Heisig_GmbH/infineon_plc
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c1850f780b0ff457bd7d91cdfa6950a2fb1886d0
infineon_plc/PLC/00_Main/PRG_Main.TcPOU
m.heisig c1850f780b First bigger step to automation 
- Aligned X and Y NC Axis with aligner camera coordination system
- Added robot plc jobs and feedback
- Began Meca500 robot interface
- Changed hotplate control to slow PWM
- PackML statemachine now starts in aborted state
- Fixed StateML start method
2026-02-04 19:31:13 +01:00

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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1">
<POU Name="PRG_Main" Id="{e44f5145-cb67-4abd-8a28-92b41a0d9dbd}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM PRG_Main
VAR
_fbRobot : FB_KukaRobot;
_fbHVTester : FB_HVTester;
_fbEtcher1 : FB_Etcher;
_fbEtcher2 : FB_Etcher;
_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
_fbHeatCoolPlates : FB_HeatCoolPlates;
_fbAligner : FB_Aligner;
_xConfirmAlarms : BOOL;
_stRobotCmd : ST_PMLc;
_stRobotStatus : ST_PMLs;
_stRobotAdmin : ST_PMLa;
_stRobotJobParams : ST_KukaRobot_JobParams;
_stUnitFeedbacks : ST_KukaRobot_UnitFeedbacks;
_stCamResult AT %I* : ST_TrayFeederCamPosData;
_rtStopRobotFromSafety : R_TRIG;
// DEBUG commands
_xClear : BOOL;
_xReset : BOOL;
_xStart : BOOL;
_xHold : BOOL;
_xUnhold : BOOL;
_xStop : BOOL;
_xStartCycle : BOOL;
_xStartTrigger : BOOL;
_tofTriggerTime : TOF := (PT := T#1S);
_xTriggerCamera AT %Q* : BOOL;
_iState : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF _xClear THEN
_xClear := FALSE;
_fbRobot.M_Clear();
END_IF
IF _xReset THEN
_xReset := FALSE;
_fbRobot.M_Reset();
END_IF
IF _xStart THEN
_xStart := FALSE;
_fbRobot.M_Start();
END_IF
IF _xHold THEN
_xHold := FALSE;
_fbRobot.M_Hold();
END_IF
IF _xUnhold THEN
_xUnhold := FALSE;
_fbRobot.M_Unhold();
END_IF
IF _xStop THEN
_xStop := FALSE;
_fbRobot.M_Stop();
END_IF
_rtStopRobotFromSafety(CLK := PRG_Safety.xStopRobot);
IF _rtStopRobotFromSafety.Q THEN
_stRobotCmd.eCntrlCmd := E_PackMLCmd.STOP;
_stRobotCmd.xCmdChangeRequest := TRUE;
END_IF
_stUnitFeedbacks.xDoorEtcher1Open := _fbEtcher1.xDoorOpen;
_stUnitFeedbacks.xDoorEtcher2Open := _fbEtcher2.xDoorOpen;
_fbRobot(
stCommand:= _stRobotCmd,
stJobParams := _stRobotJobParams,
stUnitFeedbacks := _stUnitFeedbacks,
xReleaseAlarms:= TRUE,
xConfirmAlarms:= GVL_SCADA.xErrAck,
stStatus => _stRobotStatus,
stAdmin => _stRobotAdmin,
xReady=> ,
xError=> );
IF _stRobotCmd.xCmdChangeRequest THEN
_stRobotCmd.xCmdChangeRequest := FALSE;
END_IF
_fbHVTester(xOpenChambers:= GVL_SCADA.xOpenAllChambers);
_fbEtcher1(
xOpenDoor:= GVL_SCADA.xOpenAllChambers,
xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher1,
xConfirmAlarms := GVL_SCADA.xErrAck);
_fbEtcher2(
xOpenDoor:= GVL_SCADA.xOpenAllChambers,
xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher2,
xConfirmAlarms := GVL_SCADA.xErrAck);
_fbTrayFeederInput(
stCommand:= ,
xConfirmAlarms := GVL_SCADA.xErrAck,
stStatus=> GVL_SCADA.stTrayFeederInputState,
stAdmin=> GVL_SCADA.stTRayFeederInputAdmin);
_fbHeatCoolPlates(xConfirmAlarms:= GVL_SCADA.xErrAck);
_fbAligner(stCommand:= , stStatus=> , stAdmin=> , xConfirmAlarms:= GVL_SCADA.xErrAck);
// Call safety program
PRG_Safety(
xConfirmAlarms := GVL_SCADA.xErrAck,
xRobotStopped := (_stRobotStatus.eStateCurrent <> E_PackMLState.EXECUTE));
// Handle robot cmds
M_HandleRobotCmd();
// Main state machine
CASE _iState OF
0: // Idle
IF _xStartCycle THEN
_xStartCycle := FALSE;
// Only start with robot in idle
