More Meca implementation

2026-03-02 10:14:52 +01:00
parent 13444a149c
commit dbfa6fc7cc
26 changed files with 3994 additions and 105 deletions
--- a/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
+++ b/PLC/01_Stationen/Etcher/FB_Etcher.TcPOU
@@ -76,6 +76,8 @@ VAR
 	// Actuators
 	// =========
 	
+	_fbRobot : FB_Mecademics;
+	
 	xDisableVacuum AT %Q* : BOOL;
 END_VAR
 ]]></Declaration>
@@ -132,6 +134,8 @@ _fbEjectBack(
 	
 xDisableVacuum := (NOT xEnableVacuum);

+_fbRobot(stPackMLHMIInterface := stHMIInterface.stMecaCmds);
+
 // Call base sm
 SUPER^(stPackMLHMIInterface := stHMIInterface.stStationCmds);

--- a/PLC/01_Stationen/Etcher/GVL_ETCHER.TcGVL
+++ b/PLC/01_Stationen/Etcher/GVL_ETCHER.TcGVL
@@ -2,7 +2,7 @@
 <TcPlcObject Version="1.1.0.1">
  <GVL Name="GVL_ETCHER" Id="{ef1ba925-5452-40f1-b847-57ee34065909}">
    <Declaration><![CDATA[{attribute 'qualified_only'}
-VAR_GLOBAL
+VAR_GLOBAL CONSTANT
 	MAX_ROBOT_POS : UINT := 10;
 END_VAR]]></Declaration>
  </GVL>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT
@@ -53,7 +53,7 @@ TYPE E_Meca_Cmds :
 	SET_TOOL_SPHERE := 155,
 	SET_CALIBRATION_CFG := 156,
 	REBOOT_ROBOT := 200
-);
+)UDINT := NO_MOVEMENT;
 END_TYPE
 ]]></Declaration>
  </DUT>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_Configurations.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_Configurations.TcDUT
@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_Configurations" Id="{d428df95-5825-4c78-9c82-db07b6f06b2a}">
+    <Declaration><![CDATA[TYPE ST_Meca_Configurations :
+STRUCT
+	siShoulder : SINT;
+	siElbow : SINT;
+	siWrist : SINT;
+	siTurn : SINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_DynamicData.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_DynamicData.TcDUT
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_DynamicData" Id="{eb440853-1144-466e-801d-c83f27997752}">
+    <Declaration><![CDATA[TYPE ST_Meca_DynamicData :
+STRUCT
+	udiDynamic_Type : UDINT;
+	rValue_0 : REAL;
+	rValue_1 : REAL;
+	rValue_2 : REAL;
+	rValue_3 : REAL;
+	rValue_4 : REAL;
+	rValue_5 : REAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_EndEffectorPose.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_EndEffectorPose.TcDUT
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_EndEffectorPose" Id="{550369ad-a02a-4994-845f-0e5bcd8c28d2}">
+    <Declaration><![CDATA[TYPE ST_Meca_EndEffectorPose :
+STRUCT
+	rSubIndex_001 : REAL;
+	rSubIndex_002 : REAL;
+	rSubIndex_003 : REAL;
+	rSubIndex_004 : REAL;
+	rSubIndex_005 : REAL;
+	rSubIndex_006 : REAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_MotionStatus.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_MotionStatus.TcDUT
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_RobotStatus.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_RobotStatus.TcDUT
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_RobotTimestamp.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_RobotTimestamp.TcDUT
@@ -0,0 +1,13 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_RobotTimestamp" Id="{8c6943a9-eb48-4002-9676-3b975565fe21}">
+    <Declaration><![CDATA[TYPE ST_Meca_RobotTimestamp :
+STRUCT
+	udiTimestamp_Seconds : UDINT;
+	udiTimestamp_Microseconds : UDINT;
+	udiDynamic_Data_Cycles : UDINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_SafetyStatus.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_SafetyStatus.TcDUT
@@ -0,0 +1,95 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_SafetyStatus" Id="{87f1a6a3-00a5-4cfe-890e-38e5886ffb63}">
+    <Declaration><![CDATA[TYPE ST_Meca_SafetyStatus :
+STRUCT
+	bEstop : BIT;
+	bUnused2 : BIT;
+	bPStop2 : BIT;
+	bUnused4 : BIT;
+	bUnused5 : BIT;
+	bUnused6 : BIT;
+	bUnused7 : BIT;
+	bReboot : BIT;
+	bUnused9 : BIT;
+	bUnused10 : BIT;
+	bConnection_Dropped : BIT;
+	bUnused12 : BIT;
+	bUnused13 : BIT;
+	bUnused14 : BIT;
+	bUnused15 : BIT;
+	bUnused16 : BIT;
+	bUnused17 : BIT;
+	bUnused18 : BIT;
+	bUnused19 : BIT;
+	bUnused20 : BIT;
+	bUnused21 : BIT;
+	bUnused22 : BIT;
+	bUnused23 : BIT;
+	bUnused24 : BIT;
+	bUnused25 : BIT;
+	bUnused26 : BIT;
+	bUnused27 : BIT;
+	bUnused28 : BIT;
+	bUnused29 : BIT;
+	bUnused30 : BIT;
+	bUnused31 : BIT;
+	bUnused32 : BIT;
+	bEstop_Resettable : BIT;
+	bUnused34 : BIT;
+	bPStop2_Resettable : BIT;
+	bUnused36 : BIT;
+	bUnused37 : BIT;
+	bUnused38 : BIT;
+	bUnused39 : BIT;
+	bReboot_Resettable : BIT;
+	bUnused41 : BIT;
+	bUnused42 : BIT;
+	bConnection_Dropped_Resettable : BIT;
+	bUnused44 : BIT;
+	bUnused45 : BIT;
+	bUnused46 : BIT;
+	bUnused47 : BIT;
+	bUnused48 : BIT;
+	bUnused49 : BIT;
+	bUnused50 : BIT;
+	bUnused51 : BIT;
+	bUnused52 : BIT;
+	bUnused53 : BIT;
+	bUnused54 : BIT;
+	bUnused55 : BIT;
+	bUnused56 : BIT;
+	bUnused57 : BIT;
+	bUnused58 : BIT;
+	bUnused59 : BIT;
+	bUnused60 : BIT;
+	bUnused61 : BIT;
+	bUnused62 : BIT;
+	bUnused63 : BIT;
+	bUnused64 : BIT;
+	bUnused65 : USINT;
+	bReset_Ready : BIT;
+	bVmotor_on : BIT;
+	bUnused68 : BIT;
+	bUnused69 : BIT;
+	bUnused70 : BIT;
+	bUnused71 : BIT;
+	bUnused72 : BIT;
+	bUnused73 : BIT;
+	bUnused74 : BIT;
+	bUnused75 : BIT;
+	bUnused76 : BIT;
+	bUnused77 : BIT;
+	bUnused78 : BIT;
+	bUnused79 : BIT;
+	{attribute 'hide'}
+	breserved1 : BIT;
+	{attribute 'hide'}
