418 lines
9.5 KiB
XML
418 lines
9.5 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_Etcher" Id="{e75b6d70-36db-4c78-b78d-a594609441d1}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher EXTENDS FB_PackMLGeneric
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VAR_INPUT
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xOpenDoor : BOOL;
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xEnableVacuum : BOOL;
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xOpenChuckClamp : BOOL;
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xEjectChuck : BOOL;
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xReleaseAlarms : BOOL;
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xConfirmAlarms : BOOL;
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END_VAR
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VAR_OUTPUT
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xDoorOpen : BOOL;
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xChuckClampOpen : BOOL;
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xVacuumEnabled : BOOL;
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END_VAR
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VAR_IN_OUT
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stIO : ST_Etcher_IO;
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stHMIInterface : ST_HMI_Etcher;
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END_VAR
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VAR
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_fbValveVacuum : FB_Valve('Vacuum');
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_stValveVacuumConfig : ST_ValveConfig;
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_fbValveDoor : FB_Valve('Door');
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_stValveDoorCfg : ST_ValveConfig := (
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xHasClosedFeedback := TRUE,
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xHasOpenFeedback := TRUE,
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timTimeoutOpen := T#5S,
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timTimeoutClose := T#5S);
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_fbUnlockLeft : FB_Valve('Clamping left');
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_stValveUnlockLeftCfg : ST_ValveConfig := (
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xHasClosedFeedback := TRUE,
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xHasOpenFeedback := TRUE,
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timTimeoutOpen := T#5S,
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timTimeoutClose := T#5S);
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_fbUnlockRight : FB_Valve('Clamping right');
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_stValveUnlockRightCfg : ST_ValveConfig := (
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xHasClosedFeedback := TRUE,
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xHasOpenFeedback := TRUE,
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timTimeoutOpen := T#5S,
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timTimeoutClose := T#5S);
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_fbEjectFront : FB_Valve('Clamping front');
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_stValveClampingFrontCfg : ST_ValveConfig := (
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xHasClosedFeedback := TRUE,
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xHasOpenFeedback := TRUE,
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timTimeoutOpen := T#5S,
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timTimeoutClose := T#5S);
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_fbEjectBack : FB_Valve('Clamping back');
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_stValveEjectBackCfg : ST_ValveConfig := (
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xHasClosedFeedback := TRUE,
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xHasOpenFeedback := TRUE,
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timTimeoutOpen := T#5S,
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timTimeoutClose := T#5S);
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_rtEjectChuckCmd : R_TRIG;
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_tpEjectChuck : TP;
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// =======
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// Sensors
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// =======
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xVacuumOk AT %I* : BOOL;
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// Spinner vibration sensor
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xVibrationSensor AT %I* : BOOL;
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// =========
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// Actuators
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// =========
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_fbRobot : FB_Mecademics;
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_fbSpinner : FB_AxisPTP;
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_fbValveEnableFilmetch : FB_Valve('');
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_stValveConfig : ST_ValveConfig;
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// Internals
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_xOpenChuckClamp : BOOL;
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_xEjectChuck : BOOL;
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// Debug
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_iState : INT;
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_lrSpinnerVelo : LREAL := 36.0;
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_xAllCompRetracted : BOOL;
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_xChuckRemoved : BOOL;
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_xReleaseChuck : BOOL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[// Main door
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_fbValveDoor(
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xAutomaticOpen:= xOpenDoor,
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xReleaseErrors:= xReleaseAlarms,
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stValveConfig:= _stValveDoorCfg,
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xReleaseManualMode:= _xReleaseManualMode,
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xConfirmAlarms:= xConfirmAlarms,
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stIO := stIO.stValveDoor,
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stHMIInterface:= stHMIInterface.stDoorValve);
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// Chuck
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_rtEjectChuckCmd(CLK := xEjectChuck);
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IF _rtEjectChuckCmd.Q THEN
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_tpEjectChuck(IN := TRUE, PT := T#500MS);
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ELSE
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_tpEjectChuck(IN := FALSE);
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END_IF
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// Todo bessere implementierung finden
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//_xOpenChuckClamp := xOpenChuckClamp OR stHMIInterface.stChuckUnlockCmd.xRequest;
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_fbValveVacuum(
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xAutomaticOpen := xEnableVacuum,
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xReleaseErrors:= xReleaseAlarms,
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stValveConfig:= _stValveVacuumConfig,
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xReleaseManualMode:= _xReleaseManualMode,
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xConfirmAlarms:= xConfirmAlarms,
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stIO := stIO.stValveVacuum,
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stHMIInterface:= stHMIInterface.stVacuumValve);
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_fbUnlockLeft(
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xAutomaticOpen:= _xOpenChuckClamp,
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xReleaseErrors:= xReleaseAlarms,
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stValveConfig:= _stValveUnlockLeftCfg,
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xReleaseManualMode:= _xReleaseManualMode,