IF _stRobotStatus.eStateCurrent = E_PackMLState.IDLE THEN
_iState := 10;
END_IF
END_IF
// Grab from position 1
10:
// Prepare robot command
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_INPUT;
_stRobotJobParams.rPosX := 88.0;
_stRobotJobParams.rPosY := 79.0;
_stRobotJobParams.byGripperSide := 3;
_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
_stRobotCmd.xCmdChangeRequest := TRUE;
_iState := 20;
// Wait for Robot to be done
20:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_iState := 30;
END_IF
// Job aborted
IF (_stRobotStatus.eStateCurrent = E_PackMLState.ABORTED) OR (_stRobotStatus.eStateCurrent = E_PackMLState.STOPPED) THEN
_iState := 900;
END_IF
// Put part onto aligner
30:
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
_stRobotCmd.eCntrlCmd := E_PackMLCmd.START;
_stRobotCmd.xCmdChangeRequest := TRUE;
_iState := 40;
// Align blank
40:
END_CASE
// =====
// 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]]></ST>
</Implementation>
<Method Name="M_HandleRobotCmd" Id="{14934aaa-b667-4ddb-915d-1d84e8eb799d}">
<Declaration><![CDATA[METHOD PRIVATE M_HandleRobotCmd
VAR_INST
_iState : INT;
_tonTimeout : TON;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[// Handle robot commands to plc
CASE _iState OF
// Wait for command
0:
_fbRobot.xAckPLCCmd := FALSE;
IF _fbRobot.xNewCmdRequested THEN
_tonTimeout(IN := FALSE);
_fbRobot.xAckPLCCmd := FALSE;
_fbRobot.xPLCJobFailed := FALSE;
_iState := 10;
END_IF
// Do command
10:
CASE _fbRobot.eCmdFromRobot OF
E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ALIGNER:
_fbAligner.xEnableVacuum := TRUE;
// Check for timeout
_tonTimeout(IN := TRUE, PT := T#10S);
IF _tonTimeout.Q THEN
_fbRobot.xAckPLCCmd := TRUE;
_fbRobot.xPLCJobFailed := TRUE;
_iState := 0;
END_IF
IF _fbAligner.xVacuumEnabled THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ALIGNER:
_fbAligner.xEnableVacuum := FALSE;
// Check for timeout
_tonTimeout(IN := TRUE, PT := T#10S);
IF _tonTimeout.Q THEN
_fbRobot.xAckPLCCmd := TRUE;
_fbRobot.xPLCJobFailed := TRUE;
_iState := 0;
END_IF
IF (NOT _fbAligner.xVacuumEnabled) THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ETCHER1:
_fbEtcher1.xEnableVacuum := TRUE;
// Check for timeout
_tonTimeout(IN := TRUE, PT := T#20S);
IF _tonTimeout.Q THEN
_fbRobot.xAckPLCCmd := TRUE;
_fbRobot.xPLCJobFailed := TRUE;
_iState := 0;
END_IF
IF _fbEtcher1.xVacuumEnabled THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ETCHER1:
_fbEtcher1.xEnableVacuum := FALSE;
// Check for timeout
_tonTimeout(IN := TRUE, PT := T#20S);
IF _tonTimeout.Q THEN
_fbRobot.xAckPLCCmd := TRUE;
_fbRobot.xPLCJobFailed := TRUE;
_iState := 0;
END_IF
IF (NOT _fbEtcher1.xVacuumEnabled) THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.ENABLE_VACUUM_ETCHER2:
_fbEtcher2.xEnableVacuum := TRUE;
// Check for timeout
_tonTimeout(IN := TRUE, PT := T#20S);
IF _tonTimeout.Q THEN
_fbRobot.xAckPLCCmd := TRUE;
_fbRobot.xPLCJobFailed := TRUE;
_iState := 0;
END_IF
IF _fbEtcher2.xVacuumEnabled THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.DISABLE_VACUUM_ETCHER2:
_fbEtcher2.xEnableVacuum := FALSE;
// Check for timeout
_tonTimeout(IN := TRUE, PT := T#20S);
IF _tonTimeout.Q THEN
_fbRobot.xAckPLCCmd := TRUE;
_fbRobot.xPLCJobFailed := TRUE;
_iState := 0;
END_IF
IF (NOT _fbEtcher2.xVacuumEnabled) THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
ELSE
_iState := 90;
END_CASE
END_CASE]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>
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