m.heisig
c1850f780b
- 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
87 lines
2.0 KiB
XML
87 lines
2.0 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_Aligner" Id="{5be6cab7-2294-48e5-869c-33773329143e}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_Aligner EXTENDS FB_PackMLGeneric
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VAR_INPUT
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xEnableVacuum : BOOL;
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xAlign : BOOL;
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xConfirmAlarms : BOOL;
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END_VAR
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VAR_OUTPUT
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xVacuumEnabled : BOOL;
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END_VAR
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VAR
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_fbXAxis : FB_AxisPTP;
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_fbYAxis : FB_AxisPTP;
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_xEnableVacuum AT %Q* : BOOL := FALSE;
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_xDisableVacuum AT %Q* : BOOL := TRUE;
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_xVacuumOk AT %I* : BOOL;
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_udiXOffset AT %I* : UDINT;
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_udiYOffset AT %I* : UDINT;
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_rXPosToGo : REAL;
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_rYPosToGo : REAL;
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_iState : INT := 0;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[_fbXAxis(
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xEnable:= TRUE,
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xInvertCalibrationCam:= FALSE,
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xEnablePositive:= TRUE,
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xEnableNegative:= TRUE,
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rOverride:= 100.0,
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lrVelocity:= 2.5,
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lrAcceleration:= 0,
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lrDecelleration:= 0,
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lrJerk:= 0,
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xConfirmAlarms:= xConfirmAlarms,
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xEnabled=> ,
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xHomed=> ,
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lrActPosition=> ,
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xIsStopped=> ,
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xBusy=> ,
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xError=> );
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_fbYAxis(
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xEnable:= TRUE,
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xInvertCalibrationCam:= FALSE,
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xEnablePositive:= TRUE,
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xEnableNegative:= TRUE,
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rOverride:= 100.0,
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lrVelocity:= 2.5,
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lrAcceleration:= 0,
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lrDecelleration:= 0,
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lrJerk:= 0,
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xConfirmAlarms:= xConfirmAlarms,
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xEnabled=> ,
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xHomed=> ,
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lrActPosition=> ,
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xIsStopped=> ,
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xBusy=> ,
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xError=> );
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// Drei mal ausführen damit die Position genau ist
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IF xAlign THEN
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xAlign := FALSE;
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_rXPosToGo := UDINT_TO_REAL(_udiXOffset) * -0.001;
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_rYPosToGo := ((UDINT_TO_REAL(_udiYOffset) * 0.001) - 37.5) * -1;
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IF (ABS(_rXPosToGo) < 10.0) AND (ABS(_rYPosToGo) < 10.0) AND (NOT _fbXAxis.xError) AND (NOT _fbYAxis.xError) THEN
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_fbXAxis.M_MoveRel(lrRelDist := _rXPosToGo);
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_fbYAxis.M_MoveRel(lrRelDist := _rYPosToGo);
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END_IF
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END_IF
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// Handle enable disable vacuum command
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_xEnableVacuum := xEnableVacuum;
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_xDisableVacuum := (NOT xEnableVacuum);
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xVacuumEnabled := _xVacuumOk;]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject> |