+	breserved2 : BIT;
+	{attribute 'hide'}
+	breserved3 : USINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_SubIndex.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_SubIndex.TcDUT
@@ -1,8 +1,8 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
-  <DUT Name="ST_Meca_JointSet" Id="{11c9caa0-793d-42a4-a6d6-9b5ea59d2923}">
+  <DUT Name="ST_Meca_SubIndex" Id="{11c9caa0-793d-42a4-a6d6-9b5ea59d2923}">
    <Declaration><![CDATA[{attribute 'pack_mode' := '1'}
-TYPE ST_Meca_JointSet :
+TYPE ST_Meca_SubIndex :
 STRUCT
 	rSubIndex001 : REAL;
 	rSubIndex002 : REAL;
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_BreaksControl.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_BreaksControl.TcDUT
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_BreaksControl" Id="{d002e7e2-c385-4270-8e84-4eabb3a35679}">
+    <Declaration><![CDATA[TYPE ST_Meca_BreaksControl :
+STRUCT
+	bBrakesControlAllowed : BIT;
+	bBrakesEngaged : BIT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_MotionControl.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_MotionControl.TcDUT
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_MotionControl" Id="{74b560dc-7b24-4a46-bcf7-f3928a356b76}">
+    <Declaration><![CDATA[TYPE ST_Meca_MotionControl :
+STRUCT
+	Move_ID : UINT;
+	SetPoint : BIT;
+	Pause : BIT;
+	Clear_Move : BIT;
+	Resume_Motion : BIT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_Move.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_Move.TcDUT
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_Move" Id="{fb9f8b41-eddc-4ca4-9e77-c3d7e9282c37}">
+    <Declaration><![CDATA[TYPE ST_Meca_Move :
+STRUCT
+	udiMove_Command : UDINT;
+	rSubIndex_001 : REAL;
+	rSubIndex_002 : REAL;
+	rSubIndex_003 : REAL;
+	rSubIndex_004 : REAL;
+	rSubIndex_005 : REAL;
+	rSubIndex_006 : REAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_RobotControl.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_RobotControl.TcDUT
@@ -0,0 +1,21 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_RobotControl" Id="{b7dca174-83b7-4e16-8fce-bddd2eb93964}">
+    <Declaration><![CDATA[TYPE ST_Meca_RobotControl :
+STRUCT
+	bDeactivate : BIT;
+	bActivate : BIT;
+	bHome : BIT;
+	bReset_Error : BIT;
+	bSim_Mode : BIT;
+	bRecovery_Mode : BIT;
+	bDisableEtherCAT : BIT;
+	{attribute 'hide'}
+	_reserved1 : BIT;
+	{attribute 'hide'}
+	_reserved2 : ARRAY [1..3] OF USINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_Inputs.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_Inputs.TcDUT
@@ -0,0 +1,23 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_Inputs" Id="{aee4d747-0300-4e1c-963b-4297e692d221}">
+    <Declaration><![CDATA[TYPE ST_Meca_Inputs :
+STRUCT
+	stRobotStatus : ST_Meca_RobotStatus;
+	stMotionStatus : ST_Meca_MotionStatus;
+	stJointSet : ST_Meca_SubIndex;
+	stEndEffectorPose : ST_Meca_EndEffectorPose;
+	stConfigurations : ST_Meca_Configurations;
+	stWRF : ST_Meca_SubIndex;
+	stTRF : ST_Meca_SubIndex;
+	stRobotTimestamp : ST_Meca_RobotTimestamp;
+	stSafetyStatus : ST_Meca_SafetyStatus;
+	stDynamicData0 : ST_Meca_DynamicData;
+	stDynamicData1 : ST_Meca_DynamicData;
+	stDynamicData2 : ST_Meca_DynamicData;
+	stDynamicData3 : ST_Meca_DynamicData;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_Outputs.TcDUT
+++ b/PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_Outputs.TcDUT
@@ -0,0 +1,19 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_Meca_Outputs" Id="{4c92256b-96a9-4346-9b9b-5d7a337cd273}">
+    <Declaration><![CDATA[TYPE ST_Meca_Outputs :
+STRUCT	
+	stRobotControl : ST_Meca_RobotControl;
+	stMotionControl : ST_Meca_MotionControl;
+	stMove : ST_Meca_Move;
+	udiHostTime : UDINT;
+	stBrakesControl : ST_Meca_BreaksControl;
+	udiDynamicDataCfg0 : UDINT;
+	udiDynamicDataCfg1 : UDINT;
+	udiDynamicDataCfg2 : UDINT;
+	udiDynamicDataCfg3 : UDINT;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/01_Stationen/Etcher/Mecademics/FB_Mecademics.TcPOU
+++ b/PLC/01_Stationen/Etcher/Mecademics/FB_Mecademics.TcPOU
@@ -1,16 +1,303 @@
 <?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
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Mecademics EXTENDS FB_PackMLGeneric
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
+	xBusy : BOOL;
+	xDone : BOOL;
+	xError : BOOL;
 END_VAR
 VAR
+	stRobotInputs AT %I* : ST_Meca_Inputs;
+	stRobotOutputs AT %Q* : ST_Meca_Outputs;
+	
+	// Safety reset output
+	xReset AT %Q* : BOOL;
+	
+	_fbResetPulse : TP;
+	
+	// Current move id
+	_uiMoveId : UINT := 1;
+	
+	// Debug
+	_xTest : BOOL;
+	_xDone : BOOL;
+	_xError : BOOL;
+	_iDS : INT;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[SUPER^(stPackMLHMIInterface := stPackMLHMIInterface);
+
+
+CASE _iDS OF
+	0:
+		IF _xTest THEN
+			_xTest := FALSE;
+			_iDS := 10;
+		END_IF
+		
+	10:
+		M_ExecuteCmd(
+			eCmd:= E_Meca_Cmds.MOVE_LIN, 
+			rSI1:= 80, 
+			rSI2:= 80, 
+			rSI3:= 10, 
+			rSI4:= 0, 
+			rSI5:= 0, 
+			rSI6:= 0, 
+			xDone=> _xDone, 
+			xError=> _xError);
+			
+		IF _xDone OR _xError THEN
+			_iDS := 0;
+		END_IF
+		
+END_CASE]]></ST>
    </Implementation>
+    <Method Name="FB_init" Id="{b39b41a5-5e30-4480-88f3-9748b615d950}">
+      <Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.
