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
155 lines
3.8 KiB
XML
155 lines
3.8 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="FB_KukaRobot" Id="{6ca3e82a-4047-4132-872d-1f49057f08d6}" SpecialFunc="None">
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<Declaration><![CDATA[// Positionen in um <=> 0.001mm
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FUNCTION_BLOCK FINAL FB_KukaRobot EXTENDS FB_PackMLGeneric
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VAR_INPUT
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xConfirmAlarms : BOOL;
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END_VAR
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VAR_OUTPUT
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xReady : BOOL;
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xError : BOOL;
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END_VAR
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VAR
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// 0 - Nicht aus
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// 1 - Enable
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// 2 - Enable move
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// 3 - Conf_Mess (Reset)
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_uCtrl AT %Q* : U_KukaRobot_Ctrl;
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// 0 -> Robot job to do
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// 1 -> PLC job which is finished
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_uJobs AT %Q* : U_KukaRobot_Jobs;
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// 0 - Greifer nummer
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// 1 - Drehteller Nummer
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// 2 - Position Heizplatte
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// 3 - Position Kuehlplatte
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_abToolsAndPositions AT %Q* : ARRAY[0..3] OF BYTE;
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// Positions in um
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_diOffsetPosX AT %Q* : DINT;
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_diOffsetPosY AT %Q* : DINT;
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_diThickness AT %Q* : DINT;
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// Inputs
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_uState AT %I* : U_KukaRobot_State;
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_dwErrorBits AT %I* : DWORD;
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_awJobStatesFromRobot AT %I* : ARRAY[0..1] OF WORD;
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_dwJobForPLC AT %I* : DWORD;
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_abMirrorToolsAndPositions AT %I* : ARRAY[0..3] OF BYTE;
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// Position mirrors
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_diMirrorOffsetPosX AT %I* : DINT;
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_diMirrorOffsetPosY AT %I* : DINT;
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_diMirrorThickness AT %I* : DINT;
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// Motortemperaturen
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_asiMotorTemps1To4 AT %I* : ARRAY[0..3] OF SINT;
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_asiMotorTemps5To8 AT %I* : ARRAY[0..3] OF SINT;
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_eRobotJob : E_KukaRobot_JobNumberRobot;
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_ePlcJob :E_KukaRobot_JobNumerPLC;
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_xRobotReady : BOOL;
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_xError : BOOL;
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// ======
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// Alarms
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// ======
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_fbAlarmNotInExtMode : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.RobotNotInExtMode, xWithConfirmation := FALSE);
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_fbAlarmEStopActive : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.RobotEStopActive, xWithConfirmation := FALSE);
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_fbAlarmOperatorSafetyNotOk : FB_AlarmMessage(stEventEntry := TC_EVENTS.RobotEvents.OperatorSafetyNotOk, xWithConfirmation := FALSE);
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[// =============
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// Handle alarms
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// =============
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_fbAlarmNotInExtMode(
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xActive:= (NOT _uState.stState.bExt),
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xRelease:= TRUE,
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xAcknowledge:= xConfirmAlarms,
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timOnDelay:= T#0S,
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timOffDelay:= T#0S);
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_fbAlarmEStopActive(
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xActive:= (NOT _uState.stState.bAlarmStop),
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xRelease:= TRUE,
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xAcknowledge:= xConfirmAlarms,
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timOnDelay:= T#0S,
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timOffDelay:= T#0S);
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_fbAlarmOperatorSafetyNotOk(
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xActive:= (NOT _uState.stState.bUserSAF),
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xRelease:= TRUE,
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xAcknowledge:= xConfirmAlarms,
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timOnDelay:= T#0S,
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timOffDelay:= T#0S);
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// =======================
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// Check if robot is ready
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// =======================
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_xRobotReady := _uState.stState.bExt
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AND _uState.stState.bAlarmStop
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AND _uState.stState.bUserSAF
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AND _uState.stState.bPeriRdy
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AND _uState.stState.bIOActConf
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AND (NOT _uState.stState.bStopMess);
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// =============================
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// Call isa88 base state machine
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// =============================
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SUPER^();
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// ==============================
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// Handle general control outputs
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// ==============================
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// Allow robot to be moved with programming pendant
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_uCtrl.stCtrl.bNotDisableAxes := 1;
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// Disable move if in T2 for safety reasons
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IF (NOT _uState.stState.bT2) THEN
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_uCtrl.stCtrl.bEnableMove := 1;
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ELSE
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_uCtrl.stCtrl.bEnableMove := 0;
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END_IF
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// ==================
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// Write job outputs
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// ==================
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_uJobs.stJobs.wJobNrForRobot := _eRobotJob;
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_uJobs.stJobs.wFinishedJobNrFromPlc := _ePlcJob;
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// =================
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// Write fb outputs
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// =================
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xReady := _xRobotReady;
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xError := _xError;]]></ST>
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</Implementation>
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<Method Name="M_Idle" Id="{025437ab-beb0-4ad6-bdc3-468dec599ff4}">
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<Declaration><![CDATA[METHOD M_Idle
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[_uCtrl.stCtrl.bConfMess := 0;
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_eRobotJob := E_KukaRobot_JobNumberRobot.NO_JOB;
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_ePlcJob := E_KukaRobot_JobNumerPLC.NO_JOB;
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]]></ST>
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</Implementation>
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</Method>
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</POU>
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</TcPlcObject> |