Heisig_GmbH/infineon_plc
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This commit is contained in:
Matthias Heisig
2026-02-11 16:32:03 +01:00
parent 69ef2c6904
commit d6a4fc6e42
6 changed files with 194 additions and 51 deletions
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27
PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
View File

@@ -172,6 +172,7 @@ M_HandlePLCJobs();
xReady := _xRobotReady;
xError := _xError;]]></ST>
</Implementation>
<Folder Name="StateMachine" Id="{66d46722-f002-4d97-ae1f-63dcdad370cb}" />
<Method Name="FB_Init" Id="{71a3f6f0-d3bb-4348-acc7-be533d7488d2}">
<Declaration><![CDATA[//FB_Init ist immer implizit verfügbar und wird primär für die Initialisierung verwendet.
//Der Rückgabewert wird nicht ausgewertet. Für gezielte Einflussnahme können Sie
@@ -191,7 +192,7 @@ _stSMConfig.xCompletedDisabled := TRUE;
_stSMConfig.xAbortingDisabled := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="M_Aborted" Id="{0c0c17ce-5c1c-4640-9d39-f25b22309d5d}">
<Method Name="M_Aborted" Id="{0c0c17ce-5c1c-4640-9d39-f25b22309d5d}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Aborted
]]></Declaration>
<Implementation>
@@ -208,7 +209,7 @@ stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
stJobs.wFinishedJobNrFromPlc := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
</Implementation>
</Method>
<Method Name="M_Clearing" Id="{e6152288-8c7d-4b38-bfbc-4f861d76ccc5}">
<Method Name="M_Clearing" Id="{e6152288-8c7d-4b38-bfbc-4f861d76ccc5}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Clearing
VAR_INST
_tonWait : TON;
@@ -226,7 +227,7 @@ END_IF
]]></ST>
</Implementation>
</Method>
<Method Name="M_Execute" Id="{bc86876c-a8db-4285-b95c-7c6858a2ca66}">
<Method Name="M_Execute" Id="{bc86876c-a8db-4285-b95c-7c6858a2ca66}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Execute
]]></Declaration>
<Implementation>
@@ -299,14 +300,14 @@ THEN
END_IF]]></ST>
</Implementation>
</Method>
<Method Name="M_Held" Id="{22ddbad0-0b66-427e-a2aa-f177f8adbc94}">
<Method Name="M_Held" Id="{22ddbad0-0b66-427e-a2aa-f177f8adbc94}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Held
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Holding" Id="{ff8c2c8e-1fe0-4c63-ad7b-790d72bd9217}">
<Method Name="M_Holding" Id="{ff8c2c8e-1fe0-4c63-ad7b-790d72bd9217}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Holding
]]></Declaration>
<Implementation>
@@ -318,14 +319,14 @@ END_IF
]]></ST>
</Implementation>
</Method>
<Method Name="M_Idle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
<Method Name="M_Idle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Idle
]]></Declaration>
<Implementation>
<ST><![CDATA[_stJobParams := stJobParams;]]></ST>
</Implementation>
</Method>
<Method Name="M_Resetting" Id="{dfe4d36a-80aa-4364-bfd8-6ddd41636d59}">
<Method Name="M_Resetting" Id="{dfe4d36a-80aa-4364-bfd8-6ddd41636d59}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Resetting
VAR_INST
_tonTimeout : TON;
@@ -412,7 +413,7 @@ CASE _iSSM OF
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="M_Starting" Id="{011f85d8-1225-4288-876f-918df6e4f235}">
<Method Name="M_Starting" Id="{011f85d8-1225-4288-876f-918df6e4f235}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Starting
VAR_INST
_tonTimeout : TON;
@@ -512,7 +513,7 @@ END_CASE
]]></ST>
</Implementation>
</Method>
<Method Name="M_Stopped" Id="{50813767-4bd7-4147-b5dc-1bbd18ae1555}">
<Method Name="M_Stopped" Id="{50813767-4bd7-4147-b5dc-1bbd18ae1555}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Stopped
]]></Declaration>
<Implementation>
@@ -525,21 +526,21 @@ stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;]]></ST>
</Implementation>
</Method>
<Method Name="M_Suspended" Id="{c2db015c-1cd0-491a-8ce6-6c0bffba7631}">
<Method Name="M_Suspended" Id="{c2db015c-1cd0-491a-8ce6-6c0bffba7631}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Suspended
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Suspending" Id="{5b0e5227-d5bb-40c6-a1b8-8e81b852b9b9}">
<Method Name="M_Suspending" Id="{5b0e5227-d5bb-40c6-a1b8-8e81b852b9b9}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Suspending
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
</Method>
<Method Name="M_Unholding" Id="{786f4949-9630-4ace-9e30-65bea4e87cb2}">
<Method Name="M_Unholding" Id="{786f4949-9630-4ace-9e30-65bea4e87cb2}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Unholding
VAR_INST
_tonTimeout : TON;
@@ -609,7 +610,7 @@ CASE _iSSM OF
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="M_Unsuspending" Id="{d7ce33fd-cd94-44f1-9289-25a3ab3829eb}">
<Method Name="M_Unsuspending" Id="{d7ce33fd-cd94-44f1-9289-25a3ab3829eb}" FolderPath="StateMachine\">
<Declaration><![CDATA[METHOD PROTECTED M_Unsuspending
]]></Declaration>
<Implementation>

