First working implementation

- Currently only with one sided gripper
2026-02-19 15:42:54 +01:00
parent 7126a7dd7e
commit 92276e4f4b
32 changed files with 1041 additions and 378 deletions
--- a/PLC/GVLs/GVL_Product.TcGVL
+++ b/PLC/GVLs/GVL_Product.TcGVL
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <GVL Name="GVL_Product" Id="{cd06b28b-40e0-45d6-96ec-08dcaca45fe3}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+VAR_GLOBAL
+	axProductInStation : ARRAY[0..4] OF BOOL;
+END_VAR]]></Declaration>
+  </GVL>
+</TcPlcObject>
--- a/PLC/PLC.plcproj
+++ b/PLC/PLC.plcproj
@@ -18,22 +18,20 @@
    <LibraryReferences>{c5c6b994-f2a1-4a71-b657-f282007c0cd2}</LibraryReferences>
  </PropertyGroup>
  <ItemGroup>
+    <Compile Include="GVLs\GVL_Product.TcGVL">
+      <SubType>Code</SubType>
+      <LinkAlways>true</LinkAlways>
+    </Compile>
    <Compile Include="PlcTask.TcTTO">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="POUs\MAIN.TcPOU">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="POUs\Scheduler\DUTs\E_TransitCond.TcDUT">
+    <Compile Include="POUs\Scheduler\DUTs\ST_FlowRecipe.TcDUT">
      <SubType>Code</SubType>
    </Compile>
-    <Compile Include="POUs\Scheduler\DUTs\ST_Recipe.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Scheduler\DUTs\ST_RecipeNode.TcDUT">
-      <SubType>Code</SubType>
-    </Compile>
-    <Compile Include="POUs\Scheduler\DUTs\ST_Transition.TcDUT">
+    <Compile Include="POUs\Scheduler\DUTs\ST_FlowRecipeNode.TcDUT">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="POUs\Scheduler\DUTs\ST_TransJob.TcDUT">
@@ -43,7 +41,7 @@
      <SubType>Code</SubType>
      <LinkAlways>true</LinkAlways>
    </Compile>
-    <Compile Include="POUs\Scheduler\ITFs\I_Product.TcIO">
+    <Compile Include="POUs\Scheduler\ITFs\I_FlowRecHandler.TcIO">
      <SubType>Code</SubType>
    </Compile>
    <Compile Include="POUs\Scheduler\ITFs\I_Station.TcIO">
@@ -54,18 +52,27 @@
    </Compile>
    <Compile Include="POUs\Scheduler\POUs\FB_JobQueue.TcPOU">
      <SubType>Code</SubType>
+      <ExcludeFromBuild>false</ExcludeFromBuild>
    </Compile>
-    <Compile Include="POUs\Scheduler\POUs\FB_Product.TcPOU">
+    <Compile Include="POUs\Scheduler\POUs\FB_FlowRecHandler.TcPOU">
      <SubType>Code</SubType>
+      <ExcludeFromBuild>false</ExcludeFromBuild>
    </Compile>
    <Compile Include="POUs\Scheduler\POUs\FB_Scheduler.TcPOU">
      <SubType>Code</SubType>
+      <ExcludeFromBuild>false</ExcludeFromBuild>
    </Compile>
-    <Compile Include="POUs\Scheduler\POUs\FB_StationBase.TcPOU">
+    <Compile Include="POUs\Scheduler\POUs\FB_BaseStation.TcPOU">
      <SubType>Code</SubType>
+      <ExcludeFromBuild>false</ExcludeFromBuild>
    </Compile>
-    <Compile Include="POUs\Scheduler\POUs\FB_TransportBase.TcPOU">
+    <Compile Include="POUs\Scheduler\POUs\FB_BaseTransport.TcPOU">
      <SubType>Code</SubType>
+      <ExcludeFromBuild>false</ExcludeFromBuild>
+    </Compile>
+    <Compile Include="POUs\Scheduler\POUs\GVL_Test.TcGVL">
+      <SubType>Code</SubType>
+      <LinkAlways>true</LinkAlways>
    </Compile>
    <Compile Include="POUs\Stations\FB_Etcher.TcPOU">
      <SubType>Code</SubType>
@@ -82,16 +89,26 @@
    <Compile Include="POUs\Stations\FB_Output.TcPOU">
      <SubType>Code</SubType>
    </Compile>
+    <Compile Include="POUs\Stations\FB_Robot.TcPOU">
+      <SubType>Code</SubType>
+    </Compile>
+    <Compile Include="POUs\ST_RobotMoveData.TcDUT">
+      <SubType>Code</SubType>
+    </Compile>
  </ItemGroup>
  <ItemGroup>
    <Folder Include="DUTs" />
    <Folder Include="GVLs" />
-    <Folder Include="POUs\Scheduler" />
+    <Folder Include="POUs\Scheduler">
+      <ExcludeFromBuild>false</ExcludeFromBuild>
+    </Folder>
    <Folder Include="POUs\Scheduler\ITFs" />
    <Folder Include="POUs\Scheduler\DUTs" />
    <Folder Include="POUs\Scheduler\GVLs" />
    <Folder Include="POUs\Scheduler\POUs" />
-    <Folder Include="POUs\Stations" />
+    <Folder Include="POUs\Stations">
+      <ExcludeFromBuild>false</ExcludeFromBuild>
+    </Folder>
    <Folder Include="VISUs" />
    <Folder Include="POUs" />
  </ItemGroup>
@@ -118,8 +135,8 @@
  <ProjectExtensions>
    <PlcProjectOptions>
      <XmlArchive>
-        <Data>
-          <o xml:space="preserve" t="OptionKey">
+  <Data>
+    <o xml:space="preserve" t="OptionKey">
      <v n="Name">"&lt;ProjectRoot&gt;"</v>
      <d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
        <v>{192FAD59-8248-4824-A8DE-9177C94C195A}</v>
@@ -195,14 +212,14 @@
      </d>
      <d n="Values" t="Hashtable" />
    </o>
-        </Data>
-        <TypeList>
-          <Type n="Boolean">System.Boolean</Type>
-          <Type n="Hashtable">System.Collections.Hashtable</Type>
-          <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
-          <Type n="String">System.String</Type>
-        </TypeList>
-      </XmlArchive>
+  </Data>
+  <TypeList>
+    <Type n="Boolean">System.Boolean</Type>
+    <Type n="Hashtable">System.Collections.Hashtable</Type>
+    <Type n="OptionKey">{54dd0eac-a6d8-46f2-8c27-2f43c7e49861}</Type>
+    <Type n="String">System.String</Type>
+  </TypeList>
+</XmlArchive>
    </PlcProjectOptions>
  </ProjectExtensions>
 </Project>
--- a/PLC/PLC.tmc
+++ b/PLC/PLC.tmc
--- a/PLC/POUs/MAIN.TcPOU
+++ b/PLC/POUs/MAIN.TcPOU
@@ -14,8 +14,18 @@ VAR
 	_fbOutput : FB_Output;
 	_fbNIO : FB_NIO;
 	
+	// Transport
+	_fbRobot : FB_Robot;
+	
+	// Job queue
+	_fbJobQueue : FB_JobQueue;
+	
 	// Example recipe
-	_stRecipeSimple : ST_Recipe;
+	_stRecipeSimple : ST_FlowRecipe;
+
+	_fbFlowRecHandler : FB_FlowRecHandler;
+
+	_xStart : BOOL;
 END_VAR
 ]]></Declaration>
    <Implementation>
@@ -25,18 +35,31 @@ END_VAR
 END_IF

 // Call all stations
-_fbInput();
-_fbEtcher();
-_fbHVTest();
-_fbOutput();
-_fbNIO();
+_fbInput(fbFlowRecHandler := _fbFlowRecHandler);
+GVL_Product.axProductInStation[0] := _fbInput.P_HasProduct;
+
+_fbEtcher(fbFlowRecHandler := _fbFlowRecHandler);
+GVL_Product.axProductInStation[1] := _fbEtcher.P_HasProduct;
+
+_fbHVTest(fbFlowRecHandler := _fbFlowRecHandler);
+GVL_Product.axProductInStation[2] := _fbHVTest.P_HasProduct;
+
+_fbOutput(fbFlowRecHandler := _fbFlowRecHandler);
+GVL_Product.axProductInStation[3] := _fbOutput.P_HasProduct;
+
+_fbNIO(fbFlowRecHandler := _fbFlowRecHandler);
+GVL_Product.axProductInStation[4] := _fbNIO.P_HasProduct;
+

