m.heisig
67ba80893f
- Modified PackML state machine to be able to disable unused states - Added PackTag datatypes for recipe handling - Started recipe parameter description in json file - Added schema file for recipe json - Added state machine drawing for packml
83 lines
1.7 KiB
XML
83 lines
1.7 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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_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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_stRobotCmd : ST_PMLc;
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_xConfirmAlarms : BOOL;
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_xClear : BOOL;
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_xReset : BOOL;
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_xStart : BOOL;
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_stRobotStatus : ST_PMLs;
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_stRobotAdmin : ST_PMLa;
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_xFirstCycle : BOOL := TRUE;
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_stRecipeGripperChange : ST_PackMLRecipe := (
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diID := 0,
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sName := 'Change gripper'
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);
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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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IF _xClear THEN
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_xClear := FALSE;
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_stRobotCmd.eCntrlCmd := E_PackMLCmd.CLEAR;
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_stRobotCmd.xCmdChangeRequest := TRUE;
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END_IF
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IF _xReset THEN
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_xReset := FALSE;
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_stRobotCmd.eCntrlCmd := E_PackMLCmd.RESET;
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_stRobotCmd.xCmdChangeRequest := TRUE;
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END_IF
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IF _xStart THEN
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_xStart := FALSE;
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_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
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_stRobotCmd.xCmdChangeRequest := TRUE;
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END_IF
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_fbRobot(
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stCommand:= _stRobotCmd,
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xReleaseAlarms:= TRUE,
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xConfirmAlarms:= _xConfirmAlarms,
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stStatus => _stRobotStatus,
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stAdmin => _stRobotAdmin,
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xReady=> ,
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xError=> );
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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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_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;
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IF _xConfirmAlarms THEN
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_xConfirmAlarms := FALSE;
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END_IF]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject> |