;

PLC/LibraryCandidates/PackML/DUTs/E_PackMLState.TcDUT

@@ -24,7 +24,7 @@ TYPE E_PackMLState :
 	RESETTING := 15,
 	COMPLETING := 16,
 	COMPLETED := 17
-) DINT := STOPPED;
+) DINT := ABORTED;
 END_TYPE
 ]]></Declaration>
   </DUT>

PLC/LibraryCandidates/PackML/POUs/FB_PackMLGeneric.TcPOU

@@ -285,7 +285,7 @@ END_VAR
 ]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF stStatus.eStateCurrent = E_PackMLState.IDLE THEN
-	_eCmd := E_PackMLCmd.RESET;
+	_eCmd := E_PackMLCmd.START;
 	M_Start := TRUE;
 ELSE
 	M_Start := FALSE;

PLC/PLC.plcproj

@@ -33,9 +33,27 @@
     <Compile Include="00_Main\ST_TrayFeederCamPosData.TcDUT">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="01_Stationen\Aligner\FB_Aligner.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="01_Stationen\Etcher\FB_Etcher.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Etcher_HMIInterface.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_JointSet.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_MotionStatus.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_RobotStatus.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\FB_Mecademics.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="01_Stationen\HeatCoolPlates\FB_CoolPlate.TcPOU">
       <SubType>Code</SubType>
     </Compile>
@@ -45,6 +63,9 @@
     <Compile Include="01_Stationen\HeatCoolPlates\FB_HotPlate.TcPOU">
       <SubType>Code</SubType>
     </Compile>
+    <Compile Include="01_Stationen\HeatCoolPlates\FB_PWM.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
     <Compile Include="01_Stationen\HeatCoolPlates\GVL_HeatCoolConfig.TcGVL">
       <SubType>Code</SubType>
       <LinkAlways>true</LinkAlways>
@@ -179,12 +200,15 @@
     </Compile>
   </ItemGroup>
   <ItemGroup>
+    <Folder Include="01_Stationen\Etcher\Mecademics" />
+    <Folder Include="01_Stationen\Etcher\Mecademics\DUTs" />
     <Folder Include="01_Stationen\Kuka_Robot" />
     <Folder Include="01_Stationen\Kuka_Robot\InterfaceStructs" />
     <Folder Include="01_Stationen\Kuka_Robot\InterfaceUnions" />
     <Folder Include="01_Stationen\HVTester" />
     <Folder Include="01_Stationen\Etcher" />
     <Folder Include="01_Stationen\HeatCoolPlates" />
+    <Folder Include="01_Stationen\Aligner" />
     <Folder Include="01_Stationen\TrayFeeder" />
     <Folder Include="01_Stationen" />
     <Folder Include="00_Main" />

_Config/IO/Device 1 (EtherCAT).xti

@@ -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>

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

@@ -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>

_Config/IO/Device 5 (EtherCAT).xti

@@ -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>

_Config/IO/Device 7 (EtherCAT).xti

@@ -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>

_Config/NC/NC.xti

@@ -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"/>
+				<Dynamic AccelerationMaximum="2000" DecelerationMaximum="2000" Acceleration="2" Deceleration="2" Jerk="2"/>
-				<Velo RefSearch="5" RefSync="0.5" SlowManual="1" FastManual="5" Fast="12.834" Maximum="10"/>
+				<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"/>
+				<Dynamic AccelerationMaximum="2000" DecelerationMaximum="2000" Acceleration="1.99999914163127" Deceleration="1.99999914163127" Jerk="22.4999806867077"/>
-				<Velo RefSearch="5" RefSync="0.5" SlowManual="1" FastManual="5" Fast="12.834" Maximum="10"/>
+				<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"/>

_Config/PLC/PLC Instance.xti

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