 // Call scheduler
-_fbScheduler();]]></ST>
+_fbScheduler(fbFlowRecHandler := _fbFlowRecHandler, fbJobQueue := _fbJobQueue);
+
+// Call robot transport
+_fbRobot(fbJobQueue := _fbJobQueue, fbScheduler := _fbScheduler);]]></ST>
    </Implementation>
    <Action Name="A_Init" Id="{203d4406-b6da-4e3d-8378-ac96a0e18ff2}">
      <Implementation>
-        <ST><![CDATA[// Register stations to scheduler
+        <ST><![CDATA[// // Register stations to scheduler
 _fbScheduler.M_ClearStations();

 _fbScheduler.M_Register(_fbInput);
@@ -45,26 +68,35 @@ _fbScheduler.M_Register(_fbHVTest);
 _fbScheduler.M_Register(_fbOutput);
 _fbScheduler.M_Register(_fbNIO);

+// Register transport
+_fbScheduler.M_RegisterTransport(_fbRobot);
+

 // Create simple recipe
-_stRecipeSimple.uiRecipeID := 1;
-_stRecipeSimple.uiStartNode := 0;
-_stRecipeSimple.uiNodeCnt := 3;
+_stRecipeSimple.uiNodeCnt := 4;

 // Process nodes
-_stRecipeSimple.astNodes[0].uiNodeID := 1;
-_stRecipeSimple.astNodes[0].dwReqCap := 16#0001;
-_stRecipeSimple.astNodes[0].uiTransCnt := 1;
-_stRecipeSimple.astNodes[0].astTransitions[0].eCondition := E_TransitCond.ALWAYS;
-_stRecipeSimple.astNodes[0].astTransitions[0].uiNextNodeID := 1;

-_stRecipeSimple.astNodes[1].uiNodeID := 1;
-_stRecipeSimple.astNodes[1].dwReqCap := 16#0001;
-_stRecipeSimple.astNodes[1].uiTransCnt := 2;
-_stRecipeSimple.astNodes[1].astTransitions[0].eCondition := E_TransitCond.RESULT_OK;
-_stRecipeSimple.astNodes[1].astTransitions[0].uiNextNodeID := 3;
-_stRecipeSimple.astNodes[1].astTransitions[1].eCondition := E_TransitCond.RESULT_NIO;
-_stRecipeSimple.astNodes[1].astTransitions[1].uiNextNodeID := 4;]]></ST>
+// Etching
+_stRecipeSimple.astNodes[0].dwReqCap := 16#0001;
+_stRecipeSimple.astNodes[0].iNextNodeSuccess := 1;
+_stRecipeSimple.astNodes[0].iNextNodeFail := 3;
+
+// HV Testing
+_stRecipeSimple.astNodes[1].dwReqCap := 16#0002;
+_stRecipeSimple.astNodes[1].iNextNodeSuccess := 2;
+_stRecipeSimple.astNodes[1].uiMaxRetries := 1;
+_stRecipeSimple.astNodes[1].iNextNodeRetry := 0;
+_stRecipeSimple.astNodes[1].iNextNodeFail := 3;
+
+// Output
+_stRecipeSimple.astNodes[2].dwReqCap := 16#0004;
+
+// NIO
+_stRecipeSimple.astNodes[3].dwReqCap := 16#0008;
+
+// Set flow recipe in input station
+_fbInput.M_SetRecipe(_stRecipeSimple);]]></ST>
      </Implementation>
    </Action>
  </POU>
--- a/PLC/POUs/ST_RobotMoveData.TcDUT
+++ b/PLC/POUs/ST_RobotMoveData.TcDUT
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_RobotMoveData" Id="{94123d39-0745-4fc4-b9ca-f3094a525f9a}">
+    <Declaration><![CDATA[TYPE ST_RobotMoveData :
+STRUCT
+	rWaitTime : REAL;
+	
+	rX : REAL;
+	rY : REAL;
+	rZ : REAL;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/POUs/Scheduler/DUTs/E_TransitCond.TcDUT
+++ b/PLC/POUs/Scheduler/DUTs/E_TransitCond.TcDUT
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <DUT Name="E_TransitCond" Id="{0c8e8042-17f8-4b76-ad0c-96d650245098}">
-    <Declaration><![CDATA[{attribute 'qualified_only'}
-{attribute 'strict'}
-{attribute 'to_string'}
-TYPE E_TransitCond :
-(
-	ALWAYS := 0,
-	RESULT_OK,
-	RESULT_NIO
-);
-END_TYPE
-]]></Declaration>
-  </DUT>
-</TcPlcObject>
--- a/PLC/POUs/Scheduler/DUTs/ST_FlowRecipe.TcDUT
+++ b/PLC/POUs/Scheduler/DUTs/ST_FlowRecipe.TcDUT
@@ -0,0 +1,31 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_FlowRecipe" Id="{3e2c2867-3147-4627-bf49-6255dbaf5310}">
+    <Declaration><![CDATA[TYPE ST_FlowRecipe :
+STRUCT
+	// Index in station recipe arrays
+	// -1 is used to determin if the slot
+	// in the product array is free.
+	// The index number will automatically be
+	// assigned by the FB_ProductHandler
+	iProdIdx : INT := -1;
+	
+	// Current node in flow graph
+	iCurrNode : INT := 0;
+	
+	// Next node in flow graph
+	// will be set by the station after completed process
+	// 0 means that there is no next node and the
+	// flow recipe is finished
+	iNextNode : INT := 0;
+	
+	// Number of flow nodes
+	uiNodeCnt : INT := 0;
+	
+	// Flow nodes array
+	astNodes : ARRAY[0..(GVL_Scheduler.MAX_RECIPE_NODES - 1)] OF ST_FlowRecipeNode;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/POUs/Scheduler/DUTs/ST_FlowRecipeNode.TcDUT
+++ b/PLC/POUs/Scheduler/DUTs/ST_FlowRecipeNode.TcDUT
@@ -0,0 +1,34 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <DUT Name="ST_FlowRecipeNode" Id="{ceb8b626-8a65-4e92-9344-14e330b6c8bd}">
+    <Declaration><![CDATA[TYPE ST_FlowRecipeNode :
+STRUCT
+	// Priority for transportation after completed node
+	uiPriority : UINT := 100;
+	
+	// Required capabilities
+	dwReqCap  : DWORD := 0;
+	
+	// How many retries are allowed of this node
+	uiMaxRetries : UINT := 0;
+	
+	// Current numbers of retries of this node
+	uiCurrRetries : UINT := 0;
+	
+	// Was the current process successfull
+	xSuccess : BOOL := FALSE;
+	
+	// Transition to node when operation ok
+	iNextNodeSuccess : INT := -1;
+	
+	// Transition to node when retrying
+	iNextNodeRetry : INT := -1;
+	
+	// Transition to node when operation failed
+	// or max retries reached
+	iNextNodeFail : INT := -1;
+END_STRUCT
+END_TYPE
+]]></Declaration>
+  </DUT>
+</TcPlcObject>
--- a/PLC/POUs/Scheduler/DUTs/ST_Recipe.TcDUT
+++ b/PLC/POUs/Scheduler/DUTs/ST_Recipe.TcDUT
@@ -1,14 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <DUT Name="ST_Recipe" Id="{3e2c2867-3147-4627-bf49-6255dbaf5310}">
-    <Declaration><![CDATA[TYPE ST_Recipe :
-STRUCT
-	uiRecipeID : UINT;
-	uiStartNode : UINT := 0;
-	uiNodeCnt : UINT := 0;
-	astNodes : ARRAY[0..(GVL_Scheduler.MAX_RECIPE_NODES - 1)] OF ST_RecipeNode;
-END_STRUCT
-END_TYPE
-]]></Declaration>
-  </DUT>
-</TcPlcObject>
--- a/PLC/POUs/Scheduler/DUTs/ST_RecipeNode.TcDUT
+++ b/PLC/POUs/Scheduler/DUTs/ST_RecipeNode.TcDUT
@@ -1,19 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <DUT Name="ST_RecipeNode" Id="{ceb8b626-8a65-4e92-9344-14e330b6c8bd}">
-    <Declaration><![CDATA[TYPE ST_RecipeNode :
-STRUCT
-	uiNodeID : UINT;
-	// Required capabilities
-	dwReqCap  : DWORD;
-	
-	// Transition count
-	uiTransCnt : UINT;
-	
-	// Transitions
-	astTransitions : ARRAY[0..(GVL_Scheduler.MAX_STATIONS - 1)] OF ST_Transition;
-END_STRUCT
-END_TYPE
-]]></Declaration>
-  </DUT>
-</TcPlcObject>
--- a/PLC/POUs/Scheduler/DUTs/ST_TransJob.TcDUT
+++ b/PLC/POUs/Scheduler/DUTs/ST_TransJob.TcDUT
@@ -4,21 +4,19 @@
    <Declaration><![CDATA[TYPE ST_TransJob :
 STRUCT
 	// Station to pick from
-	uiFromNodeID : UINT;
-	// Station to put into
-	uiToNodeID : UINT;
-	// Static priority from recipe
-	iStatPrio : INT;
-	// Dynamic priority from process
-	iDynPrio : INT;
-	// Prio sum
-	iSumPrio : INT;
-	// Time this job was created
-	// The older the job the higher the priority
-	uliTimeCreated : ULINT;
+	uiFromStation : UINT;
 	
