437 lines
11 KiB
XML
437 lines
11 KiB
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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// ========
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// Stations
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// ========
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_fbRobot : FB_KukaRobot;
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_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
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_fbAligner : FB_Aligner;
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_fbEtcher1 : FB_Etcher;
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_fbEtcher2 : FB_Etcher;
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_fbHotplate : FB_Hotplate;
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_fbCoolplate : FB_Coolplate;
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_fbHVTesterHot : FB_HVTester;
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_fbHVTesterCold : FB_HVTester;
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_fbMediaCabinet : FB_MediaCabinet;
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_fbModbusMaster : FB_ModbusMaster;
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_fbFlowSensor : FB_Levi_LFC6IO;
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//_fbInput : FB_Input;
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//_fbNOK : FB_NOK;
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//_fbTrayFeederOutput : FB_TrayFeeder(sIPAddr := '192.168.1.11', udiPort := 5000);
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// =======================
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// DEBUG AND TESTING STUFF
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// =======================
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_xReadFullScale : BOOL;
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_xReleaseAlarms : BOOL;
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_stRobotCmd : ST_PMLc;
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_stRobotStatus : ST_PMLs;
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_stRobotAdmin : ST_PMLa;
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_stRobotJobParams : ST_KukaRobot_JobParams;
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_stUnitFeedbacks : ST_KukaRobot_UnitFeedbacks;
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stCamResult AT %I* : ST_TrayFeederCamPosData;
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_rtStopRobotFromSafety : R_TRIG;
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_xStartCycle : BOOL;
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_xStartTrigger : BOOL;
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_tofTriggerTime : TOF;
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xTriggerCamera AT %Q* : BOOL;
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_iState : INT;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[// Data from safety
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_xReleaseAlarms := PRG_Safety.xEStopOk;
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_rtStopRobotFromSafety(CLK := PRG_Safety.xStopRobot);
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IF _rtStopRobotFromSafety.Q THEN
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_stRobotCmd.eCntrlCmd := E_PackMLCmd.STOP;
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_stRobotCmd.xCmdChangeRequest := TRUE;
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END_IF
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_stUnitFeedbacks.xDoorEtcher1Open := _fbEtcher1.xDoorOpen;
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_stUnitFeedbacks.xDoorEtcher2Open := _fbEtcher2.xDoorOpen;
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_fbRobot(
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stCommand:= _stRobotCmd,
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stJobParams := _stRobotJobParams,
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stUnitFeedbacks := _stUnitFeedbacks,
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xReleaseAlarms:= _xReleaseAlarms,
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xConfirmAlarms:= GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
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stStatus => _stRobotStatus,
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stAdmin => _stRobotAdmin,
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stHMIInterface := GVL_SCADA.stMachine.stKukaRobot);
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IF _stRobotCmd.xCmdChangeRequest THEN
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_stRobotCmd.xCmdChangeRequest := FALSE;
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END_IF
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_fbHVTesterHot(xOpenChambers:= GVL_SCADA.xOpenAllChambers, stHMIInterface := GVL_SCADA.stMachine.stHVTesterHot);
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_fbHVTesterCold(xOpenChambers:= GVL_SCADA.xOpenAllChambers, stHMIInterface := GVL_SCADA.stMachine.stHVTesterCold);
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_fbEtcher1(
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xOpenDoor:= GVL_SCADA.xOpenAllChambers,
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xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher1,
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xReleaseAlarms := _xReleaseAlarms,
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xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
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stHMIInterface := GVL_SCADA.stMachine.stEtcher1);
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_fbEtcher2(
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xOpenDoor:= GVL_SCADA.xOpenAllChambers,
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xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher2,
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xReleaseAlarms := _xReleaseAlarms,
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xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
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stHMIInterface := GVL_SCADA.stMachine.stEtcher2);
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_fbTrayFeederInput(
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stCommand:= ,
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xReleaseAlarms := _xReleaseAlarms,
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xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
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stHMIInterface := GVL_SCADA.stMachine.stTrayFeederIn);
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// _fbTrayFeederOut(
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// stCommand:= ,
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// xReleaseAlarms := _xReleaseAlarms,
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// xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
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// stStatus=> GVL_SCADA.stTrayFeederInputState,
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// stAdmin=> GVL_SCADA.stTRayFeederInputAdmin,
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// stHMIInterface := GVL_SCADA.stMachine.stTrayFeederOut);
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_fbHotplate(stHMIInterface := GVL_SCADA.stMachine.stHotplate);
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_fbCoolplate(stHMIInterface := GVL_SCADA.stMachine.stCoolplate);