+//The return value is not evaluated. For a specific influence, you can also declare the
+//methods explicitly and provide additional code there with the standard initialization
+//code. You can evaluate the return value.
+METHOD FB_Init: BOOL
+VAR_INPUT
+    bInitRetains: BOOL; // TRUE: the retain variables are initialized (reset warm / reset cold)
+    bInCopyCode: BOOL;  // TRUE: the instance will be copied to the copy code afterward (online change)   
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_stSMConfig.xSuspededDisabled := TRUE;
+_stSMConfig.xHeldDisabled := TRUE;
+_stSMConfig.xCompletedDisabled := TRUE;
+_stSMConfig.xClearingDisabled := TRUE;
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ClearCmd" Id="{3363b63b-d0d9-4750-b0b8-c2b0abdc2690}">
+      <Declaration><![CDATA[METHOD PRIVATE M_ClearCmd
+VAR_INPUT
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[stRobotOutputs.stMove.udiMove_Command := E_Meca_Cmds.NO_MOVEMENT;
+stRobotOutputs.stMove.rSubIndex_001 := 0;
+stRobotOutputs.stMove.rSubIndex_002 := 0;
+stRobotOutputs.stMove.rSubIndex_003 := 0;
+stRobotOutputs.stMove.rSubIndex_004 := 0;
+stRobotOutputs.stMove.rSubIndex_005 := 0;
+stRobotOutputs.stMove.rSubIndex_006 := 0;
+
+stRobotOutputs.stMotionControl.Move_ID := 0;
+stRobotOutputs.stMotionControl.SetPoint := 0;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Execute" Id="{b1f00bfa-a0a0-4a86-98a4-0a9242f7788f}">
+      <Declaration><![CDATA[METHOD PROTECTED M_Execute
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iSSM OF
+	// Idle no command
+	0:
+		// Wait for robot command execute trigger
+		
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ExecuteCmd" Id="{5a17ad67-b9f0-443e-b4f3-cbcd71a5ce3e}">
+      <Declaration><![CDATA[METHOD PRIVATE M_ExecuteCmd
+VAR_INPUT
+	eCmd : E_Meca_Cmds;
+	rSI1 : REAL := 0;
+	rSI2 : REAL := 0;
+	rSI3 : REAL := 0;
+	rSI4 : REAL := 0;
+	rSI5 : REAL := 0;
+	rSI6 : REAL := 0;
+END_VAR
+VAR_OUTPUT
+	xDone : BOOL;
+	xError : BOOL;
+END_VAR
+VAR_INST
+	_iState : INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iState OF
+	0:
+		stRobotOutputs.stMove.udiMove_Command := eCmd;
+		stRobotOutputs.stMove.rSubIndex_001 := rSI1;
+		stRobotOutputs.stMove.rSubIndex_002 := rSI2;
+		stRobotOutputs.stMove.rSubIndex_003 := rSI3;
+		stRobotOutputs.stMove.rSubIndex_004 := rSI4;
+		stRobotOutputs.stMove.rSubIndex_005 := rSI5;
+		stRobotOutputs.stMove.rSubIndex_006 := rSI6;
+		
+		stRobotOutputs.stMotionControl.Move_ID := _uiMoveId;
+		stRobotOutputs.stMotionControl.SetPoint := 1;
+		xDone := FALSE;
+		xError := FALSE;
+		_iState := 10;
+		
+	10:
+		IF stRobotInputs.stMotionStatus.uiMoveID = _uiMoveId THEN
+			_uiMoveId := _uiMoveId + 1;
+			M_ClearCmd();
+			xDone := TRUE;
+			_iState := 0;
+		END_IF
+		
+		IF stRobotInputs.stRobotStatus.uiError <> 0 THEN
+			_uiMoveId := _uiMoveId + 1;
+			M_ClearCmd();
+			xError := TRUE;
+			_iState := 0;
+		END_IF
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_Resetting" Id="{807f1e42-2b9f-4d36-82a0-1e9f3b86646a}">
+      <Declaration><![CDATA[METHOD PROTECTED M_Resetting
+VAR_INST
+	_tonTimer : TON;
+	xExecDone : BOOL;
+	xExecError : BOOL;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iSSM OF
+	0:
+		// Reset E-Stop if required
+		IF stRobotInputs.stSafetyStatus.bEstop THEN
+			// Can we reset the estop?
