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
160 lines
4.3 KiB
XML
160 lines
4.3 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
|
|
<TcPlcObject Version="1.1.0.1">
|
|
<POU Name="FB_Etcher" Id="{e75b6d70-36db-4c78-b78d-a594609441d1}" SpecialFunc="None">
|
|
<Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher EXTENDS FB_PackMLGeneric
|
|
VAR_INPUT
|
|
xOpenDoor : BOOL;
|
|
xEnableVacuum : BOOL;
|
|
xOpenChuckClamp : BOOL;
|
|
xEjectChuck : BOOL;
|
|
xReleaseManualMode : BOOL;
|
|
xConfirmAlarms : BOOL;
|
|
stHMIInterface : ST_Etcher_HMIInterface;
|
|
END_VAR
|
|
VAR_OUTPUT
|
|
xDoorOpen : BOOL;
|
|
xChuckClampOpen : BOOL;
|
|
xVacuumEnabled : BOOL;
|
|
END_VAR
|
|
VAR
|
|
_fbValveDoor : FB_Valve('Door');
|
|
_stValveDoorCfg : ST_ValveConfig := (
|
|
xHasClosedFeedback := TRUE,
|
|
xHasOpenFeedback := TRUE,
|
|
timTimeoutOpen := T#5S,
|
|
timTimeoutClose := T#5S);
|
|
|
|
|
|
_fbUnlockLeft : FB_Valve('Clamping left');
|
|
_stValveUnlockLeftCfg : ST_ValveConfig := (
|
|
xHasClosedFeedback := TRUE,
|
|
xHasOpenFeedback := TRUE,
|
|
timTimeoutOpen := T#5S,
|
|
timTimeoutClose := T#5S);
|
|
|
|
|
|
_fbUnlockRight : FB_Valve('Clamping right');
|
|
_stValveUnlockRightCfg : ST_ValveConfig := (
|
|
xHasClosedFeedback := TRUE,
|
|
xHasOpenFeedback := TRUE,
|
|
timTimeoutOpen := T#5S,
|
|
timTimeoutClose := T#5S);
|
|
|
|
|
|
_fbEjectFront : FB_Valve('Clamping front');
|
|
_stValveClampingFrontCfg : ST_ValveConfig := (
|
|
xHasClosedFeedback := TRUE,
|
|
xHasOpenFeedback := TRUE,
|
|
timTimeoutOpen := T#5S,
|
|
timTimeoutClose := T#5S);
|
|
|
|
|
|
_fbEjectBack : FB_Valve('Clamping back');
|
|
_stValveEjectBackCfg : ST_ValveConfig := (
|
|
xHasClosedFeedback := TRUE,
|
|
xHasOpenFeedback := TRUE,
|
|
timTimeoutOpen := T#5S,
|
|
timTimeoutClose := T#5S);
|
|
|
|
|
|
_rtEjectChuckCmd : R_TRIG;
|
|
_tpEjectChuck : TP;
|
|
|
|
// =======
|
|
// Sensors
|
|
// =======
|
|
|
|
_xVacuumOk AT %I* : BOOL;
|
|
|
|
// Spinner vibration sensor
|
|
_xVibrationSensor AT %I* : BOOL;
|
|
|
|
// =========
|
|
// Actuators
|
|
// =========
|
|
|
|
_xDisableVacuum AT %Q* : BOOL;
|
|
END_VAR
|
|
]]></Declaration>
|
|
<Implementation>
|
|
<ST><![CDATA[// Main door
|
|
_fbValveDoor(
|
|
xAutomaticOpen:= xOpenDoor,
|
|
xReleaseErrors:= TRUE,
|
|
stValveConfig:= _stValveDoorCfg,
|
|
xReleaseManualMode:= FALSE,
|
|
xConfirmAlarms:= xConfirmAlarms,
|
|
stHMIInterface:= stHMIInterface.stDoorHMIInterface);
|
|
|
|
xDoorOpen := _fbValveDoor.IsOpen;
|
|
|
|
// Chuck
|
|
_rtEjectChuckCmd(CLK := xEjectChuck);
|
|
IF _rtEjectChuckCmd.Q THEN
|
|
_tpEjectChuck(IN := TRUE, PT := T#500MS);
|
|
ELSE
|
|
_tpEjectChuck(IN := FALSE);
|
|
END_IF
|
|
|
|
_fbUnlockLeft(
|
|
xAutomaticOpen:= xOpenChuckClamp,
|
|
xReleaseErrors:= TRUE,
|
|
stValveConfig:= _stValveUnlockLeftCfg,
|
|
xReleaseManualMode:= xReleaseManualMode,
|
|
xConfirmAlarms:= xConfirmAlarms,
|
|
stHMIInterface:= stHMIInterface.stUnlockLeftHMIInterface);
|
|
|
|
_fbUnlockRight(
|
|
xAutomaticOpen:= xOpenChuckClamp,
|
|
xReleaseErrors:= TRUE,
|
|
stValveConfig:= _stValveUnlockRightCfg,
|
|
xReleaseManualMode:= xReleaseManualMode,
|
|
xConfirmAlarms:= xConfirmAlarms,
|
|
stHMIInterface:= stHMIInterface.stUnlockRightHMIInterface);
|
|
|
|
_fbEjectFront(
|
|
xAutomaticOpen:= _tpEjectChuck.Q,
|
|
xReleaseErrors:= TRUE,
|
|
stValveConfig:= _stValveClampingFrontCfg,
|
|
xReleaseManualMode:= xReleaseManualMode,
|
|
xConfirmAlarms:= xConfirmAlarms,
|
|
stHMIInterface:= stHMIInterface.stEjectFrontHMIInterface);
|
|
|
|
_fbEjectBack(
|
|
xAutomaticOpen:= _tpEjectChuck.Q,
|
|
xReleaseErrors:= TRUE,
|
|
stValveConfig:= _stValveEjectBackCfg,
|
|
xReleaseManualMode:= xReleaseManualMode,
|
|
xConfirmAlarms:= xConfirmAlarms,
|
|
stHMIInterface:= stHMIInterface.stEjectBackHMIInterface);
|
|
|
|
_xDisableVacuum := (NOT xEnableVacuum);
|
|
|
|
// Call base sm
|
|
SUPER^();
|
|
|
|
// Copy internal signals to output
|
|
xVacuumEnabled := _xVacuumOk;]]></ST>
|
|
</Implementation>
|
|
<Method Name="FB_Init" Id="{afcda70c-3e52-4a32-9ca9-670a6b854f24}">
|
|
<Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.
|
|
//The return value is not evaluated. For a specific influence, you can also declare the
|
|
//methods explicitly and provide additional code there with the standard initialization
|
|
//code. You can evaluate the return value.
|
|
METHOD FB_Init: BOOL
|
|
VAR_INPUT
|
|
bInitRetains: BOOL; // TRUE: the retain variables are initialized (reset warm / reset cold)
|
|
bInCopyCode: BOOL; // TRUE: the instance will be copied to the copy code afterward (online change)
|
|
END_VAR
|
|
]]></Declaration>
|
|
<Implementation>
|
|
<ST><![CDATA[_stSMConfig.xStoppingDisabled := TRUE;
|
|
|
|
_stSMConfig.xCompletingDisabled := TRUE;
|
|
_stSMConfig.xCompletedDisabled := TRUE;
|
|
|
|
_stSMConfig.xAbortingDisabled := TRUE;]]></ST>
|
|
</Implementation>
|
|
</Method>
|
|
</POU>
|
|
</TcPlcObject> |