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_fbAligner(stCommand:= , stStatus=> , stAdmin=> , xConfirmAlarms:= GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest, stHMIInterface := GVL_SCADA.stMachine.stAligner);
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_fbMediaCabinet(
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xReleaseManualMode := TRUE,
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xReleaseErrors := _xReleaseAlarms,
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xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
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stHMIInterface := GVL_SCADA.stMachine.stMediaCabinet);
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// Call safety program
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PRG_Safety(
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xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
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xRobotStopped := (_stRobotStatus.eStateCurrent <> E_PackMLState.EXECUTE));
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// Handle robot cmds
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M_HandleRobotCmd();
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// DEBUG
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//_fbModbusMaster();
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// IF _xReadFullScale THEN
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// _xReadFullScale := FALSE;
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//
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// _fbFlowSensor(
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// byBaseAddr:= ,
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// xReleaseAlarms:= ,
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// xConfirmAlarms:= ,
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// fbMBMaster:= ,
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// rCurrFlowrate=> ,
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// xBusy=> ,
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// xDone=> ,
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// xError=> );
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// END_IF
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// Main state machine
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CASE _iState OF
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0: // Idle
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IF _xStartCycle THEN
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_xStartCycle := FALSE;
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// Only start with robot in idle then put into aligner
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IF _stRobotStatus.eStateCurrent = E_PackMLState.IDLE THEN
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_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
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_fbRobot.M_CmdStart();
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_iState := 10;
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END_IF
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END_IF
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// Wait for part in aligner
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10:
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IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
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_fbAligner.M_CmdStart();
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_iState := 20;
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END_IF
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// Job aborted
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// IF (_stRobotStatus.eStateCurrent = E_PackMLState.ABORTED) OR (_stRobotStatus.eStateCurrent = E_PackMLState.STOPPED) THEN
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// _iState := 900;
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// END_IF
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// Wait for aligner to be done then get it with the robot
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20:
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IF (_fbAligner.stStatus.eStateCurrent = E_PackMLState.COMPLETED) THEN
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_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ALIGNER;
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_fbRobot.M_CmdStart();
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_iState := 40;
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END_IF
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// Get from aligner done, reset aligner
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40:
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IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
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_fbAligner.M_CmdReset();
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_iState := 45;
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END_IF
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45: // Wait for start to put into etcher
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IF _xStartCycle THEN
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_xStartCycle := FALSE;
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_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ETCHER1;
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_fbRobot.M_CmdStart();
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_iState := 50;
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END_IF
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// Wait for robot to be done
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50:
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IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
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_iState := 60;
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END_IF
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// Wait for start then get it from the etcher
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60:
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IF _xStartCycle THEN
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_xStartCycle := FALSE;
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_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ETCHER1;
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_fbRobot.M_CmdStart();
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_iState := 70;
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END_IF
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// Done with getting it from the etcher
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70:
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IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
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_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
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_fbRobot.M_CmdStart();
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_iState := 10;
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END_IF
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ELSE
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// Nothing to do here
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;
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END_CASE
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// =====
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// DEBUG