+			IF stRobotInputs.stSafetyStatus.bEstop_Resettable THEN
+				_iSSM := 10;
+			ELSE
+				_eCmd := E_PackMLCmd.ABORT;
+			END_IF
+		ELSE
+			// Go to activate state
+			_iSSM := 20;
+		END_IF
+		
+	// Reset E-Stop
+	10:
+		xReset := TRUE;
+		_tonTimer(IN := TRUE, PT := T#250MS);
+		IF _tonTimer.Q THEN
+			_tonTimer(IN := FALSE);
+			xReset := FALSE;
+			_iSSM := 15;
+		END_IF
+		
+	// Check if E-Stop was resetted
+	15:
+		// Timeout safety reset
+		_tonTimer(IN := TRUE, PT := T#10S);
+		IF _tonTimer.Q THEN
+			_tonTimer(IN := FALSE);
+			// TODO trigger error message
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+		IF (NOT stRobotInputs.stSafetyStatus.bEstop) THEN
+			_iSSM := 20;
+		END_IF
+		
+		
+	// Activate robot if needed
+	20:
+		IF (NOT stRobotInputs.stRobotStatus.bActivated) THEN
+			_iSSM := 21;
+		ELSE
+			_iSSM := 30;
+		END_IF
+		
+
+	// Activate robot
+	21:
+		stRobotOutputs.stRobotControl.bActivate := TRUE;
+		IF stRobotInputs.stRobotStatus.bActivated THEN
+			stRobotOutputs.stRobotControl.bActivate := FALSE;
+			_iSSM := 30;
+		END_IF
+		
+		// Timeout
+		_tonTimer(IN := TRUE, PT := T#10S);
+		IF _tonTimer.Q THEN
+			_tonTimer(IN := FALSE);
+			stRobotOutputs.stRobotControl.bActivate := FALSE;
+			// TODO trigger error message
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+	// Check homing
+	30:
+		IF (NOT stRobotInputs.stRobotStatus.bHomed) THEN
+			_iSSM := 31;
+		ELSE
+			_iSSM := 40;
+		END_IF
+		
+	// Home robot
+	31:
+		stRobotOutputs.stRobotControl.bHome := TRUE;
+		IF stRobotInputs.stRobotStatus.bHomed THEN
+			stRobotOutputs.stRobotControl.bHome := FALSE;
+			_iSSM := 40;
+		END_IF
+		
+		// Timeout
+		_tonTimer(IN := TRUE, PT := T#20S);
+		IF _tonTimer.Q THEN
+			_tonTimer(IN := FALSE);
+			stRobotOutputs.stRobotControl.bHome := FALSE;
+			// TODO trigger error message
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+	// Set wrf
+	32:
+		M_ExecuteCmd(E_Meca_Cmds.SET_WRF, 163.5, -34.79, 465, -180, 0, 180, xDone => xExecDone, xError => xExecError);
+		
+		IF xExecDone THEN
+			_iSSM := 33;
+		END_IF
+		
+		IF xExecError THEN
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+	
+	// Set trf
+	33:
+		M_ExecuteCmd(E_Meca_Cmds.SET_TRF, 0, 0, 92, 0, 180, 90, xDone => xExecDone, xError => xExecError);
+		
+		IF xExecDone THEN
+			_iSSM := 34;
+		END_IF
+		
+		IF xExecError THEN
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+	// Move to save position
+	34:
+		M_ExecuteCmd(E_Meca_Cmds.MOVE_LIN, 0, 0, 10, 0, 0, 0, xDone => xExecDone, xError => xExecError);
+		
+		IF xExecDone THEN
+			_iSSM := 40;
+		END_IF
+		
+		IF xExecError THEN
+			_eCmd := E_PackMLCmd.ABORT;
+		END_IF
+		
+	// Robot ready
+	40:
+		M_StateComplete();
+END_CASE]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/01_Stationen/Etcher/ST_HMI_Etcher.TcDUT
+++ b/PLC/01_Stationen/Etcher/ST_HMI_Etcher.TcDUT
@@ -5,6 +5,8 @@
 STRUCT
 	stStationCmds : ST_HMI_PackML;
 	
+	stMecaCmds : ST_HMI_PackML;
+	
 	// Vacuum valve
 	stVacuumValve : ST_HMI_VALVE_DATA;
 	
--- a/PLC/Debug_Visu/Visualization.TcVIS
+++ b/PLC/Debug_Visu/Visualization.TcVIS
--- a/PLC/GlobalTextList.TcGTLO
+++ b/PLC/GlobalTextList.TcGTLO
@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <GlobalTextList Name="GlobalTextList" Id="{e60dd1d6-8d51-4ae9-ba5d-cc349a8d1933}">
+    <XmlArchive>
+      <Data>
+        <o xml:space="preserve" t="GlobalTextListObject">
+          <l n="TextList" t="ArrayList" cet="TextListRow">
+            <o>
+              <v n="TextID">"930"</v>
+              <v n="TextDefault">"Abort"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"612"</v>
+              <v n="TextDefault">"Clear"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+            <o>
+              <v n="TextID">"693"</v>
+              <v n="TextDefault">"Reset"</v>
+              <l n="LanguageTexts" t="ArrayList" />
+            </o>
+          </l>
+          <l n="Languages" t="ArrayList" />
+          <v n="GuidInit">{b012a327-a2e9-40f6-a9ac-a558f04e2f3f}</v>
+          <v n="GuidReInit">{4365fb23-3b15-4428-9d09-72ef62da5c17}</v>
+          <v n="GuidExitX">{632d5581-5da5-45c9-a1ef-c89a6839e11d}</v>
+        </o>
+      </Data>
+      <TypeList>
+        <Type n="ArrayList">System.Collections.ArrayList</Type>
+        <Type n="GlobalTextListObject">{63784cbb-9ba0-45e6-9d69-babf3f040511}</Type>
+        <Type n="Guid">System.Guid</Type>
+        <Type n="String">System.String</Type>
+        <Type n="TextListRow">{53da1be7-ad25-47c3-b0e8-e26286dad2e0}</Type>
+      </TypeList>
+    </XmlArchive>
+  </GlobalTextList>
+</TcPlcObject>
--- a/PLC/PLC.plcproj
+++ b/PLC/PLC.plcproj
@@ -68,13 +68,46 @@
    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\E_Meca_Cmds.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_JointSet.TcDUT">
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_Configurations.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_MotionStatus.TcDUT">
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_DynamicData.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_RobotStatus.TcDUT">
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_EndEffectorPose.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_MotionStatus.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_RobotStatus.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_RobotTimestamp.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_SafetyStatus.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus\ST_Meca_SubIndex.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Outputs\ST_Meca_BreaksControl.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Outputs\ST_Meca_MotionControl.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Outputs\ST_Meca_Move.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Outputs\ST_Meca_RobotControl.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_Inputs.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="01_Stationen\Etcher\Mecademics\DUTs\ST_Meca_Outputs.TcDUT">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="01_Stationen\Etcher\Mecademics\FB_Mecademics.TcPOU">