-	// Is this job in the queue still valid
-	xValid : BOOL := TRUE;
+	// Station to put into
+	uiToStation : UINT;
+	
+	// Handle from reserved source station
+	uiFromStationHandle : UINT;
+	
+	// Handle from reserved target station
+	uiToStationHandle : UINT;
+	
+	// Static priority from recipe
+	uiPrio : UINT;
 END_STRUCT
 END_TYPE
 ]]></Declaration>
--- a/PLC/POUs/Scheduler/DUTs/ST_Transition.TcDUT
+++ b/PLC/POUs/Scheduler/DUTs/ST_Transition.TcDUT
@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <DUT Name="ST_Transition" Id="{7b8c5232-d3a6-4d0b-b8ad-e54400018d53}">
-    <Declaration><![CDATA[TYPE ST_Transition :
-STRUCT
-	eCondition : E_TransitCond;
-	uiNextNodeID : UINT;
-END_STRUCT
-END_TYPE
-]]></Declaration>
-  </DUT>
-</TcPlcObject>
--- a/PLC/POUs/Scheduler/GVLs/GVL_Scheduler.TcGVL
+++ b/PLC/POUs/Scheduler/GVLs/GVL_Scheduler.TcGVL
@@ -10,8 +10,10 @@ VAR_GLOBAL CONSTANT
 	// Scheduler constants
 	MAX_STATIONS : UINT := 10;
 	
-	// Factor to calc dynmaic priority from age of job in prio/s
-	AGE_FACTOR : REAL := 1.0;
+	// Factor to calc dynamic priority from age of job in prio/s
+	AGING_STEP : UINT := 1;
+	
+	MAX_PRIORITY : UINT := 65535;
 	
 	// Job queue constants
 	MAX_JOBS_IN_QUEUE : UINT := 10;
--- a/PLC/POUs/Scheduler/ITFs/I_FlowRecHandler.TcIO
+++ b/PLC/POUs/Scheduler/ITFs/I_FlowRecHandler.TcIO
@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <Itf Name="I_FlowRecHandler" Id="{6edbf032-1748-4bdd-83cb-a3d71babaa22}">
+    <Declaration><![CDATA[INTERFACE I_FlowRecHandler
+]]></Declaration>
+    <Method Name="M_AddFlowRec" Id="{99764a4e-e4e8-4559-8137-ead050289c2f}">
+      <Declaration><![CDATA[METHOD M_AddFlowRec : INT
+VAR_INPUT
+	stFlowRecipe : ST_FlowRecipe;
+END_VAR]]></Declaration>
+    </Method>
+    <Method Name="M_GetFlowRec" Id="{acfd7fa8-d012-4f06-a247-ab699d1b3413}">
+      <Declaration><![CDATA[METHOD M_GetFlowRec : REFERENCE TO ST_FlowRecipe
+VAR_INPUT
+	iIdx : INT;
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_GetNextProcReq" Id="{b0952230-f0ad-4f72-b4ae-f75c72b5379f}">
+      <Declaration><![CDATA[METHOD M_GetNextProcReq : BOOL
+VAR_INPUT
+	// Flow recipe pool index
+	iIdx : INT;
+END_VAR
+VAR_OUTPUT
+	// Process requirements bitmask
+	dwProcReq : DWORD;
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_RemFlowRec" Id="{24769a0f-680b-4bee-aa98-9f548ec7f78c}">
+      <Declaration><![CDATA[METHOD M_RemFlowRec : BOOL
+VAR_INPUT
+	iIdx : INT;
+END_VAR
+]]></Declaration>
+    </Method>
+    <Method Name="M_ReportResult" Id="{4c4a5c8e-bf65-4842-9e43-a2f8387979e2}">
+      <Declaration><![CDATA[METHOD M_ReportResult : BOOL
+VAR_INPUT
+	iIdx : INT;
+	xResult : BOOL;
+END_VAR
+]]></Declaration>
+    </Method>
+  </Itf>
+</TcPlcObject>
--- a/PLC/POUs/Scheduler/ITFs/I_Product.TcIO
+++ b/PLC/POUs/Scheduler/ITFs/I_Product.TcIO
@@ -1,30 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <Itf Name="I_Product" Id="{78dffc1b-aed6-4622-8b64-e060477179c6}">
-    <Declaration><![CDATA[{attribute 'no_explicit_call' := 'do not call this POU directly'}
-INTERFACE I_Product
-]]></Declaration>
-    <Method Name="M_SetCurrProcRes" Id="{afd48187-6008-4813-8fe5-04c632483cf0}">
-      <Declaration><![CDATA[METHOD M_SetCurrProcRes
-VAR_INPUT
-	xSuccess : BOOL;
-END_VAR
-]]></Declaration>
-    </Method>
-    <Property Name="P_CurrNodeID" Id="{2408303a-b81e-4623-9557-4af29ff08776}">
-      <Declaration><![CDATA[PROPERTY P_CurrNodeID : UINT]]></Declaration>
-      <Get Name="Get" Id="{c7773936-77b0-42da-86b5-ef706272183a}">
-        <Declaration><![CDATA[]]></Declaration>
-      </Get>
-      <Set Name="Set" Id="{1ecab2de-a6ae-4a48-a0d3-c65c8bfe8a22}">
-        <Declaration><![CDATA[]]></Declaration>
-      </Set>
-    </Property>
-    <Property Name="P_NextReqCap" Id="{ea007dca-197b-4284-b65b-0f7c1a14e1fa}">
-      <Declaration><![CDATA[PROPERTY P_NextReqCap : DWORD]]></Declaration>
-      <Get Name="Get" Id="{0abf4eb3-351d-4342-a687-7722bc63fdaa}">
-        <Declaration><![CDATA[]]></Declaration>
-      </Get>
-    </Property>
-  </Itf>
-</TcPlcObject>
--- a/PLC/POUs/Scheduler/ITFs/I_Station.TcIO
+++ b/PLC/POUs/Scheduler/ITFs/I_Station.TcIO
@@ -10,26 +10,26 @@ VAR_INPUT
 END_VAR
 ]]></Declaration>
    </Method>
-    <Method Name="M_InsertProduct" Id="{6d808715-3e3b-47f8-9bce-8110ddf0fadc}">
+    <Method Name="M_InsertProduct" Id="{73df88e2-075f-45f5-90de-892fc737e8cc}">
      <Declaration><![CDATA[METHOD M_InsertProduct : BOOL;
 VAR_INPUT
-	fbProduct : I_Product;
+	iFlowRecIdx : INT;
 END_VAR
 ]]></Declaration>
    </Method>
    <Method Name="M_Release" Id="{8a898aac-0cc9-477d-9998-62f5f31391c7}">
      <Declaration><![CDATA[METHOD M_Release : BOOL
 VAR_INPUT
-	udiHandle : UDINT;
+	uiHandle : UINT;
 END_VAR
 ]]></Declaration>
    </Method>
    <Method Name="M_RemoveProduct" Id="{90af1fde-9aed-4c2f-990d-d0ad1af5a705}">
-      <Declaration><![CDATA[METHOD M_RemoveProduct : I_Product
+      <Declaration><![CDATA[METHOD M_RemoveProduct : INT
 ]]></Declaration>
    </Method>
    <Method Name="M_Reserve" Id="{6c535852-3b02-41fc-a4fc-9b0284412ec7}">
-      <Declaration><![CDATA[METHOD M_Reserve : UDINT
+      <Declaration><![CDATA[METHOD M_Reserve : UINT
 ]]></Declaration>
    </Method>
    <Property Name="P_Available" Id="{3075cb0b-1920-4207-a4f7-c06c6ad91a05}">
@@ -50,6 +50,12 @@ END_VAR
        <Declaration><![CDATA[]]></Declaration>
      </Get>
    </Property>
+    <Property Name="P_CurrFlowRecIdx" Id="{5ed2ff40-a91e-4a0c-a811-d777c4479d01}">
+      <Declaration><![CDATA[PROPERTY P_CurrFlowRecIdx : INT]]></Declaration>
+      <Get Name="Get" Id="{231435f7-ad8b-4f53-a923-60b6c4b48be9}">
+        <Declaration><![CDATA[]]></Declaration>
+      </Get>
+    </Property>
    <Property Name="P_HasError" Id="{9d27caa3-2913-4127-9dc4-3c0085468476}">
      <Declaration><![CDATA[PROPERTY P_HasError : BOOL]]></Declaration>
      <Get Name="Get" Id="{ce1554ec-8c79-4cec-ba5a-7f52f7858b24}">
@@ -62,23 +68,16 @@ END_VAR
        <Declaration><![CDATA[]]></Declaration>
      </Get>
    </Property>
-    <Property Name="P_Product" Id="{20f38cff-89b3-4ebd-9f5f-171721cc7f4c}">
-      <Declaration><![CDATA[PROPERTY P_Product : I_Product]]></Declaration>
-      <Get Name="Get" Id="{54f46645-3bb5-477e-a037-282c55914608}">
-        <Declaration><![CDATA[]]></Declaration>
-      </Get>
-    </Property>
-    <Property Name="P_Result" Id="{703e039e-b718-4d79-86bd-e01bd8c2d16b}">
-      <Declaration><![CDATA[PROPERTY P_Result : UINT]]></Declaration>
-      <Get Name="Get" Id="{5a6206de-d50c-4c20-be99-7f2f851fee69}">
-        <Declaration><![CDATA[]]></Declaration>
-      </Get>
-    </Property>
    <Property Name="P_StationID" Id="{9004f009-99e0-41c2-a1a1-57af78c8e0c6}">
      <Declaration><![CDATA[PROPERTY P_StationID : UINT]]></Declaration>
      <Get Name="Get" Id="{060c4b1d-c578-4e27-95fc-86c34f0eedd4}">
        <Declaration><![CDATA[]]></Declaration>
      </Get>
+      <Set Name="Set" Id="{30ef11e6-3d79-4cf4-bd0d-ecf371cdb56f}">
+        <Declaration><![CDATA[VAR
+END_VAR
+]]></Declaration>
+      </Set>
    </Property>
  </Itf>
 </TcPlcObject>
--- a/PLC/POUs/Scheduler/POUs/FB_BaseStation.TcPOU
+++ b/PLC/POUs/Scheduler/POUs/FB_BaseStation.TcPOU
@@ -1,31 +1,45 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
-  <POU Name="FB_StationBase" Id="{e987477c-14c3-4a7d-9e57-317d0837328f}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_StationBase IMPLEMENTS I_Station
+  <POU Name="FB_BaseStation" Id="{e987477c-14c3-4a7d-9e57-317d0837328f}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_BaseStation IMPLEMENTS I_Station
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
+VAR_IN_OUT
+	fbFlowRecHandler : FB_FlowRecHandler;
+END_VAR
 VAR
+	// Current loaded product flow recipe
+	// Index should also be used to access
+	// additional recipe parameters in designated pools
+	_iFlowRecIdx : INT := -1;
+	
 	// Product available for pickup
 	_xProdAvail : BOOL;
 	