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// =====
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_tofTriggerTime(IN := _xStartTrigger, PT := T#1S);
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IF _xStartTrigger THEN
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_xStartTrigger := FALSE;
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END_IF
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xTriggerCamera := _tofTriggerTime.Q;
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// Reset alarm reset request
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GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest := FALSE;]]></ST>
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</Implementation>
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<Method Name="M_HandleRobotCmd" Id="{14934aaa-b667-4ddb-915d-1d84e8eb799d}">
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<Declaration><![CDATA[METHOD PRIVATE M_HandleRobotCmd
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VAR_INST
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_iState : INT;
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_tonTimeout : TON;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[// Handle robot commands to plc
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CASE _iState OF
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// Wait for command
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0:
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_fbRobot.xAckPLCCmd := FALSE;
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IF _fbRobot.xNewCmdRequested THEN
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_tonTimeout(IN := FALSE);
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_fbRobot.xAckPLCCmd := FALSE;
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_fbRobot.xPLCJobFailed := FALSE;
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_iState := 10;
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END_IF
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// Do command
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10:
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CASE _fbRobot.eCmdFromRobot OF
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E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ALIGNER:
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_fbAligner.xEnableVacuum := TRUE;
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// Check for timeout
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_tonTimeout(IN := TRUE, PT := T#10S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF _fbAligner.xVacuumEnabled THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ALIGNER:
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_fbAligner.xEnableVacuum := FALSE;
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// Check for timeout
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_tonTimeout(IN := TRUE, PT := T#10S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF (NOT _fbAligner.xVacuumEnabled) THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ETCHER1:
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_fbEtcher1.xEnableVacuum := TRUE;
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// Check for timeout
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_tonTimeout(IN := TRUE, PT := T#20S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF _fbEtcher1.xVacuumEnabled THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ETCHER1:
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_fbEtcher1.xEnableVacuum := FALSE;
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// Check for timeout
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_tonTimeout(IN := TRUE, PT := T#20S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF (NOT _fbEtcher1.xVacuumEnabled) THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ETCHER2:
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_fbEtcher2.xEnableVacuum := TRUE;
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// Check for timeout
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_tonTimeout(IN := TRUE, PT := T#20S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF _fbEtcher2.xVacuumEnabled THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ETCHER2:
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_fbEtcher2.xEnableVacuum := FALSE;
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// Check for timeout
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_tonTimeout(IN := TRUE, PT := T#20S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF (NOT _fbEtcher2.xVacuumEnabled) THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.UNLOCK_CHUCK_ETCHER1:
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_fbEtcher1.xOpenChuckClamp := TRUE;
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// Check FOR timeout
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_tonTimeout(IN := TRUE, PT := T#10S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF _fbEtcher1.xChuckClampOpen THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.LOCK_CHUCK_ETCHER1:
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_fbEtcher1.xOpenChuckClamp := FALSE;
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// Check FOR timeout
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_tonTimeout(IN := TRUE, PT := T#10S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF (NOT _fbEtcher1.xChuckClampOpen) THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.UNLOCK_CHUCK_ETCHER2:
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_fbEtcher2.xOpenChuckClamp := TRUE;
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// Check FOR timeout
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_tonTimeout(IN := TRUE, PT := T#10S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF _fbEtcher2.xChuckClampOpen THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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E_KukaRobot_JobNumerPLC.LOCK_CHUCK_ETCHER2:
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_fbEtcher2.xOpenChuckClamp := FALSE;
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// Check FOR timeout
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_tonTimeout(IN := TRUE, PT := T#10S);
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IF _tonTimeout.Q THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_fbRobot.xPLCJobFailed := TRUE;
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_iState := 0;
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END_IF
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IF (NOT _fbEtcher2.xChuckClampOpen) THEN
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_fbRobot.xAckPLCCmd := TRUE;
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_iState := 0;
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END_IF
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ELSE
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_iState := 90;
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END_CASE
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ELSE
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// Nothing to do here
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;
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END_CASE]]></ST>
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</Implementation>
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</Method>
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</POU>
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</TcPlcObject> |