5
PLC/01_Stationen/TrayFeeder/FB_TFProtocol.TcPOU
View File

@@ -225,7 +225,7 @@ _xRunSMAgain := FALSE;
_iState := 40;
END_IF
// Didnt receive command ack in time
// Didn't receive command ack in time
// So resend the command if max retries are not reached
IF _tonReceiveTimeout.Q THEN
_xEnableReceiveTimeout := FALSE;
@@ -235,7 +235,7 @@ _xRunSMAgain := FALSE;
IF _uiRetries > MAX_RETRIES THEN
_iState := 90;
ELSE
// Retry by sendind command again
// Retry by sending command again
_iState := 20;
END_IF
END_IF
@@ -368,6 +368,7 @@ _iCmdLength := LEN(sCmd);
// start sendind command state machine
_xSendCmd := TRUE;
_xBusy := TRUE;
M_SendCmd := TRUE;]]></ST>
</Implementation>

45
PLC/01_Stationen/TrayFeeder/FB_TrayFeeder.TcPOU
View File

@@ -12,10 +12,6 @@ VAR
_udiPort : UDINT;
_fbProtocolHandler : FB_TFProtocol;
_xTest : BOOL;
_xSendResult : BOOL;
_sCmd : STRING := 'STAT-FEED:';
END_VAR
]]></Declaration>
<Implementation>
@@ -31,12 +27,6 @@ _fbProtocolHandler(
xBusy=> ,
xError=> );
IF _xTest THEN
_xTest := FALSE;
_xSendResult := _fbProtocolHandler.M_SendCmd(sCmd := _sCmd);
END_IF
// Call isa88 base state machine
SUPER^();]]></ST>
</Implementation>
@@ -63,9 +53,44 @@ _stSMConfig.xStoppingDisabled := TRUE;
_stSMConfig.xCompletingDisabled := TRUE;
_stSMConfig.xCompletedDisabled := TRUE;
_stSMConfig.xHeldDisabled := TRUE;
_stSMConfig.xSuspededDisabled := TRUE;
_stSMConfig.xAbortingDisabled := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="M_Resetting" Id="{d821c17b-c2d1-4267-b49d-1f82be218ca5}">
<Declaration><![CDATA[METHOD PROTECTED M_Resetting
]]></Declaration>
<Implementation>
<ST><![CDATA[CASE _iSSM OF
// Check state of connection
0:
IF _fbProtocolHandler.xConnected THEN
_iSSM := 10;
ELSE
_eCmd := E_PackMLCmd.STOP;
END_IF
// Send reset command
10:
IF _fbProtocolHandler.M_SendCmd('SYST-RESE') THEN
_iSSM := 20;
ELSE
_eCmd := E_PackMLCmd.STOP;
END_IF
// Wait for reset command to be finished
20:
IF (NOT _fbProtocolHandler.xBusy) AND (NOT _fbProtocolHandler.xError) THEN
M_StateComplete();
END_IF
IF _fbProtocolHandler.xError THEN
_eCmd := E_PackMLCmd.STOP;
END_IF
END_CASE]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>