-	// Station available for new product
-	_xAvailable : BOOL;
+	// No product in station
+	_xEmpty : BOOL;
+	
+	// Station busy
 	_xBusy : BOOL;
+	
+	// Station done
 	_xDone : BOOL;
+	
+	// Station has error
 	_xError : BOOL;
 	
+	// Station id which was assigned by the scheduler
 	_uiStationID : UINT := 0;
+	
+	// Station capabilities
 	_dwCapabilities : DWORD;
-	_uiResult : UINT;
 	
 	// Reserve token handle
 	_xReserved : BOOL;
-	_udiCurrHandle : UDINT;
-	_udiHandleCounter : UDINT := 1;
-	
-	_fbProduct : I_Product;
+	_uiCurrHandle : UINT;
+	_uiHandleCounter : UINT := 1;
 END_VAR
 ]]></Declaration>
    <Implementation>
@@ -38,33 +52,47 @@ VAR_INPUT
 END_VAR
 ]]></Declaration>
      <Implementation>
-        <ST><![CDATA[M_HasCapabilty := (dwReqCap AND _dwCapabilities) = dwReqCap;]]></ST>
+        <ST><![CDATA[IF (dwReqCap AND _dwCapabilities) = dwReqCap THEN
+	M_HasCapabilty := TRUE;
+ELSE
+	M_HasCapabilty := FALSE;
+END_IF]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_InsertProduct" Id="{d323f806-9a97-49f2-9986-a997415883bf}">
      <Declaration><![CDATA[METHOD M_InsertProduct : BOOL;
 VAR_INPUT
-	fbProduct	: I_Product;
+	iFlowRecIdx : INT;
 END_VAR
 ]]></Declaration>
      <Implementation>
-        <ST><![CDATA[IF fbProduct <> 0 AND _fbProduct = 0 THEN
-	_fbProduct := fbProduct;
-	M_InsertProduct := TRUE;
-ELSE
+        <ST><![CDATA[// Cant insert product if there is still one
+// in the station, also dont insert invalid product index
+IF (_iFlowRecIdx <> -1) OR (iFlowRecIdx = -1) THEN
 	M_InsertProduct := FALSE;
-END_IF]]></ST>
+END_IF
+
+// Save product index
+_iFlowRecIdx := iFlowRecIdx;
+
+// Advance one step in the node control flow
+fbFlowRecHandler.M_AdvJob(iIdx := iFlowRecIdx);
+
+
+// Report success
+M_InsertProduct := TRUE;]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Release" Id="{924bffc5-44cc-4d02-a67d-fb0f3ab51cc2}">
      <Declaration><![CDATA[METHOD M_Release : BOOL
 VAR_INPUT
-	udiHandle : UDINT;
+	uiHandle : UINT;
 END_VAR]]></Declaration>
      <Implementation>
-        <ST><![CDATA[IF _xReserved AND (udiHandle = _udiCurrHandle) THEN
+        <ST><![CDATA[// Check if we are reserved and the handle to release is corrcet
+IF _xReserved AND (uiHandle = _uiCurrHandle) THEN
 	_xReserved := FALSE;
-	_udiCurrHandle := 0;
+	_uiCurrHandle := 0;
 	M_Release := TRUE;
 ELSE
 	M_Release := FALSE;
@@ -72,33 +100,40 @@ END_IF]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_RemoveProduct" Id="{e5d01ee0-a885-4496-b522-46d093416622}">
-      <Declaration><![CDATA[METHOD M_RemoveProduct : I_Product
+      <Declaration><![CDATA[METHOD M_RemoveProduct : INT
 ]]></Declaration>
      <Implementation>
-        <ST><![CDATA[M_RemoveProduct := _fbProduct;
-_fbProduct := 0;]]></ST>
+        <ST><![CDATA[// Return index of product in machine
+M_RemoveProduct := _iFlowRecIdx;
+
+// Set product in machine invalid
+_iFlowRecIdx := -1;
+
+// There is no more a product to be ready for pickup
+_xProdAvail := FALSE;
+]]></ST>
      </Implementation>
    </Method>
    <Method Name="M_Reserve" Id="{42a69458-4b78-4d35-bd61-3bb1ee3cafec}">
-      <Declaration><![CDATA[METHOD M_Reserve : UDINT
+      <Declaration><![CDATA[METHOD M_Reserve : UINT
 ]]></Declaration>
      <Implementation>
-        <ST><![CDATA[IF (NOT _xReserved) THEN
+        <ST><![CDATA[// Check if we are not already reserved
+IF (NOT _xReserved) THEN
 	_xReserved := TRUE;
-	_xAvailable := FALSE;
 	
-	_udiCurrHandle := _udiHandleCounter;
+	_uiCurrHandle := _uiHandleCounter;
 	
 	// Increment handle
-	_udiHandleCounter := _udiHandleCounter + 1;
+	_uiHandleCounter := _uiHandleCounter + 1;
 	
 	// Prevent invalid token when overflowing
-	IF _udiHandleCounter = 0 THEN
-		_udiHandleCounter := 1;
+	IF _uiHandleCounter = 0 THEN
+		_uiHandleCounter := 1;
 	END_IF
 	
