Robot job to do // 1 -> PLC job which is finished _uJobs AT %Q* : U_KukaRobot_Jobs; // 0 - Greifer nummer // 1 - Drehteller Nummer // 2 - Position Heizplatte // 3 - Position Kuehlplatte _abToolsAndPositions AT %Q* : ARRAY[0..3] OF BYTE; // Positions in um _diOffsetPosX AT %Q* : DINT; _diOffsetPosY AT %Q* : DINT; _diThickness AT %Q* : DINT; // Inputs _uState AT %I* : U_KukaRobot_State; _dwErrorBits AT %I* : DWORD; _awJobStatesFromRobot AT %I* : ARRAY[0..1] OF WORD; _dwJobForPLC AT %I* : DWORD; _abMirrorToolsAndPositions AT %I* : ARRAY[0..3] OF BYTE; // Position mirrors _diMirrorOffsetPosX AT %I* : DINT; _diMirrorOffsetPosY AT %I* : DINT; _diMirrorThickness AT %I* : DINT; // Motortemperaturen _asiMotorTemps1To4 AT %I* : ARRAY[0..3] OF SINT; _asiMotorTemps5To8 AT %I* : ARRAY[0..3] OF SINT; END_VAR VAR CONSTANT // Bit indices for robot interface NOT_DISABLE_AXES : USINT := 0; ENABLE_AXES : USINT := 1; ENABLE_MOVE : USINT := 2; CONF_MESS : USINT := 3; // Array indices for Job interface ROBOT_JOB : USINT := 0; PLC_JOB_FINISHED : USINT := 1; // Array indices for tools and plate positions GRIPPER_NR : USINT := 0; TURN_TABLE_NR : USINT := 1; HEATING_PLATE_POS : USINT := 2; COOLING_PLATE_POS : USINT := 3; END_VAR ]]> 0.001mm // Zur Sicherheit im T2 Zustand die Fahrfreigabe wegnehmen (da standardpasswort bleibt) // Call isa88 base state machine SUPER^();]]>