Heisig_GmbH/infineon_plc
1
0
Fork 0
Code Issues Activity

More Meca implementation

Browse Source
This commit is contained in:
Matthias Heisig
2026-03-02 10:14:52 +01:00
parent 13444a149c
commit dbfa6fc7cc
26 changed files with 3994 additions and 105 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
PLC/01_Stationen/Etcher/Mecademics/DUTs/E_Meca_Cmds.TcDUT
View File

@@ -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>

14
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_Configurations.TcDUT Normal file
View File

@@ -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>

17
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_DynamicData.TcDUT Normal file
View File

@@ -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>

16
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_EndEffectorPose.TcDUT Normal file
View File

@@ -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>

0
PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_MotionStatus.TcDUT → PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_MotionStatus.TcDUT
View File

0
PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_RobotStatus.TcDUT → PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_RobotStatus.TcDUT
View File

13
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_RobotTimestamp.TcDUT Normal file
View File

@@ -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>

95
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_SafetyStatus.TcDUT Normal file
View File

@@ -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>

4
PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_JointSet.TcDUT → PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Inpus/ST_Meca_SubIndex.TcDUT
View File

@@ -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;

12
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_BreaksControl.TcDUT Normal file
View File

@@ -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>

15
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_MotionControl.TcDUT Normal file
View File

@@ -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>

17
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_Move.TcDUT Normal file
View File

@@ -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>

21
PLC/01_Stationen/Etcher/Mecademics/DUTs/Meca500_Outputs/ST_Meca_RobotControl.TcDUT Normal file
View File

@@ -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>

23
PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_Inputs.TcDUT Normal file
View File

@@ -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>

19
PLC/01_Stationen/Etcher/Mecademics/DUTs/ST_Meca_Outputs.TcDUT Normal file
View File

@@ -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>

291
PLC/01_Stationen/Etcher/Mecademics/FB_Mecademics.TcPOU
View File

@@ -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>