 	// Return handle
-	M_Reserve := _udiCurrHandle;
+	M_Reserve := _uiCurrHandle;
 ELSE
 	M_Reserve := 0;
 END_IF]]></ST>
@@ -112,7 +147,10 @@ END_IF]]></ST>
 END_VAR
 ]]></Declaration>
        <Implementation>
-          <ST><![CDATA[P_Available := _xAvailable;]]></ST>
+          <ST><![CDATA[P_Available := (NOT _xReserved) // Station not reserver
+	AND (_iFlowRecIdx = -1) // No product in station
+	AND (NOT _xBusy) // Station not busy
+	AND (NOT _xError); // Station no error]]></ST>
        </Implementation>
      </Get>
    </Property>
@@ -140,6 +178,18 @@ END_VAR
        </Implementation>
      </Get>
    </Property>
+    <Property Name="P_CurrFlowRecIdx" Id="{d0f37c45-4a5c-4efc-a8ff-f73e6ce76964}">
+      <Declaration><![CDATA[PROPERTY P_CurrFlowRecIdx : INT
+]]></Declaration>
+      <Get Name="Get" Id="{d05b9f0f-e7a4-4e88-83d5-c67bbca6f978}">
+        <Declaration><![CDATA[VAR
+END_VAR
+]]></Declaration>
+        <Implementation>
+          <ST><![CDATA[P_CurrFlowRecIdx := _iFlowRecIdx;]]></ST>
+        </Implementation>
+      </Get>
+    </Property>
    <Property Name="P_HasError" Id="{1126bae7-5dd1-4592-8f95-62ea6e252ed0}">
      <Declaration><![CDATA[PROPERTY P_HasError : BOOL
 ]]></Declaration>
@@ -152,6 +202,17 @@ END_VAR
        </Implementation>
      </Get>
    </Property>
+    <Property Name="P_HasProduct" Id="{8b974b49-9c67-4d5f-9d0f-defc53b608cd}">
+      <Declaration><![CDATA[PROPERTY P_HasProduct : BOOL]]></Declaration>
+      <Get Name="Get" Id="{b6ba2262-99e3-4626-8d27-178b09d53a84}">
+        <Declaration><![CDATA[VAR
+END_VAR
+]]></Declaration>
+        <Implementation>
+          <ST><![CDATA[P_HasProduct := (_iFlowRecIdx <> -1);]]></ST>
+        </Implementation>
+      </Get>
+    </Property>
    <Property Name="P_ProdAvail" Id="{47526379-0732-4031-8d2b-4380310ef64c}">
      <Declaration><![CDATA[PROPERTY P_ProdAvail : BOOL
 ]]></Declaration>
@@ -164,30 +225,6 @@ END_VAR
        </Implementation>
      </Get>
    </Property>
-    <Property Name="P_Product" Id="{78d9c0d5-87fc-4940-8596-ddfb9f581df8}">
-      <Declaration><![CDATA[PROPERTY P_Product : I_Product
-]]></Declaration>
-      <Get Name="Get" Id="{16260053-c4bc-45d7-9a2b-60c60dd338ad}">
-        <Declaration><![CDATA[VAR
-END_VAR
-]]></Declaration>
-        <Implementation>
-          <ST><![CDATA[P_Product := _fbProduct;]]></ST>
-        </Implementation>
-      </Get>
-    </Property>
-    <Property Name="P_Result" Id="{84eed0af-ed7f-4d3e-964c-fa5fda4093f1}">
-      <Declaration><![CDATA[PROPERTY P_Result : UINT
-]]></Declaration>
-      <Get Name="Get" Id="{72d03065-7320-43e6-8295-5250a7641abc}">
-        <Declaration><![CDATA[VAR
-END_VAR
-]]></Declaration>
-        <Implementation>
-          <ST><![CDATA[P_Result := _uiResult;]]></ST>
-        </Implementation>
-      </Get>
-    </Property>
    <Property Name="P_StationID" Id="{6655f302-05b0-4a57-b6f3-aa70ddd6a9f3}">
      <Declaration><![CDATA[PROPERTY P_StationID : UINT
 ]]></Declaration>
@@ -199,6 +236,14 @@ END_VAR
          <ST><![CDATA[P_StationID := _uiStationID;]]></ST>
        </Implementation>
      </Get>
+      <Set Name="Set" Id="{2aae20dc-be6d-4d77-adda-bb622f240eb6}">
+        <Declaration><![CDATA[VAR
+END_VAR
+]]></Declaration>
+        <Implementation>
+          <ST><![CDATA[_uiStationID := P_StationID;]]></ST>
+        </Implementation>
+      </Set>
    </Property>
  </POU>
 </TcPlcObject>
--- a/PLC/POUs/Scheduler/POUs/FB_BaseTransport.TcPOU
+++ b/PLC/POUs/Scheduler/POUs/FB_BaseTransport.TcPOU
@@ -1,13 +1,18 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
-  <POU Name="FB_TransportBase" Id="{27acb860-a7d2-4ad3-adc1-3999bf7b2d0f}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_TransportBase IMPLEMENTS I_Transport
+  <POU Name="FB_BaseTransport" Id="{27acb860-a7d2-4ad3-adc1-3999bf7b2d0f}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_BaseTransport IMPLEMENTS I_Transport
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
+VAR_IN_OUT
+	fbJobQueue : FB_JobQueue;
+END_VAR
 VAR
-	_xAvailable : BOOL;
+	_stTransJon : ST_TransJob;	
+
+	_xAvailable : BOOL := TRUE;
 	_xError : BOOL;
 END_VAR
 ]]></Declaration>
--- a/PLC/POUs/Scheduler/POUs/FB_FlowRecHandler.TcPOU
+++ b/PLC/POUs/Scheduler/POUs/FB_FlowRecHandler.TcPOU
@@ -0,0 +1,263 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_FlowRecHandler" Id="{3b3f8fad-c882-4122-b8a4-83e042a5706a}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_FlowRecHandler IMPLEMENTS I_FlowRecHandler
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR
+	_astFlowRecPool : ARRAY[0..(POOL_SIZE - 1)] OF ST_FlowRecipe;
+	_iFlowRecCnt : INT := 0;
+	
+	// Variable used to safely delete an entry in the pool
+	_stDefaultRecipe : ST_FlowRecipe;
+END_VAR
+VAR CONSTANT
+	POOL_SIZE : INT := 100;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[]]></ST>
+    </Implementation>
+    <Method Name="M_AddFlowRec" Id="{f9093d26-eb70-4f53-b224-c0a4e1b5746e}">
+      <Declaration><![CDATA[METHOD M_AddFlowRec : INT
+VAR_INPUT
+	stFlowRecipe : ST_FlowRecipe;
+END_VAR
+VAR	
+	i : INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check size
+IF _iFlowRecCnt >= POOL_SIZE THEN
+	M_AddFlowRec := -1;
+	RETURN;
+END_IF
+
+// Find a free slot in the pool
+FOR i := 0 TO (POOL_SIZE - 1) DO
+	// If slot is free, set the flow recipe data
+	IF (_astFlowRecPool[i].iProdIdx = -1) THEN
+		_astFlowRecPool[i] := stFlowRecipe;
+		_astFlowRecPool[i].iProdIdx := i;
+		// Increment number of recipes in the pool
+		_iFlowRecCnt := _iFlowRecCnt + 1;
+		// Return index of the added flow recipe
+		M_AddFlowRec := i;
+		RETURN;
+	END_IF
+END_FOR]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_AdvJob" Id="{896adff3-f1cf-4fbe-80a0-e0d546958fea}">
+      <Declaration><![CDATA[METHOD M_AdvJob : BOOL
+VAR_INPUT
+	iIdx : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF (NOT M_CheckPoolBounds(iIdx := iIdx)) THEN
+	M_AdvJob := FALSE;
+	RETURN;
+END_IF
+
+// Advance one step throught the flow recipe
+IF (NOT M_CheckNextNodeIdx(iCurrNodeIdx := iIdx, iNextNodeIdx := _astFlowRecPool[iIdx].iNextNode)) THEN
+	M_AdvJob := FALSE;
+ELSE
+	_astFlowRecPool[iIdx].iCurrNode := _astFlowRecPool[iIdx].iNextNode;
+END_IF
+]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_CheckNextNodeIdx" Id="{01c36d2f-aaf6-49a5-816f-6f12c6f68b2a}">
+      <Declaration><![CDATA[METHOD PRIVATE M_CheckNextNodeIdx : BOOL
+VAR_INPUT
+	iCurrNodeIdx : INT;
+	iNextNodeIdx : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF (NOT M_CheckPoolBounds(iIdx := iCurrNodeIdx)) THEN
+	M_CheckNextNodeIdx := FALSE;
+	RETURN;
+END_IF
+
+IF (iNextNodeIdx) < 0 OR (iNextNodeIdx > (_astFlowRecPool[iCurrNodeIdx].uiNodeCnt - 1)) THEN
+	M_CheckNextNodeIdx := FALSE;
+ELSE
+	M_CheckNextNodeIdx := TRUE;
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_CheckPoolBounds" Id="{fce02a57-832f-4eaf-9235-5af81ab0f23b}">
+      <Declaration><![CDATA[METHOD PRIVATE M_CheckPoolBounds : BOOL
+VAR_INPUT
+	iIdx : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check index boundaries
+IF (iIdx < 0) OR (iIdx > (POOL_SIZE - 1)) THEN
+	M_CheckPoolBounds := FALSE;
+ELSE
+	M_CheckPoolBounds := TRUE;
+END_IF]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_GetFlowRec" Id="{6c6a6f91-e451-4cac-88ce-a7a62b58d715}">
+      <Declaration><![CDATA[METHOD M_GetFlowRec : REFERENCE TO ST_FlowRecipe
+VAR_INPUT
+	iIdx : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check index boundaries
+IF (NOT M_CheckPoolBounds(iIdx)) THEN
+	RETURN;
+END_IF
+
+// Return product data from pool
+M_GetFlowRec REF= _astFlowRecPool[iIdx];]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_GetNextPrio" Id="{11bba164-4c45-4988-8c5e-3a922df5613f}">
+      <Declaration><![CDATA[METHOD M_GetNextPrio : UINT
+VAR_INPUT
+	(* Flow recipe pool index*)
+	iIdx : INT;
+END_VAR
+VAR
+	_iNextNodeIdx : INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF (NOT M_CheckPoolBounds(iIdx)) THEN
+	M_GetNextPrio := 0;
+	RETURN;
+END_IF
+
+// Get next node index
+_iNextNodeIdx := _astFlowRecPool[iIdx].iNextNode;
+
+// Check for next node bounds
+IF (NOT M_CheckNextNodeIdx(iCurrNodeIdx := iIdx, iNextNodeIdx := _iNextNodeIdx)) THEN
+	M_GetNextPrio := 0;
+	RETURN;
+END_IF
+
+// Return next priority
+M_GetNextPrio := _astFlowRecPool[iIdx].astNodes[_iNextNodeIdx].uiPriority;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_GetNextProcReq" Id="{c0f8e1bf-d696-4712-b3aa-63621a5789cf}">
+      <Declaration><![CDATA[METHOD M_GetNextProcReq : BOOL
+VAR_INPUT
+	(* Flow recipe pool index*)
+	iIdx	: INT;
+END_VAR
+VAR_OUTPUT
+	(* Process requirements bitmask*)
+	dwProcReq	: DWORD;
+END_VAR
+VAR
+	_iNextNodeIdx : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check index boundaries
+IF (NOT M_CheckPoolBounds(iIdx)) THEN
+	dwProcReq := 0;
+	M_GetNextProcReq := FALSE;
+	RETURN;
+END_IF
+
+// Return product data from pool
+_iNextNodeIdx := _astFlowRecPool[iIdx].iNextNode;
+
+// Check for valid next node
+IF (NOT M_CheckNextNodeIdx(iCurrNodeIdx := iIdx, iNextNodeIdx := _iNextNodeIdx)) THEN
+	dwProcReq := 0;
+	M_GetNextProcReq := FALSE;
+	RETURN;
+END_IF
+
+dwProcReq := _astFlowRecPool[iIdx].astNodes[_iNextNodeIdx].dwReqCap;
+M_GetNextProcReq := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_RemFlowRec" Id="{4ca29998-c702-42b0-a307-733174741ab8}">
+      <Declaration><![CDATA[METHOD M_RemFlowRec : BOOL
+VAR_INPUT
+	iIdx : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check index boundaries
+IF (NOT M_CheckPoolBounds(iIdx)) THEN
+	M_RemFlowRec := FALSE;
+END_IF
+
+// Reset flow recipe in pool slot to default recipe
+_astFlowRecPool[iIdx] := _stDefaultRecipe;
+
+// Return success
+M_RemFlowRec := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+    <Method Name="M_ReportResult" Id="{16053eca-a7a6-4800-b521-1a15f3dfce4f}">
+      <Declaration><![CDATA[// Sets the result of the current node operation
+// and updates the reference to the next node id
+// depending on the reported result
+METHOD M_ReportResult : BOOL
+VAR_INPUT
+	iIdx : INT;
+	xResult : BOOL;
+END_VAR
+VAR
+	_iCurrNodeIdx : INT;
+	_iNextNodeIdx : INT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Check index boundaries
+IF (NOT M_CheckPoolBounds(iIdx)) THEN
+	M_ReportResult := FALSE;
+	RETURN;
+END_IF
+
+// Set current flow node result flag
+_iCurrNodeIdx := _astFlowRecPool[iIdx].iCurrNode;
+_astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].xSuccess := xResult;
+
+// Update ref for the next node
+IF xResult THEN
+	_iNextNodeIdx := _astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].iNextNodeSuccess;
+ELSE
+	// Check if we have retries left
+	IF _astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].uiCurrRetries < _astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].uiMaxRetries THEN
+		// Increment retry counter
+		_astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].uiCurrRetries := _astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].uiCurrRetries + 1;
+		// Get next retry node
+		_iNextNodeIdx := _astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].iNextNodeRetry;
+	ELSE
+		// Get next fail node
+		_iNextNodeIdx := _astFlowRecPool[iIdx].astNodes[_iCurrNodeIdx].iNextNodeFail;
+	END_IF
+END_IF
+
+// Check index boundaries
+IF (_iNextNodeIdx < 0) OR (_iNextNodeIdx > (_astFlowRecPool[iIdx].uiNodeCnt - 1)) THEN
+	// If there is no next node set to -1
+	// to indicate, that this was the last node in the
+	// flow recipe
+	_astFlowRecPool[iIdx].iNextNode := -1;
+ELSE
+	_astFlowRecPool[iIdx].iNextNode := _iNextNodeIdx;
+END_IF
+
+// Return success
+M_ReportResult := TRUE;]]></ST>
+      </Implementation>
+    </Method>
+  </POU>
+</TcPlcObject>
--- a/PLC/POUs/Scheduler/POUs/FB_JobQueue.TcPOU
+++ b/PLC/POUs/Scheduler/POUs/FB_JobQueue.TcPOU
@@ -3,6 +3,7 @@
  <POU Name="FB_JobQueue" Id="{b05c10aa-a132-426c-9adb-9c3d92e348cd}" SpecialFunc="None">
    <Declaration><![CDATA[FUNCTION_BLOCK FB_JobQueue
 VAR_INPUT
+	xEnableAging : BOOL := FALSE;
 END_VAR
 VAR_OUTPUT
 END_VAR
@@ -12,7 +13,11 @@ VAR
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[// If aging is enable recalculate priorities
+IF xEnableAging THEN
+	M_CalcAgingPrio();
+END_IF
+]]></ST>
    </Implementation>
    <Method Name="FB_Init" Id="{59b2fc0f-4c7e-4fd5-97a2-d54f83d37be4}">
      <Declaration><![CDATA[//FB_Init is always available implicitly and it is used primarily for initialization.
@@ -28,12 +33,7 @@ VAR
 	_uiCnt : UINT;
 END_VAR]]></Declaration>
      <Implementation>
-        <ST><![CDATA[// Set all jobs to false
-FOR _uiCnt := 0 TO (GVL_Scheduler.MAX_JOBS_IN_QUEUE - 1) DO
-	_astJobQueue[_uiCnt].xValid := FALSE;
-END_FOR
-
-// No jobs in queue
+        <ST><![CDATA[// No jobs in queue
 _uiJobCount := 0;]]></ST>
      </Implementation>
    </Method>
@@ -50,22 +50,36 @@ IF _uiJobCount >= GVL_Scheduler.MAX_JOBS_IN_QUEUE THEN
 	RETURN;
 END_IF

