Heisig_GmbH/infineon_plc
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infineon_plc/PLC/00_Main/PRG_Main.TcPOU
m.heisig 4e923aa101 Bugfixes in TrayFeeder and Aligner 
Aligner
=======
- Fixed Aligner during resetting with library update to 1.3.4
- Added Vacuum valve to HMI

Etcher
======
- Added Vacuum valve to HMI

TrayFeeder
==========
- Fixed a bug in protocoll parsing
- Added automatic reconnect tries to protocoll handler
- Added buttons to hmi interface for tray feeding and unloading
2026-03-13 14:51:58 +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
// ========
// Stations
// ========
_fbRobot : FB_KukaRobot;
_fbTrayFeederInput : FB_TrayFeeder(sIPAddr := '192.168.1.10', udiPort := 5000);
_fbTrayFeederOutput : FB_TrayFeeder(sIPAddr := '192.168.1.11', udiPort := 5000);
_fbAligner : FB_Aligner;
_fbEtcher1 : FB_Etcher;
_fbEtcher2 : FB_Etcher;
_fbHotplate : FB_Hotplate;
_fbCoolplate : FB_Coolplate;
_fbHVTesterHot : FB_HVTester;
_fbHVTesterCold : FB_HVTester;
_fbMediaCabinet : FB_MediaCabinet;
_fbModbusMaster : FB_ModbusMaster;
_fbFlowSensor : FB_Levi_LFC6IO;
//_fbInput : FB_Input;
//_fbNOK : FB_NOK;
//_fbTrayFeederOutput : FB_TrayFeeder(sIPAddr := '192.168.1.11', udiPort := 5000);
// =======================
// DEBUG AND TESTING STUFF
// =======================
_xReadFullScale : BOOL;
_xReleaseAlarms : 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;
_xStartCycle : BOOL;
_xStartTrigger : BOOL;
_tofTriggerTime : TOF;
xTriggerCamera AT %Q* : BOOL;
_xTRiggeredEV : BOOL;
_xTRiggerDV : BOOL;
_iState : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[// Data from safety
_xReleaseAlarms := PRG_Safety.xEStopOk;
_rtStopRobotFromSafety(CLK := PRG_Safety.xStopRobot);
IF _rtStopRobotFromSafety.Q THEN
_stRobotCmd.eCntrlCmd := E_PackMLCmd.STOP;
_stRobotCmd.xCmdChangeRequest := TRUE;
END_IF
// Unit feedbacks for the robot
_stUnitFeedbacks.xDoorEtcher1Open := _fbEtcher1.xDoorOpen;
_stUnitFeedbacks.xDoorEtcher2Open := _fbEtcher2.xDoorOpen;
_stUnitFeedbacks.xDoorHVTestHotOpen := _fbHVTesterHot.xDoorOpen AND _fbHVTesterHot.xTestChamberOpen;
_stUnitFeedbacks.xDoorHVTestColdOpen := _fbHVTesterCold.xDoorOpen AND _fbHVTesterCold.xTestChamberOpen;
_fbRobot(
stCommand:= _stRobotCmd,
stJobParams := _stRobotJobParams,
stUnitFeedbacks := _stUnitFeedbacks,
xReleaseAlarms:= _xReleaseAlarms,
xConfirmAlarms:= GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
stStatus => _stRobotStatus,
stAdmin => _stRobotAdmin,
stHMIInterface := GVL_SCADA.stMachine.stKukaRobot);
IF _stRobotCmd.xCmdChangeRequest THEN
_stRobotCmd.xCmdChangeRequest := FALSE;
END_IF
_fbHVTesterHot(xOpenChambers:= GVL_SCADA.xOpenAllChambers, stHMIInterface := GVL_SCADA.stMachine.stHVTesterHot);
_fbHVTesterCold(xOpenChambers:= GVL_SCADA.xOpenAllChambers, stHMIInterface := GVL_SCADA.stMachine.stHVTesterCold);
_fbEtcher1(
xOpenDoor:= GVL_SCADA.xOpenAllChambers,
xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher1,
xReleaseAlarms := _xReleaseAlarms,
xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
stHMIInterface := GVL_SCADA.stMachine.stEtcher1);
_fbEtcher2(
xOpenDoor:= GVL_SCADA.xOpenAllChambers,
xOpenChuckClamp := GVL_SCADA.xOpenChuckClampEtcher2,
xReleaseAlarms := _xReleaseAlarms,
xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
stHMIInterface := GVL_SCADA.stMachine.stEtcher2);
_fbTrayFeederInput(
stCommand:= ,
xReleaseAlarms := _xReleaseAlarms,
xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
stHMIInterface := GVL_SCADA.stMachine.stTrayFeederIn);
_fbTrayFeederOutput(
xReleaseAlarms := _xReleaseAlarms,
xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
stHMIInterface := GVL_SCADA.stMachine.stTrayFeederOut);
// _fbTrayFeederOut(
// stCommand:= ,
// xReleaseAlarms := _xReleaseAlarms,
// xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
// stStatus=> GVL_SCADA.stTrayFeederInputState,
// stAdmin=> GVL_SCADA.stTRayFeederInputAdmin,
// stHMIInterface := GVL_SCADA.stMachine.stTrayFeederOut);
_fbHotplate(stHMIInterface := GVL_SCADA.stMachine.stHotplate);
_fbCoolplate(stHMIInterface := GVL_SCADA.stMachine.stCoolplate);
_fbAligner(stCommand:= , stStatus=> , stAdmin=> , xConfirmAlarms:= GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest, stHMIInterface := GVL_SCADA.stMachine.stAligner);
