_stRobotStatus, stAdmin => _stRobotAdmin, xReady=> , xError=> ); IF _stRobotCmd.xCmdChangeRequest THEN _stRobotCmd.xCmdChangeRequest := FALSE; END_IF _fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers); _fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers, xConfirmAlarms := GVL_SCADA.xErrAck); _fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers, xConfirmAlarms := GVL_SCADA.xErrAck); // _fbTrayFeederInput( // stCommand:= , // xConfirmAlarms := GVL_SCADA.xErrAck, // stStatus=> GVL_SCADA.stTrayFeederInputState, // stAdmin=> GVL_SCADA.stTRayFeederInputAdmin); _fbHeatCoolPlates(xConfirmAlarms:= GVL_SCADA.xErrAck); // Call safety program PRG_Safety( xConfirmAlarms := GVL_SCADA.xErrAck, xRobotStopped := (_stRobotStatus.eStateCurrent <> E_PackMLState.EXECUTE)); // ===== // DEBUG // ===== _tofTriggerTime(IN := _xStartTrigger); IF _xStartTrigger THEN _xStartTrigger := FALSE; END_IF _xTriggerCamera := _tofTriggerTime.Q; // Reset alarm reset request GVL_SCADA.xErrAck := FALSE; IF _xConfirmAlarms THEN _xConfirmAlarms := FALSE; END_IF]]>