-_uiJobCount := _uiJobCount + 1;
 _astJobQueue[_uiJobCount] := stJob;
-_astJobQueue[_uiJobCount].xValid := TRUE;
-_astJobQueue[_uiJobCount].uliTimeCreated := F_GetSystemTime();
+_uiJobCount := _uiJobCount + 1;
 M_AddJob := TRUE;]]></ST>
      </Implementation>
    </Method>
+    <Method Name="M_CalcAgingPrio" Id="{7ee1cc23-b7ac-4255-862a-74b0b696f2cb}">
+      <Declaration><![CDATA[METHOD PRIVATE M_CalcAgingPrio
+VAR
+	i : UINT;
+END_VAR]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[// Calculate ageing priority with overflow check
+FOR i := 0 TO _uiJobCount DO
+	IF _astJobQueue[i].uiPrio < GVL_Scheduler.MAX_PRIORITY THEN
+		IF _astJobQueue[i].uiPrio > (GVL_Scheduler.MAX_PRIORITY - GVL_Scheduler.AGING_STEP) THEN
+			_astJobQueue[i].uiPrio := GVL_Scheduler.MAX_PRIORITY;
+		ELSE
+			_astJobQueue[i].uiPrio := _astJobQueue[i].uiPrio + GVL_Scheduler.AGING_STEP;
+		END_IF
+	END_IF
+END_FOR]]></ST>
+      </Implementation>
+    </Method>
    <Method Name="M_GetHighest" Id="{26fa0379-d921-41a3-a15c-b3ff597c1d37}">
      <Declaration><![CDATA[METHOD M_GetHighest : BOOL
 VAR_OUTPUT
 	stJob : ST_TransJob;
 END_VAR
 VAR
-	_iMaxPrio : INT := -32768;
-	_uiIndex : UINT;
-	_ulTimestamp : ULINT;
+	_uiIndex : UINT := 0;
 	_rDynPrio : REAL;
 	