@@ -170,6 +203,13 @@
    <Compile Include="01_Stationen\TrayFeeder\ST_TrayFeederStatus.TcDUT">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="Debug_Visu\Visualization.TcVIS">
+      <SubType>Code</SubType>
+      <DependentUpon>Visualization Manager.TcVMO</DependentUpon>
+    </Compile>
+    <Compile Include="GlobalTextList.TcGTLO">
+      <SubType>Code</SubType>
+    </Compile>
    <Compile Include="GVLs\GVL_SCADA.TcGVL">
      <SubType>Code</SubType>
      <LinkAlways>true</LinkAlways>
@@ -288,12 +328,17 @@
    <Compile Include="PlcTask.TcTTO">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="Visualization Manager.TcVMO">
+      <SubType>Code</SubType>
+    </Compile>
  </ItemGroup>
  <ItemGroup>
    <Folder Include="01_Stationen\Coolplate\DUTs" />
    <Folder Include="01_Stationen\Coolplate\POUs" />
    <Folder Include="01_Stationen\Etcher\Mecademics" />
    <Folder Include="01_Stationen\Etcher\Mecademics\DUTs" />
+    <Folder Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Inpus" />
+    <Folder Include="01_Stationen\Etcher\Mecademics\DUTs\Meca500_Outputs" />
    <Folder Include="01_Stationen\Hotplate\DUTs" />
    <Folder Include="01_Stationen\Hotplate\POUs" />
    <Folder Include="01_Stationen\HVTester\DUTs" />
@@ -323,12 +368,55 @@
    <Folder Include="LibraryCandidates\Unittests" />
    <Folder Include="LibraryCandidates\PackML" />
    <Folder Include="LibraryCandidates\PackML\ITFs" />
+    <Folder Include="Debug_Visu" />
  </ItemGroup>
  <ItemGroup>
    <PlaceholderReference Include="BaseComponents">
      <DefaultResolution>BaseComponents, * (Heisig GmbH)</DefaultResolution>
      <Namespace>BC</Namespace>
    </PlaceholderReference>
+    <PlaceholderReference Include="System_VisuElemMeter">
+      <DefaultResolution>VisuElemMeter, 4.7.0.0 (System)</DefaultResolution>
+      <Namespace>VisuElemMeter</Namespace>
+      <SystemLibrary>true</SystemLibrary>
+      <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
+    </PlaceholderReference>
+    <PlaceholderReference Include="System_VisuElems">
+      <DefaultResolution>VisuElems, 4.8.0.0 (System)</DefaultResolution>
+      <Namespace>VisuElems</Namespace>
+      <SystemLibrary>true</SystemLibrary>
+      <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
+    </PlaceholderReference>
+    <PlaceholderReference Include="System_VisuElemsSpecialControls">
+      <DefaultResolution>VisuElemsSpecialControls, 4.7.0.0 (System)</DefaultResolution>
+      <Namespace>VisuElemsSpecialControls</Namespace>
+      <SystemLibrary>true</SystemLibrary>
+      <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
+    </PlaceholderReference>
+    <PlaceholderReference Include="System_VisuElemsWinControls">
+      <DefaultResolution>VisuElemsWinControls, 4.8.0.0 (System)</DefaultResolution>
+      <Namespace>VisuElemsWinControls</Namespace>
+      <SystemLibrary>true</SystemLibrary>
+      <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
+    </PlaceholderReference>
+    <PlaceholderReference Include="System_VisuElemTextEditor">
+      <DefaultResolution>VisuElemTextEditor, 4.8.0.0 (System)</DefaultResolution>
+      <Namespace>VisuElemTextEditor</Namespace>
+      <SystemLibrary>true</SystemLibrary>
+      <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
+    </PlaceholderReference>
+    <PlaceholderReference Include="System_VisuInputs">
+      <DefaultResolution>VisuInputs, 4.7.0.0 (System)</DefaultResolution>
+      <Namespace>VisuInputs</Namespace>
+      <SystemLibrary>true</SystemLibrary>
+      <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
+    </PlaceholderReference>
+    <PlaceholderReference Include="System_VisuNativeControl">
+      <DefaultResolution>VisuNativeControl, 4.8.0.0 (System)</DefaultResolution>
+      <Namespace>VisuNativeControl</Namespace>
+      <SystemLibrary>true</SystemLibrary>
+      <ResolverGuid>2717eb6a-dd07-4c66-8d8d-cacebd7b18ae</ResolverGuid>
+    </PlaceholderReference>
    <PlaceholderReference Include="Tc2_Standard">
      <DefaultResolution>Tc2_Standard, * (Beckhoff Automation GmbH)</DefaultResolution>
      <Namespace>Tc2_Standard</Namespace>
@@ -354,6 +442,10 @@
      <DefaultResolution>TcUnit, * (www.tcunit.org)</DefaultResolution>
      <Namespace>TcUnit</Namespace>
    </PlaceholderReference>
+    <PlaceholderReference Include="VisuDialogs">
+      <DefaultResolution>VisuDialogs, * (System)</DefaultResolution>
+      <Namespace>VisuDialogs</Namespace>
+    </PlaceholderReference>
  </ItemGroup>
  <ItemGroup>
    <None Include="PLC.tmc">
@@ -393,6 +485,12 @@
        <o>
          <v n="Name">"{29BD8D0C-3586-4548-BB48-497B9A01693F}"</v>
          <d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
+            <v>NamingConventions</v>
+            <o>
+              <v n="Name">"NamingConventions"</v>
+              <d n="SubKeys" t="Hashtable" />
+              <d n="Values" t="Hashtable" />
+            </o>
            <v>Rules</v>
            <o>
              <v n="Name">"Rules"</v>
--- a/PLC/PLC.tmc
+++ b/PLC/PLC.tmc
--- a/PLC/Visualization
+++ b/PLC/Visualization
@@ -0,0 +1,587 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <VisuManager Name="Visualization Manager" Id="{0419276f-2100-4c11-bc47-ef128dfa5c0e}">
+    <XmlArchive>
+      <Data>
+        <o xml:space="preserve" t="VisualManagerObject">
+          <v n="UseUnicodeStrings" t="UnicodeSupport">Undefined</v>
+          <v n="UseOverlay" t="OverlaySupport">Undefined</v>
+          <o n="ViewSettings" t="VisualManagerViewSettings">
+            <n n="StartVisu" />
+            <v n="StartVisu33">"Visualization"</v>
+            <v n="OpenTargetvisu">false</v>
+            <v n="BestFit">false</v>
+            <v n="ClientSizeMode" t="VisualClientSizeMode">AutoDetect</v>
+            <v n="ClientSizeX">2000</v>
+            <v n="ClientSizeY">2000</v>
+            <v n="ExtendedSettings">false</v>
+            <v n="PaintBufferSize">50000</v>
+            <v n="MemorybufferSize">400000</v>
+            <v n="VisuInternal">false</v>
+            <v n="CurrentVisuGlobal">false</v>
+            <v n="FileTransferMode">true</v>
