_stRobotStatus, stAdmin => _stRobotAdmin, xReady=> , xError=> ); IF _stRobotCmd.xCmdChangeRequest THEN _stRobotCmd.xCmdChangeRequest := FALSE; END_IF _fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers); _fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers); _fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers); // Call safety program PRG_Safety(xConfirmAlarms := GVL_SCADA.xErrAck); // ===== // 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]]>