 	_uiCnt : UINT;
@@ -77,26 +91,25 @@ IF _uiJobCount = 0 THEN
 	RETURN;
 END_IF

-_ulTimestamp := F_GetSystemTime();
-
 // Find job with highest priority also update dyn prio
-FOR _uiCnt := 0 TO _uiJobCount DO
-	// Only recalc and check if job is valid
-	IF _astJobQueue[_uiCnt].xValid THEN
-		// Recalculate dynamic priority (100ns intervalls to seconds)
-		_rDynPrio := ULINT_TO_REAL(_ulTimestamp - _astJobQueue[_uiCnt].uliTimeCreated) *1E-7 * GVL_Scheduler.AGE_FACTOR;
-		IF _rDynPrio > 32767.0 THEN
-			_rDynPrio := 32767.0;
-		END_IF
-		_astJobQueue[_uiCnt].iDynPrio := REAL_TO_INT(_rDynPrio);
-		
+FOR _uiCnt := 0 TO (_uiJobCount-1) DO
 		// Check for highest priority
-		IF (_astJobQueue[_uiCnt].iStatPrio + _astJobQueue[_uiCnt].iDynPrio) > _iMaxPrio THEN
-			_iMaxPrio := 
+		IF _astJobQueue[_uiCnt].uiPrio > _astJobQueue[_uiIndex].uiPrio THEN
+			_uiIndex := _uiCnt;
 		END_IF
-	END_IF
-	
-END_FOR]]></ST>
+END_FOR
+
+// Output job
+stJob := _astJobQueue[_uiIndex];
+
+// Close gap with last element
+_astJobQueue[_uiIndex] := _astJobQueue[_uiJobCount - 1];
+
+// Adjust job number in queue
+_uiJobCount := _uiJobCount - 1;
+
+// Repost success
+M_GetHighest := TRUE;]]></ST>
      </Implementation>
    </Method>
  </POU>
--- a/PLC/POUs/Scheduler/POUs/FB_Product.TcPOU
+++ b/PLC/POUs/Scheduler/POUs/FB_Product.TcPOU
@@ -1,87 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<TcPlcObject Version="1.1.0.1">
-  <POU Name="FB_Product" Id="{aeaa85d2-80b5-4274-aa7e-dadad9f0dcfb}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_Product IMPLEMENTS I_Product
-VAR_INPUT
-END_VAR
-VAR_OUTPUT
-END_VAR
-VAR
-	// Product recipe
-	_stRecipe : ST_Recipe;
-	
-	_uiCurrNodeID : UINT := 0;
-	_uiNextNodeID : UINT := 0;
-	
-	_xResult : BOOL;
-END_VAR
-]]></Declaration>
-    <Implementation>
-      <ST><![CDATA[]]></ST>
-    </Implementation>
-    <Method Name="M_SetCurrProcRes" Id="{478e39cf-00d0-4253-8c4e-ed30567e421d}">
-      <Declaration><![CDATA[METHOD M_SetCurrProcRes
-VAR_INPUT
-	xSuccess : BOOL;
-END_VAR
-VAR
-	_uiCnt : UINT;
-END_VAR]]></Declaration>
-      <Implementation>
-        <ST><![CDATA[// Check all possible transition
-FOR _uiCnt := 0 TO (_stRecipe.astNodes[_uiCurrNodeID].uiTransCnt - 1) DO
-	CASE _stRecipe.astNodes[_uiCurrNodeID].astTransitions[_uiCnt].eCondition OF
-		E_TransitCond.ALWAYS:
-			_uiNextNodeID := _stRecipe.astNodes[_uiCurrNodeID].astTransitions[_uiCnt].uiNextNodeID;
-			EXIT;
-			
-		E_TransitCond.RESULT_OK:
-			IF xSuccess THEN
-				_uiNextNodeID := _stRecipe.astNodes[_uiCurrNodeID].astTransitions[_uiCnt].uiNextNodeID;
-				EXIT;
-			END_IF
-			
-		E_TransitCond.RESULT_NIO:
-			IF (NOT xSuccess) THEN
-				_uiNextNodeID := _stRecipe.astNodes[_uiCurrNodeID].astTransitions[_uiCnt].uiNextNodeID;
-				EXIT;
-			END_IF
-	END_CASE
-END_FOR
-]]></ST>
-      </Implementation>
-    </Method>
-    <Property Name="P_CurrNodeID" Id="{896d8e88-c324-42f7-8ec5-28782223405a}">
-      <Declaration><![CDATA[PROPERTY P_CurrNodeID : UINT
-]]></Declaration>
-      <Get Name="Get" Id="{e1aeb000-7306-4b12-ab29-6078214076ea}">
-        <Declaration><![CDATA[VAR
-END_VAR
-]]></Declaration>
-        <Implementation>
-          <ST><![CDATA[P_CurrNodeID := _uiCurrNodeID;]]></ST>
-        </Implementation>
-      </Get>
-      <Set Name="Set" Id="{6b281f43-823b-4830-a917-2539de62e216}">
-        <Declaration><![CDATA[VAR
-END_VAR
-]]></Declaration>
-        <Implementation>
-          <ST><![CDATA[_uiCurrNodeID := P_CurrNodeID;]]></ST>
-        </Implementation>
-      </Set>
-    </Property>
-    <Property Name="P_NextReqCap" Id="{4c4a03ed-4074-46c1-8f2a-b964a788faf6}">
-      <Declaration><![CDATA[PROPERTY P_NextReqCap : DWORD
-]]></Declaration>
-      <Get Name="Get" Id="{a7e4e08c-166a-4234-b8b1-9d5ae2650ea7}">
-        <Declaration><![CDATA[VAR
-END_VAR
-]]></Declaration>
-        <Implementation>
-          <ST><![CDATA[P_NextReqCap := _stRecipe.astNodes[_uiNextNodeID].dwReqCap;]]></ST>
-        </Implementation>
-      </Get>
-    </Property>
-  </POU>
-</TcPlcObject>
--- a/PLC/POUs/Scheduler/POUs/FB_Scheduler.TcPOU
+++ b/PLC/POUs/Scheduler/POUs/FB_Scheduler.TcPOU
@@ -6,35 +6,77 @@ VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
+VAR_IN_OUT
+	fbFlowRecHandler : FB_FlowRecHandler;
+	fbJobQueue : FB_JobQueue;
+END_VAR
 VAR
+	// Array needs to start at 1 so that 0 can be an invalid station
+	// Maybe later change this to int ant -1
 	_aiStations : ARRAY[1..(GVL_Scheduler.MAX_STATIONS)] OF I_Station;
 	_uiStationCount : UINT := 0;
 	
-	_fbTransport : I_Station;
-	_uiTransportCnt : UINT := 0;
+	_fbTransport : I_Transport;
 	
 	_uiCnt : UINT;
 	_uiNextAvailStation : UINT;
 	
-	_fbProduct : I_Product;
+	_iFlowRecIdx : INT;
+	_dwNextProcReq : DWORD;
+	
+	_stTmpJob : ST_TransJob;
 END_VAR]]></Declaration>
    <Implementation>
-      <ST><![CDATA[IF (NOT _fbTransport.P_Available) THEN
-	// No need to check the station if we don't have a transport ready
+      <ST><![CDATA[// Call job queue
+fbJobQueue(xEnableAging := FALSE);
+
+// Avoid invalid interface refs
+IF (_uiStationCount = 0) OR (_fbTransport = 0) THEN
+	RETURN;
+END_IF
+
+IF (NOT _fbTransport.P_Available) THEN
+	// No need to check the stations if we don't have a transport ready
 	RETURN;
 END_IF