+            <v n="VisuStyle">"Default, 3.1.9.0 (Beckhoff Automation GmbH)"</v>
+            <v n="MaxNumOfClients">100</v>
+            <n n="Language" />
+            <v n="NumpadDialog">"VisuDialogs.Numpad"</v>
+            <v n="KeypadDialog">"VisuDialogs.Keypad"</v>
+            <v n="InputWithLimitsDialog">"VisuDialogs.TextinputWithLimits"</v>
+            <v n="UseInputWithLimits">false</v>
+            <v n="TouchHandlingActive">false</v>
+            <v n="TouchScrollbarsActive">false</v>
+            <v n="SemiTransparentDrawingActive">true</v>
+            <v n="UpdateColorvariablesAfterActivationDone">true</v>
+            <v n="TransferSvgAndConvertedImages">false</v>
+            <v n="LoginDialog">"VisuUserManagement.VUM_Login"</v>
+            <v n="ChangePasswordDialog">"VisuUserManagement.VUM_ChangePassword"</v>
+            <v n="ChangeConfigDialog">"VisuUserManagement.VUM_UserManagementWide"</v>
+            <v n="GuidShowChangePasswordDialogFunction">{00000000-0000-0000-0000-000000000000}</v>
+            <v n="GuidShowChangeConfigDialogFunction">{00000000-0000-0000-0000-000000000000}</v>
+            <v n="UseStandardKeyboardHandling">true</v>
+            <v n="PaintDeactiveElementsGrayedOut">true</v>
+            <n n="GlobalOpenNumpadKeypadSettings" />
+            <v n="UseBackgroundForModalDialog">true</v>
+            <v n="AnimationDuration">200</v>
+            <v n="ConvertImages">false</v>
+            <v n="ConversionType">""</v>
+            <v n="BackImage">""</v>
+            <v n="BackImageTop">0</v>
+            <v n="BackImageLeft">0</v>
+            <v n="BackImageBot">0</v>
+            <v n="BackImageRight">0</v>
+            <v n="BackImageWarning">true</v>
+            <v n="BackImageLimit">true</v>
+            <v n="ResponsiveVisualizationSize">false</v>
+          </o>
+          <o n="RegisterDesc" t="GenericFbDescription">
+            <d n="FbMethods" t="CaseInsensitiveHashtable" ckt="String" cvt="Guid">
+              <v>FB_Exit</v>
+              <v>48334f63-9579-4549-8e3b-b1d93755b2ac</v>
+              <v>FB_Init</v>
+              <v>bb8a0df7-9042-44c1-b571-932eb4caf1ba</v>
+              <v>FB_Reinit</v>
+              <v>469f0cd7-b348-40a7-b44c-651c4498a2db</v>
+            </d>
+            <d n="FbProperties" t="CaseInsensitiveHashtable" />
+            <v n="FbName">"NotImportant"</v>
+            <v n="FbGuid">{d535eea1-7362-4b95-ab0a-5ee8db379f0c}</v>
+          </o>
+          <o n="TargetProperties" t="VisualizationTargetProperties">
+            <o n="AvailableKeys" t="DeviceBasedHotkeysProvider">
+              <v n="Modifiers">7</v>
+              <v n="DevType">4096</v>
+              <v n="DevId">"1002 0004"</v>
+              <v n="DevVersion">"1.0.0.9"</v>
+              <v n="BaseProvider">{cb73a13e-6ccc-4bc6-8859-f5aa98bb116b}</v>
+              <l n="Keys" t="ArrayList" cet="DeviceBasedHotkeyItem">
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">48</v>
+                  <v n="CanonicalName">"0"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">49</v>
+                  <v n="CanonicalName">"1"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">50</v>
+                  <v n="CanonicalName">"2"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">51</v>
+                  <v n="CanonicalName">"3"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">52</v>
+                  <v n="CanonicalName">"4"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">53</v>
+                  <v n="CanonicalName">"5"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">54</v>
+                  <v n="CanonicalName">"6"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">55</v>
+                  <v n="CanonicalName">"7"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">56</v>
+                  <v n="CanonicalName">"8"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">57</v>
+                  <v n="CanonicalName">"9"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">65</v>
+                  <v n="CanonicalName">"A"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">107</v>
+                  <v n="CanonicalName">"ADDITION"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">66</v>
+                  <v n="CanonicalName">"B"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">8</v>
+                  <v n="CanonicalName">"BACKSPACE"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">67</v>
+                  <v n="CanonicalName">"C"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">110</v>
+                  <v n="CanonicalName">"COMMA"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">68</v>
+                  <v n="CanonicalName">"D"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">46</v>
+                  <v n="CanonicalName">"DELETE"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">111</v>
+                  <v n="CanonicalName">"DIVIDE"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">40</v>
+                  <v n="CanonicalName">"DOWN"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">69</v>
+                  <v n="CanonicalName">"E"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">35</v>
+                  <v n="CanonicalName">"END"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">27</v>
+                  <v n="CanonicalName">"ESCAPE"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">70</v>
+                  <v n="CanonicalName">"F"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">112</v>
+                  <v n="CanonicalName">"F1"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">121</v>
+                  <v n="CanonicalName">"F10"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">122</v>
+                  <v n="CanonicalName">"F11"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">123</v>
+                  <v n="CanonicalName">"F12"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">113</v>
+                  <v n="CanonicalName">"F2"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">114</v>
