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>