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xConfirmAlarms:= xConfirmAlarms,
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stIO := stIO.stValveUnlockLeft,
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stHMIInterface:= stHMIInterface.stChuckUnlockLeft);
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_fbUnlockRight(
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xAutomaticOpen:= _xOpenChuckClamp,
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xReleaseErrors:= xReleaseAlarms,
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stValveConfig:= _stValveUnlockRightCfg,
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xReleaseManualMode:= _xReleaseManualMode,
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xConfirmAlarms:= xConfirmAlarms,
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stIO := stIO.stValveUnlockRight,
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stHMIInterface:= stHMIInterface.stChuckUnlockRight);
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_fbEjectFront(
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xAutomaticOpen:= _xEjectChuck,
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xReleaseErrors:= xReleaseAlarms,
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stValveConfig:= _stValveClampingFrontCfg,
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xReleaseManualMode:= _xReleaseManualMode,
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xConfirmAlarms:= xConfirmAlarms,
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stIO := stIO.stValveEjectFront,
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stHMIInterface:= stHMIInterface.stChuckEjectFront);
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_fbEjectBack(
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xAutomaticOpen:= _xEjectChuck,
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xReleaseErrors:= xReleaseAlarms,
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stValveConfig:= _stValveEjectBackCfg,
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xReleaseManualMode:= _xReleaseManualMode,
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xConfirmAlarms:= xConfirmAlarms,
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stIO := stIO.stValveEjectBack,
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stHMIInterface:= stHMIInterface.stChuckEjectBack);
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_xAllCompRetracted := _fbUnlockLeft.IsClosed AND _fbUnlockRight.IsClosed AND _fbEjectFront.IsClosed AND _fbEjectBack.IsClosed;
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_fbSpinner(
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xEnablePositive:= _xAllCompRetracted,
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xEnableNegative:= _xAllCompRetracted,
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rOverride:= 100.0,
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lrVelocity:= _lrSpinnerVelo,
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xConfirmAlarms:= xConfirmAlarms,
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stIO := stIO.stAxisSpinner);
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_fbRobot(stPackMLHMIInterface := stHMIInterface.stMecaCmds);
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_fbValveEnableFilmetch(
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xReleaseErrors:= xReleaseAlarms,
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stValveConfig:= _stValveConfig,
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xReleaseManualMode:= _xReleaseManualMode,
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xConfirmAlarms := xConfirmAlarms,
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stIO := stIO.stValveFilmetch,
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stHMIInterface:= stHMIInterface.stValveFilmetch);
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// Call base sm
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SUPER^(stPackMLHMIInterface := stHMIInterface.stStationCmds);
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// Einbaulage Baumer
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// 35 deg
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// =====
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// Debug
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// =====
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CASE _iState OF
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// Idle
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0:
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IF _xReleaseChuck THEN
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_xReleaseChuck := FALSE;
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_iState := 5;
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END_IF
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// Enable spinner
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5:
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CASE _fbSpinner.M_Enable() OF
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E_CmdResult.ACCEPTED:
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_iState := 6;
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E_CmdResult.BUSY:
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;
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E_CmdResult.REJECTED,
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E_CmdResult.ERROR:
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_iState := 900;
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END_CASE
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// Wait for spinner to be enabled
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6:
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IF _fbSpinner.xDone THEN
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_iState := 7;
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END_IF
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IF _fbSpinner.xError THEN
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_iState := 900;
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END_IF
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// Start moving to zero position
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7:
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CASE _fbSpinner.M_MoveModulo(lrTargetPos := 0.0, eMoveDirection := BC.MC_Direction.MC_Shortest_Way) OF
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E_CmdResult.ACCEPTED:
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_iState := 11;
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E_CmdResult.BUSY:
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;
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E_CmdResult.REJECTED,
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E_CmdResult.ERROR:
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_iState := 900;
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END_CASE
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// Move to zero position
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11:
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IF _fbSpinner.xDone THEN
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_iState := 12;
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END_IF
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IF _fbSpinner.xError THEN
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_iState := 900;
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END_IF
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// Disable axis
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12:
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CASE _fbSpinner.M_Disable() OF
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E_CmdResult.ACCEPTED:
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_iState := 13;
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E_CmdResult.BUSY:
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;
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E_CmdResult.REJECTED,
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E_CmdResult.ERROR:
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_iState := 900;
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END_CASE
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// Wait for spinner to be disabled
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13:
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IF _fbSpinner.xDone THEN
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_iState := 14;
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END_IF
