Implemented stuff to get ready for jet measurement

PLC/01_Stationen/Etcher/FB_Etcher.TcPOU

@@ -77,11 +77,26 @@ VAR
 	// =========
 	
 	_fbRobot : FB_Mecademics;
+	_fbSpinner : FB_AxisPTP;
 	
 	xDisableVacuum AT %Q* : BOOL;
 	
+	_fbValveEnableFilmetch : FB_Valve('');
+	
+	_stValveConfig : ST_ValveConfig;
+	
+	
 	// Internals
 	_xOpenChuckClamp : BOOL;
+	_xEjectChuck : BOOL;
+	
+	// Debug
+	_iState : INT;
+	_xEnableSpinner : BOOL;
+	_lrSpinnerVelo : LREAL := 36.0;
+	_xAllCompRetracted : BOOL;
+	_xChuckRemoved : BOOL;
+	_xReleaseChuck : BOOL;
 END_VAR
 ]]></Declaration>
     <Implementation>
@@ -104,7 +119,7 @@ ELSE
 END_IF
 
 // Todo bessere implementierung finden
-_xOpenChuckClamp := xOpenChuckClamp OR stHMIInterface.stChuckUnlockCmd.xRequest;
+//_xOpenChuckClamp := xOpenChuckClamp OR stHMIInterface.stChuckUnlockCmd.xRequest;
 
 _fbUnlockLeft( 
 	xAutomaticOpen:= _xOpenChuckClamp, 
@@ -123,7 +138,7 @@ _fbUnlockRight(
 	stHMIInterface:= stHMIInterface.stChuckUnlockRight);
 	
 _fbEjectFront( 
-	xAutomaticOpen:= _tpEjectChuck.Q, 
+	xAutomaticOpen:= _xEjectChuck, 
 	xReleaseErrors:= xReleaseAlarms, 
 	stValveConfig:= _stValveClampingFrontCfg, 
 	xReleaseManualMode:= xReleaseManualMode, 
@@ -131,20 +146,143 @@ _fbEjectFront(
 	stHMIInterface:= stHMIInterface.stChuckEjectFront);
 	
 _fbEjectBack( 
-	xAutomaticOpen:= _tpEjectChuck.Q, 
+	xAutomaticOpen:= _xEjectChuck, 
 	xReleaseErrors:= xReleaseAlarms, 
 	stValveConfig:= _stValveEjectBackCfg, 
 	xReleaseManualMode:= xReleaseManualMode, 
 	xConfirmAlarms:= xConfirmAlarms, 
 	stHMIInterface:= stHMIInterface.stChuckEjectBack);
 	
+_xAllCompRetracted := _fbUnlockLeft.IsClosed AND _fbUnlockRight.IsClosed AND _fbEjectFront.IsClosed AND _fbEjectBack.IsClosed;
+	
+_fbSpinner(
+	xEnable:= _xEnableSpinner, 
+	xEnablePositive:= _xEnableSpinner AND _xAllCompRetracted, 
+	xEnableNegative:= _xEnableSpinner AND _xAllCompRetracted, 
+	rOverride:= 100.0, 
+	lrVelocity:= _lrSpinnerVelo, 
+	xConfirmAlarms:= xConfirmAlarms);
+	
 xDisableVacuum := (NOT xEnableVacuum);
 
 _fbRobot(stPackMLHMIInterface := stHMIInterface.stMecaCmds);
 
+_fbValveEnableFilmetch(
+	xReleaseErrors:= xReleaseAlarms, 
+	stValveConfig:= _stValveConfig, 
+	xReleaseManualMode:= xReleaseManualMode,
+	xConfirmAlarms := xConfirmAlarms, 
+	stHMIInterface:= stHMIInterface.stValveFilmetch);
+
 // Call base sm
 SUPER^(stPackMLHMIInterface := stHMIInterface.stStationCmds);
 