+                  <v n="CanonicalName">"F3"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">115</v>
+                  <v n="CanonicalName">"F4"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">116</v>
+                  <v n="CanonicalName">"F5"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">117</v>
+                  <v n="CanonicalName">"F6"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">118</v>
+                  <v n="CanonicalName">"F7"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">119</v>
+                  <v n="CanonicalName">"F8"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">120</v>
+                  <v n="CanonicalName">"F9"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">71</v>
+                  <v n="CanonicalName">"G"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">72</v>
+                  <v n="CanonicalName">"H"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">36</v>
+                  <v n="CanonicalName">"HOME"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">73</v>
+                  <v n="CanonicalName">"I"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">45</v>
+                  <v n="CanonicalName">"INSERT"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">74</v>
+                  <v n="CanonicalName">"J"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">75</v>
+                  <v n="CanonicalName">"K"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">76</v>
+                  <v n="CanonicalName">"L"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">37</v>
+                  <v n="CanonicalName">"LEFT"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">77</v>
+                  <v n="CanonicalName">"M"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">106</v>
+                  <v n="CanonicalName">"MULTIPLY"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">78</v>
+                  <v n="CanonicalName">"N"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">96</v>
+                  <v n="CanonicalName">"NUM0"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">97</v>
+                  <v n="CanonicalName">"NUM1"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">98</v>
+                  <v n="CanonicalName">"NUM2"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">99</v>
+                  <v n="CanonicalName">"NUM3"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">100</v>
+                  <v n="CanonicalName">"NUM4"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">101</v>
+                  <v n="CanonicalName">"NUM5"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">102</v>
+                  <v n="CanonicalName">"NUM6"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">103</v>
+                  <v n="CanonicalName">"NUM7"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">104</v>
+                  <v n="CanonicalName">"NUM8"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">105</v>
+                  <v n="CanonicalName">"NUM9"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">79</v>
+                  <v n="CanonicalName">"O"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">80</v>
+                  <v n="CanonicalName">"P"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">19</v>
+                  <v n="CanonicalName">"PAUSE"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">42</v>
+                  <v n="CanonicalName">"PRINT"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">81</v>
+                  <v n="CanonicalName">"Q"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">82</v>
+                  <v n="CanonicalName">"R"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">13</v>
+                  <v n="CanonicalName">"RETURN_KEY"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">39</v>
+                  <v n="CanonicalName">"RIGHT"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">83</v>
+                  <v n="CanonicalName">"S"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">32</v>
+                  <v n="CanonicalName">"SPACE"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">109</v>
+                  <v n="CanonicalName">"SUBTRACT"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">84</v>
+                  <v n="CanonicalName">"T"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">9</v>
+                  <v n="CanonicalName">"TAB"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">85</v>
+                  <v n="CanonicalName">"U"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">38</v>
+                  <v n="CanonicalName">"UP"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">86</v>
+                  <v n="CanonicalName">"V"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">87</v>
+                  <v n="CanonicalName">"W"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">88</v>
+                  <v n="CanonicalName">"X"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">89</v>
+                  <v n="CanonicalName">"Y"</v>
+                </o>
+                <o>
+                  <v n="FromBase">true</v>
+                  <v n="KeyCode">90</v>
+                  <v n="CanonicalName">"Z"</v>
+                </o>
+              </l>
+            </o>
+          </o>
+          <o n="ConfiguredHotkeys" t="HotkeyConfiguration">
+            <v n="IdMin">481037385728L</v>
+            <v n="IdMax">549755813887L</v>
+            <v n="Id">481037385728L</v>
+            <v n="IdMask">549754765312L</v>
+            <v n="IdStep">1048576L</v>
+            <l2 n="Inputs" />
+          </o>
+          <o n="DefInpHandlerGuids" t="GenericFbDescription">
+            <d n="FbMethods" t="CaseInsensitiveHashtable" ckt="String" cvt="Guid">
+              <v>abstrGetDefaultCursor</v>
+              <v>b3d08a5c-8b08-41f4-bfb1-38b604e777c5</v>
+              <v>ExecuteDialogClosed</v>
+              <v>30e9a87e-be52-4d3b-816b-46b44407f24e</v>
+              <v>ExecuteKeyDown</v>
+              <v>f5fa304a-334b-4b78-96fb-5142817880c1</v>