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IF _fbSpinner.xError THEN
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_iState := 900;
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END_IF
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// Release clamping
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14:
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_xOpenChuckClamp := TRUE;
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IF _fbUnlockLeft.IsOpen AND _fbUnlockRight.IsOpen THEN
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_iState := 15;
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END_IF
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IF _fbUnlockLeft.xError OR _fbUnlockRight.xError THEN
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_iState := 900;
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END_IF
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// Eject the cuck
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15:
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_xEjectChuck := TRUE;
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IF _fbEjectFront.IsOpen AND _fbEjectBack.IsOpen THEN
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_iState := 16;
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END_IF
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IF _fbEjectFront.xError OR _fbEjectBack.xError THEN
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_iState := 900;
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END_IF
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// Retract ejectors
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16:
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_xEjectChuck := FALSE;
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IF _fbEjectFront.IsClosed AND _fbEjectBack.IsClosed THEN
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_iState := 17;
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END_IF
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IF _fbEjectFront.xError OR _fbEjectBack.xError THEN
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_iState := 900;
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END_IF
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// Wait for Chuck to be remove
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17:
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IF _xChuckRemoved THEN
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_xChuckRemoved := FALSE;
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_iState := 18;
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END_IF
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// Retract release pins
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18:
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_xOpenChuckClamp := FALSE;
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IF _fbUnlockLeft.IsClosed AND _fbUnlockRight.IsClosed THEN
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_iState := 0;
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END_IF
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IF _fbUnlockLeft.xError OR _fbUnlockRight.xError THEN
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_iState := 900;
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END_IF
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// Error state
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900:
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IF xConfirmAlarms THEN
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_iState := 0;
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END_IF
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END_CASE
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// Copy internal signals to output
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xDoorOpen := _fbValveDoor.IsOpen;
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xChuckClampOpen := _fbUnlockLeft.IsOpen AND _fbUnlockRight.IsOpen;
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xVacuumEnabled := xVacuumOk;]]></ST>
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</Implementation>
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<Method Name="FB_Init" Id="{afcda70c-3e52-4a32-9ca9-670a6b854f24}">
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<Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.
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//The return value is not evaluated. For a specific influence, you can also declare the
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//methods explicitly and provide additional code there with the standard initialization
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//code. You can evaluate the return value.
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METHOD FB_Init: BOOL
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VAR_INPUT
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bInitRetains: BOOL; // TRUE: the retain variables are initialized (reset warm / reset cold)
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bInCopyCode: BOOL; // TRUE: the instance will be copied to the copy code afterward (online change)
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[_stSMConfig.xStoppingDisabled := TRUE;
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_stSMConfig.xCompletingDisabled := TRUE;
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_stSMConfig.xCompletedDisabled := TRUE;
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_stSMConfig.xAbortingDisabled := TRUE;
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// Valve config
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_stValveConfig.xHasOpenFeedback := FALSE;
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_stValveConfig.xHasClosedFeedback := FALSE;
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// Vacuum valve config
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_stValveVacuumConfig.xHasOpenFeedback := FALSE;
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_stValveVacuumConfig.xHasClosedFeedback := FALSE;
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_stValveVacuumConfig.xNormallyOpen := TRUE;]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_JetMeasurement" Id="{5ffd6d61-d32b-40d9-aa63-25591d7cd8df}">
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<Declaration><![CDATA[METHOD PRIVATE M_JetMeasurement
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VAR_INPUT
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xExecute : BOOL;
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END_VAR
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VAR_OUTPUT
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xDone : BOOL;
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xError : BOOL;
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END_VAR
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VAR_INST
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_iState : INT;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[CASE _iState OF
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// Idle
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0:
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IF xExecute THEN
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xDone := FALSE;
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xError := FALSE;
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_iState := 10;
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END_IF
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// Check if robot is in safe position
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// Enable equipment and move robot to measurement position
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// Wait for equipment and robot to be ready
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// Enable nozzle
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// Check measurement and calculate offset
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// Move Robot to new position
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// Check measurement again
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// Move to safe position
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END_CASE]]></ST>
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</Implementation>
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</Method>
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</POU>
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</TcPlcObject> |