From fe28ade0fe7525fbdd6b6d45082bb2e583c82330 Mon Sep 17 00:00:00 2001
From: "m.heisig" <m.heisig@heisig-gmbh.de>
Date: Mon, 16 Mar 2026 14:38:10 +0100
Subject: [PATCH] First fix for Kuka robot

- Added test at end of Execute if job finished without errors
- Added test during starting if robot errors are still present
---
 PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU | 14 +++++++++++---
 1 file changed, 11 insertions(+), 3 deletions(-)

diff --git a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
index 7d558e4..fe26db8 100644
--- a/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
+++ b/PLC/01_Stationen/Kuka_Robot/FB_KukaRobot.TcPOU
@@ -291,7 +291,14 @@ END_IF
 		// Wait for robot to be done
 		IF awJobStatesFromRobot[0] = 0 THEN
 			stJobs.wJobNrForRobot := E_KukaRobot_JobNumberRobot.NO_JOB;
-			_eCmd := E_PackMLCmd.COMPLETE;
+			
+			// Job finished without errors
+			IF (dwErrorBits = 0) THEN
+				M_CmdComplete();
+			ELSE
+				M_CmdAbort();
+			END_IF
+			
 		END_IF
 END_CASE
 
@@ -356,7 +363,8 @@ END_IF
       <Declaration><![CDATA[METHOD PROTECTED M_Idle
 ]]></Declaration>
       <Implementation>
-        <ST><![CDATA[_stJobParams := stHMIInterface.stJobParams;]]></ST>
+        <ST><![CDATA[{warning disable C0371}
+_stJobParams := stHMIInterface.stJobParams;]]></ST>
       </Implementation>
     </Method>
     <Method Name="M_Resetting" Id="{dfe4d36a-80aa-4364-bfd8-6ddd41636d59}" FolderPath="StateMachine\">
@@ -435,7 +443,7 @@ CASE _iSSM OF
 			_eCmd := E_PackMLCmd.ABORT;
 		END_IF
 		
-		IF stState.bProAct THEN
+		IF stState.bProAct AND (dwErrorBits = 0) THEN
 			stCtrl.bExtStart := 0;
 			_tonTimeout(IN := FALSE);
 			M_StateComplete();