Matthias Heisig
3946e45c65
- Added PackML Base FB's - Added Unit Tests for PackML Base State Machine - Added Robot job numbers according to new interface - Added PLC job number for robot to call according to new interface - Change Robot to PackML interface
34 lines
878 B
XML
34 lines
878 B
XML
<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1">
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<POU Name="PRG_Main" Id="{e44f5145-cb67-4abd-8a28-92b41a0d9dbd}" SpecialFunc="None">
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<Declaration><![CDATA[PROGRAM PRG_Main
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VAR
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_fbRobot : FB_KukaRobot;
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_fbHVTester : FB_HVTester;
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_fbEtcher1 : FB_Etcher;
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_fbEtcher2 : FB_Etcher;
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_xFirstCycle : BOOL := TRUE;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[IF _xFirstCycle THEN
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_xFirstCycle := FALSE;
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END_IF
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_fbRobot(xExecute:= , eCMD:= , eCurrentState=> , eCurrentCMD=> );
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_fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers);
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_fbEtcher1(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
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_fbEtcher2(xOpenDoor:= GVL_SCADA.xOpenAllChambers);
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// Call safety program
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PRG_Safety(xConfirmAlarms := GVL_SCADA.xErrAck);
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// Reset alarm reset request
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GVL_SCADA.xErrAck := FALSE;]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject> |