+              <v>ExecuteKeyUp</v>
+              <v>489255bc-d58f-4b59-aeb6-eb0f0f76b726</v>
+              <v>ExecuteLooseCapture</v>
+              <v>839ba222-dfb7-45e3-b36d-06dec414eb2b</v>
+              <v>ExecuteMouseClick</v>
+              <v>e0101b46-4e18-4f66-b460-4c9925207dba</v>
+              <v>ExecuteMouseDblClick</v>
+              <v>79adf297-294e-4696-9a51-2c37bc6e0f13</v>
+              <v>ExecuteMouseDown</v>
+              <v>5af6fa10-8965-44fe-b025-3b78eadaa3b9</v>
+              <v>ExecuteMouseEnter</v>
+              <v>d8d4c727-e51f-4749-80f7-8c491f67591f</v>
+              <v>ExecuteMouseLeave</v>
+              <v>70c2f2d3-def1-43c7-a96e-065c98930316</v>
+              <v>ExecuteMouseMove</v>
+              <v>46d59831-8fb8-40dd-a5a6-a5443fc060c8</v>
+              <v>ExecuteMouseUp</v>
+              <v>968b3edb-7ab6-45e4-a356-0df9fc0b1c64</v>
+              <v>ExecuteValueChanged</v>
+              <v>87680bd7-388f-4d0d-8bd7-dc1f2df427d8</v>
+              <v>FB_Exit</v>
+              <v>a0514203-55ff-4533-95e7-e8c1d1ed68fa</v>
+              <v>FB_Init</v>
+              <v>8cf8813c-92ae-4b89-9e3b-e103042801e2</v>
+              <v>FB_Reinit</v>
+              <v>910a0ccd-4eaa-471c-bfe3-ef96dd6b36ed</v>
+              <v>GetElementInfo</v>
+              <v>ce872c1e-2cf3-429d-b34a-09673af9c80a</v>
+              <v>Init</v>
+              <v>fc607a16-019c-4282-a9ff-653f5848a3e1</v>
+              <v>Initialize</v>
+              <v>102ff2a8-eecf-4d11-a4a2-8741acbc9b1a</v>
+            </d>
+            <d n="FbProperties" t="CaseInsensitiveHashtable" />
+            <v n="FbName">"NotImportant"</v>
+            <v n="FbGuid">{561f33cf-05ab-4b74-91f4-d5038bf6c17b}</v>
+          </o>
+          <n n="InstantiationStorage" />
+          <n n="VisuUserManagement" />
+          <v n="UseLocalUserMgmt">true</v>
+          <v n="UseUserMgmtInPlc">true</v>
+          <n n="RemoteUserMgmtPath" />
+          <n n="FontsConfig" />
+          <n n="FontDownloadConfig" />
+          <n n="VisuInitializationCode" />
+          <n n="FontSettings" />
+          <v n="GuidVisuSettingsPou">{01aa8356-5435-4bd5-9497-7555a85e7c2e}</v>
+          <v n="GuidVisuSettingsPouInit">{235bf19a-0f8a-412a-b2a7-35673ed10a8c}</v>
+          <v n="GuidVisuSettingsPouReInit">{f03fcfa4-4cb3-4106-8285-054ddaaaff2f}</v>
+          <v n="GuidVisuSettingsPouBoolMethod">{8ff256ad-537e-4ea6-aaff-51d67d6a6760}</v>
+          <v n="GuidVisuSettingsPouDIntMethod">{d4ee9633-b545-4fc4-b4ef-c18cdb48acce}</v>
+          <v n="GuidVisuSettingsPouStringMethod">{0ed0da21-c049-4d32-ab8f-61fb849fb2e9}</v>
+          <v n="GuidVisuSettingsPouReservedMethod">{38a1316b-712f-4c0a-bfdb-436fa63963e8}</v>
+          <v n="GuidMemManInitPou">{1ffdd871-2940-443f-943c-722476235f3e}</v>
+          <v n="GuidMemManInitPouInit">{c258055b-1ec4-481b-ac7c-72e65dcef4eb}</v>
+          <v n="GuidMemManInitPouReInit">{9711ab64-61fe-4d9f-af9b-2283d2f97831}</v>
+          <v n="GuidStartVisuInitPou">{436d87ac-a5cd-4e01-9c1b-b674da962bf1}</v>
+          <v n="GuidStartVisuInitPouInit">{c0c17a5b-b48b-49a0-a22d-4873f20c2281}</v>
+          <v n="GuidStartVisuInitPouReInit">{59923462-48ed-4683-96c5-9e493a00f86f}</v>
+          <v n="GuidVisuGVL0">{c86a8ec3-ebc4-45a7-b813-93192e387651}</v>
+          <v n="GuidVisuGVL1">{f13d8114-4b51-4aff-b484-d57cab58cc73}</v>
+          <v n="GuidVisuGVL2">{4d87f86a-fad3-4644-958e-cb5a6b2ee792}</v>
+          <v n="GuidVisuGVL_3">{ea28f9cf-fb0b-41ee-a3b8-766f9332d8aa}</v>
+          <v n="GuidReservedPou">{d3b33740-87f9-45ed-aef6-96dbfe905694}</v>
+          <v n="GuidVisuGVL3">{6027f589-e862-4e70-8bda-b1f6dcc88244}</v>
+          <v n="GuidReservedPouInit">{1b24f182-395f-4ea6-a7af-a641e50c9369}</v>
+          <v n="GuidVisuGVL4">{936d864a-4e86-4cca-a278-9f184c70c713}</v>
+          <v n="GuidVisuGVL5">{efb3ce8f-5578-4c06-941f-d865b3bd4278}</v>
+          <v n="GuidLicenseGVL">{61ed01e0-c65d-4885-a6ec-1080f19366e4}</v>
+          <v n="GuidGlobalClientManagerGVL">{51f5291b-4d21-4500-8be2-ffa5b7eb3732}</v>
+          <v n="GuidVisuUserMgmtInitPou">{663b8360-f37f-41f1-b134-10b3d81ec558}</v>
+          <v n="GuidVisuUserMgmtInitPouInit">{ae4df67a-2450-4349-8566-64f336ffc50c}</v>
+          <v n="GuidBeforeCompileCommonGVL">{708a4250-04ba-4d8e-ba9c-5bf0805a22e3}</v>
+          <v n="GuidVisuGVL6">{100dd71a-7acf-4d8e-bcbe-6a73d96b5e03}</v>
+          <v n="GuidReservedPouMethod1">{314fab2d-76b1-40e4-a535-bb6aa30afe32}</v>
+          <v n="GuidReservedPouReInit">{9ef62e4a-1eab-4fe5-b3eb-b679d26630f0}</v>
+          <v n="GuidReservedPouMethod0">{af20bfc0-5c03-4702-878f-6c76e22ed779}</v>
+          <v n="GuidReservedPouMethod2">{381aba7e-1371-4431-87bf-d8db5b4b9d80}</v>
+        </o>
+      </Data>
+      <TypeList>
+        <Type n="ArrayList">System.Collections.ArrayList</Type>
+        <Type n="Boolean">System.Boolean</Type>
+        <Type n="CaseInsensitiveHashtable">{7df88604-7ac5-4e36-91c4-55e4fdad3e68}</Type>
+        <Type n="DeviceBasedHotkeyItem">{11a86981-4b02-4f98-b432-96e385cb41b7}</Type>
+        <Type n="DeviceBasedHotkeysProvider">{c91fc5aa-1e38-43b2-9a05-c52cc5d7f5b6}</Type>
+        <Type n="GenericFbDescription">{40d6dd8d-dfd0-493a-8e29-c9a35e1e6539}</Type>
+        <Type n="Guid">System.Guid</Type>
+        <Type n="HotkeyConfiguration">{6b108d46-58af-4e41-a3f4-174d8f160cc4}</Type>
+        <Type n="Int32">System.Int32</Type>
+        <Type n="Int64">System.Int64</Type>
+        <Type n="OverlaySupport">{05125339-dc8c-4673-b403-e21bec548370}</Type>
+        <Type n="String">System.String</Type>
+        <Type n="UnicodeSupport">{19611221-ebd3-4607-86d2-9822fbe84c30}</Type>
+        <Type n="VisualClientSizeMode">{c37fe731-4f69-4d98-82fe-4f9aefbe200d}</Type>
+        <Type n="VisualizationTargetProperties">{997fedbb-1888-4256-b61c-2933d8056bfd}</Type>
+        <Type n="VisualManagerObject">{4d3fdb8f-ab50-4c35-9d3a-d4bb9bb9a628}</Type>
+        <Type n="VisualManagerViewSettings">{ec9b2ec6-92a2-4856-be72-7866fb274c64}</Type>
+      </TypeList>
+    </XmlArchive>
+  </VisuManager>
+</TcPlcObject>