+// Einbaulage Baumer
+// 35 deg
+
+// =====
+// Debug
+// =====
+
+CASE _iState OF
+	// Idle
+	0:
+		IF _xReleaseChuck THEN
+			_xReleaseChuck := FALSE;
+			_iState := 5;
+		END_IF
+		
+	// Enable spinner
+	5:
+		_xEnableSpinner := TRUE;
+		IF _fbSpinner.xEnabled THEN
+			_iState := 6;
+		END_IF
+		
+	// Start moving to zero position
+	6:
+		_fbSpinner.M_MoveModulo(lrTargetPos := 0.0, eMoveDirection := BC.MC_Direction.MC_Shortest_Way);
+		_iState := 11;
+		
+	// Move to zero position
+	11:
+		IF _fbSpinner.xDone THEN
+			_iState := 12;
+		END_IF
+		
+		IF _fbSpinner.xError THEN
+			_iState := 900;
+		END_IF
+		
+	// Disable axis
+	12:
+		_xEnableSpinner := FALSE;
+		IF (NOT _fbSpinner.xEnabled) THEN
+			_iState := 13;
+		END_IF
+		
+	// Release clamping
+	13:
+		_xOpenChuckClamp := TRUE;
+		
+		IF _fbUnlockLeft.IsOpen AND _fbUnlockRight.IsOpen THEN
+			_iState := 14;
+		END_IF
+		
+		IF _fbUnlockLeft.xError OR _fbUnlockRight.xError THEN
+			_iState := 900;
+		END_IF
+		
+	// Eject the cuck
+	14:
+		_xEjectChuck := TRUE;
+		
+		IF _fbEjectFront.IsOpen AND _fbEjectBack.IsOpen THEN
+			_iState := 15;
+		END_IF
+		
+		IF _fbEjectFront.xError OR _fbEjectBack.xError THEN
+			_iState := 900;
+		END_IF
+		
+	// Retract ejectors
+	15:
+		_xEjectChuck := FALSE;
+		
+		IF _fbEjectFront.IsClosed AND _fbEjectBack.IsClosed THEN
+			_iState := 16;
+		END_IF
+		
+		IF _fbEjectFront.xError OR _fbEjectBack.xError THEN
+			_iState := 900;
+		END_IF
+		
+	// Wait for Chuck to be remove
+	16:
+		IF _xChuckRemoved THEN
+			_xChuckRemoved := FALSE;
+			_iState := 17;
+		END_IF
+		
+	// Retract release pins
+	17:
+		_xOpenChuckClamp := FALSE;
+		
+		IF _fbUnlockLeft.IsClosed AND _fbUnlockRight.IsClosed THEN
+			_iState := 0;
+		END_IF
+		
+		IF _fbUnlockLeft.xError OR _fbUnlockRight.xError THEN
+			_iState := 900;
+		END_IF
+	
+	// Error state
+	900:
+		IF xConfirmAlarms THEN
+			_iState := 0;
+		END_IF
+END_CASE
+
 // Copy internal signals to output
 xDoorOpen := _fbValveDoor.IsOpen;
 xChuckClampOpen := _fbUnlockLeft.IsOpen AND _fbUnlockRight.IsOpen;
@@ -167,7 +305,52 @@ END_VAR
 _stSMConfig.xCompletingDisabled := TRUE;
 _stSMConfig.xCompletedDisabled := TRUE;
 
-_stSMConfig.xAbortingDisabled := TRUE;]]></ST>
+_stSMConfig.xAbortingDisabled := TRUE;
+
+// Valve config
+_stValveConfig.xHasOpenFeedback := FALSE;
+_stValveConfig.xHasClosedFeedback := FALSE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_JetMeasurement" Id="{5ffd6d61-d32b-40d9-aa63-25591d7cd8df}">
+      <Declaration><![CDATA[METHOD PRIVATE M_JetMeasurement
+VAR_INPUT
+	xExecute : BOOL;
+END_VAR
+VAR_OUTPUT
+	xDone : BOOL;
+	xError : BOOL;
+END_VAR
+VAR_INST
+	_iState : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[CASE _iState OF
+	// Idle
+	0:
+		IF xExecute THEN
+			xDone := FALSE;
+			xError := FALSE;
+			_iState := 10;
+		END_IF
+		
+	// Check if robot is in safe position
+		
+	// Enable equipment and move robot to measurement position
+		
+	// Wait for equipment and robot to be ready
+	
+	// Enable nozzle
+	
+	// Check measurement and calculate offset
+	
+	// Move Robot to new position
+	
+	// Check measurement again
+	
+	// Move to safe position
+END_CASE]]></ST>
       </Implementation>
     </Method>
   </POU>

PLC/01_Stationen/Etcher/ST_HMI_Etcher.TcDUT

@@ -33,6 +33,9 @@ STRUCT
 	
 	// Chuck eject command
 	stChuckEjectCmd : ST_HMI_CONTROL_BUTTON;
+	
+	// Filmetch valve
+	stValveFilmetch : ST_HMI_VALVE_DATA;
 END_STRUCT
 END_TYPE
 ]]></Declaration>