_fbMediaCabinet(
xReleaseManualMode := TRUE,
xReleaseErrors := _xReleaseAlarms,
xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
stHMIInterface := GVL_SCADA.stMachine.stMediaCabinet);
// Call safety program
PRG_Safety(
xConfirmAlarms := GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest,
xRobotStopped := (_stRobotStatus.eStateCurrent <> E_PackMLState.EXECUTE));
// Handle robot cmds
M_HandleRobotCmd();
// DEBUG
//_fbModbusMaster();
// IF _xReadFullScale THEN
// _xReadFullScale := FALSE;
//
// _fbFlowSensor(
// byBaseAddr:= ,
// xReleaseAlarms:= ,
// xConfirmAlarms:= ,
// fbMBMaster:= ,
// rCurrFlowrate=> ,
// xBusy=> ,
// xDone=> ,
// xError=> );
// END_IF
// Main state machine
CASE _iState OF
0: // Idle
IF _xStartCycle THEN
_xStartCycle := FALSE;
// Only start with robot in idle then put into aligner
IF _stRobotStatus.eStateCurrent = E_PackMLState.IDLE THEN
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
_fbRobot.M_CmdStart();
_iState := 10;
END_IF
END_IF
// Wait for part in aligner
10:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_fbAligner.M_CmdStart();
_iState := 20;
END_IF
// Job aborted
// IF (_stRobotStatus.eStateCurrent = E_PackMLState.ABORTED) OR (_stRobotStatus.eStateCurrent = E_PackMLState.STOPPED) THEN
// _iState := 900;
// END_IF
// Wait for aligner to be done then get it with the robot
20:
IF (_fbAligner.stStatus.eStateCurrent = E_PackMLState.COMPLETED) THEN
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ALIGNER;
_fbRobot.M_CmdStart();
_iState := 40;
END_IF
// Get from aligner done, reset aligner
40:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_fbAligner.M_CmdReset();
_iState := 45;
END_IF
45: // Wait for start to put into etcher
IF _xStartCycle THEN
_xStartCycle := FALSE;
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ETCHER1;
_fbRobot.M_CmdStart();
_iState := 50;
END_IF
// Wait for robot to be done
50:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_iState := 60;
END_IF
// Wait for start then get it from the etcher
60:
IF _xStartCycle THEN
_xStartCycle := FALSE;
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.GET_FROM_ETCHER1;
_fbRobot.M_CmdStart();
_iState := 70;
END_IF
// Done with getting it from the etcher
70:
IF (_stRobotStatus.eStateCurrent = E_PackMLState.IDLE) THEN
_stRobotJobParams.eJob := E_KukaRobot_JobNumberRobot.PUT_INTO_ALIGNER;
_fbRobot.M_CmdStart();
_iState := 10;
END_IF
ELSE
// Nothing to do here
;
END_CASE
// =====
// DEBUG
// =====
_tofTriggerTime(IN := _xStartTrigger, PT := T#1S);
IF _xStartTrigger THEN
_xStartTrigger := FALSE;
END_IF
xTriggerCamera := _tofTriggerTime.Q;
// Reset alarm reset request
GVL_SCADA.stMachine.stConfirmAlarmsBtn.xRequest := FALSE;]]></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;
ADSLOGSTR(msgCtrlMask := ADSLOG_MSGTYPE_LOG, msgFmtStr := 'ENABLE_VACUUM_ALIGNER', strArg := '');
// 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;
_xTRiggeredEV := 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;
_xTriggerDV := 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 (NOT _fbEtcher2.xVacuumEnabled) THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.UNLOCK_CHUCK_ETCHER1:
_fbEtcher1.xOpenChuckClamp := 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 _fbEtcher1.xChuckClampOpen THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.LOCK_CHUCK_ETCHER1:
_fbEtcher1.xOpenChuckClamp := 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 _fbEtcher1.xChuckClampOpen) THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.UNLOCK_CHUCK_ETCHER2:
_fbEtcher2.xOpenChuckClamp := 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 _fbEtcher2.xChuckClampOpen THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
E_KukaRobot_JobNumerPLC.LOCK_CHUCK_ETCHER2:
_fbEtcher2.xOpenChuckClamp := 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 _fbEtcher2.xChuckClampOpen) THEN
_fbRobot.xAckPLCCmd := TRUE;
_iState := 0;
END_IF
ELSE
_iState := 90;
END_CASE
ELSE
// Nothing to do here
;
END_CASE]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>
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