+
 FOR _uiCnt := 1 TO _uiStationCount DO
 	IF _aiStations[_uiCnt].P_ProdAvail THEN
+		// Get flow recipe index
+		_iFlowRecIdx := _aiStations[_uiCnt].P_CurrFlowRecIdx;
+		
+		// Get next process requirements
+		IF (NOT fbFlowRecHandler.M_GetNextProcReq(iIdx := _iFlowRecIdx, dwProcReq => _dwNextProcReq)) THEN
+			CONTINUE;
+		END_IF
+		
 		// Find next available station according to recipe and available station
-		_uiNextAvailStation := M_FindNextAvailStation(_aiStations[_uiCnt].P_Product);
+		_uiNextAvailStation := M_FindNextAvailStation(_dwNextProcReq);
 		
 		// Check if there is a station available
 		IF _uiNextAvailStation <> 0 THEN
-			// Skip reservation for now
-			// _aiStations[_uiNextAvailStation].M_Reserve();
-			// Create transport job
+			// Reserve source station
+			_stTmpJob.uiFromStationHandle := _aiStations[_uiCnt].M_Reserve();
+			
+			// Reserve target station
+			_stTmpJob.uiToStationHandle := _aiStations[_uiNextAvailStation].M_Reserve();
+			
+			// Check if we could reserve the stations
+			IF (_stTmpJob.uiToStationHandle <> 0) AND (_stTmpJob.uiFromStationHandle <> 0) THEN
+				// Create transport job
+				_stTmpJob.uiFromStation := _uiCnt;
+				_stTmpJob.uiToStation := _uiNextAvailStation;
+				_stTmpJob.uiPrio := fbFlowRecHandler.M_GetNextPrio(iIdx := _iFlowRecIdx);
+				
+				// Add job to job queue
+				fbJobQueue.M_AddJob(stJob := _stTmpJob);
+			ELSE
+				// Remove registrations from stations
+				_aiStations[_uiCnt].M_Release(_stTmpJob.uiFromStationHandle);
+				_aiStations[_uiNextAvailStation].M_Release(_stTmpJob.uiToStationHandle);
+			END_IF
 		END_IF
 	END_IF
 END_FOR]]></ST>
@@ -55,22 +97,37 @@ _uiStationCount := 0;]]></ST>
    <Method Name="M_FindNextAvailStation" Id="{75382296-32be-4724-b020-39273aa8358c}">
      <Declaration><![CDATA[METHOD PRIVATE M_FindNextAvailStation : UINT
 VAR_INPUT
-	_fbProduct : I_Product;
+	dwProcReq : DWORD;
 END_VAR
 VAR
 	_uiCnt : UINT;
 END_VAR]]></Declaration>
      <Implementation>
        <ST><![CDATA[FOR _uiCnt := 1 TO _uiStationCount DO
-	IF _aiStations[_uiCnt].M_HasCapabilty(_fbProduct.P_NextReqCap) AND _aiStations[_uiCnt].P_Available THEN
+	IF _aiStations[_uiCnt].M_HasCapabilty(dwProcReq) AND _aiStations[_uiCnt].P_Available THEN
 		M_FindNextAvailStation := _uiCnt;
-		EXIT;
+		RETURN;
 	END_IF
 END_FOR

 M_FindNextAvailStation := 0;]]></ST>
      </Implementation>
    </Method>
+    <Method Name="M_GetStation" Id="{e8451683-3cd1-4d6f-99dd-76f33ecd008d}">
+      <Declaration><![CDATA[METHOD M_GetStation : I_Station
+VAR_INPUT
+	iStationIdx : INT;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[IF iStationIdx < 1 OR iStationIdx > (GVL_Scheduler.MAX_STATIONS - 1) THEN
+	M_GetStation := 0;
+	RETURN;
+END_IF
+
+M_GetStation := _aiStations[iStationIdx];]]></ST>
+      </Implementation>
+    </Method>
    <Method Name="M_Register" Id="{6a14034a-d5c0-46c1-a13b-418885a02563}">
      <Declaration><![CDATA[METHOD M_Register
 VAR_INPUT
@@ -85,8 +142,9 @@ END_IF

 // Check if we have free slots
 IF _uiStationCount < GVL_Scheduler.MAX_STATIONS THEN
-	_aiStations[_uiStationCount] := fbStation;
 	_uiStationCount := _uiStationCount + 1;
+	_aiStations[_uiStationCount] := fbStation;
+	_aiStations[_uiStationCount].P_StationID := _uiStationCount;
 END_IF]]></ST>
      </Implementation>
    </Method>
@@ -102,11 +160,10 @@ IF fbTransport = 0 THEN
 	RETURN;
 END_IF

-// Check if we have free slots
-IF _uiTransportCnt < GVL_Scheduler.MAX_STATIONS THEN
-	_aiStations[_uiTransportCnt] := fbTransport;
-	_uiTransportCnt := _uiTransportCnt + 1;
-END_IF]]></ST>
+// Set transport interface
+_fbTransport := fbTransport;
+
+]]></ST>
      </Implementation>
    </Method>
  </POU>
--- a/PLC/POUs/Scheduler/POUs/GVL_Test.TcGVL
+++ b/PLC/POUs/Scheduler/POUs/GVL_Test.TcGVL
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <GVL Name="GVL_Test" Id="{795c0f41-8233-4565-bfb5-a9d7fd82a697}">
+    <Declaration><![CDATA[{attribute 'qualified_only'}
+VAR_GLOBAL
+END_VAR]]></Declaration>
+  </GVL>
+</TcPlcObject>
--- a/PLC/POUs/Stations/FB_Etcher.TcPOU
+++ b/PLC/POUs/Stations/FB_Etcher.TcPOU
@@ -1,16 +1,61 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_Etcher" Id="{b81a122a-e5f5-475c-8ee0-2d97c1df7eb4}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher EXTENDS FB_StationBase
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Etcher EXTENDS FB_BaseStation
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
 VAR
+	_iState : INT;
+	
+	_tonProcessDuration : TON;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[CASE _iState OF
+	// Wait for product
+	0:
+		IF _iFlowRecIdx <> -1 THEN
+			_xDone := FALSE;
+			_xBusy := TRUE;
+			_iState := 10;
+		END_IF
+		
+	// Simulate process
+	10:
+		_tonProcessDuration(IN := TRUE, PT := T#10S);
+		IF _tonProcessDuration.Q THEN
+			_tonProcessDuration(IN := FALSE);
+			fbFlowRecHandler.M_ReportResult(iIdx := _iFlowRecIdx, xResult := TRUE);
+			_xProdAvail := TRUE;
+			_xBusy := FALSE;
+			_xDone := TRUE;
+			_iState := 20;
+		END_IF
+		
+	// Wait for station to be empty again
+	20:
+		IF _iFlowRecIdx = -1 THEN
+			_iState := 0;
+		END_IF
+END_CASE]]></ST>
    </Implementation>
+    <Method Name="FB_Init" Id="{0669fde2-f64d-4e8f-b76d-71a71bfb6cae}">
+      <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[// Set station capabilities
+_dwCapabilities := 16#0001;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/POUs/Stations/FB_HVTest.TcPOU
+++ b/PLC/POUs/Stations/FB_HVTest.TcPOU
@@ -1,16 +1,60 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_HVTest" Id="{b3445d38-3c32-4973-bf63-429552f0da50}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_HVTest EXTENDS FB_StationBase
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_HVTest EXTENDS FB_BaseStation
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
 VAR
+	_iState : INT;
+	_tonProcessDuration : TON;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[CASE _iState OF
+	// Wait for product
+	0:
+		IF _iFlowRecIdx <> -1 THEN
+			_xDone := FALSE;
+			_xBusy := TRUE;
+			_iState := 10;
+		END_IF
+		
+	// Simulate process
+	10:
+		_tonProcessDuration(IN := TRUE, PT := T#10S);
+		IF _tonProcessDuration.Q THEN
+			_tonProcessDuration(IN := FALSE);
+			fbFlowRecHandler.M_ReportResult(iIdx := _iFlowRecIdx, xResult := TRUE);
+			_xProdAvail := TRUE;
+			_xBusy := FALSE;
+			_xDone := TRUE;
+			_iState := 20;
+		END_IF
+		
+	// Wait for station to be empty again
+	20:
+		IF _iFlowRecIdx = -1 THEN
+			_iState := 0;
+		END_IF
+END_CASE]]></ST>
    </Implementation>
+    <Method Name="FB_Init" Id="{c40e1a0c-0b45-4ca1-a647-10e90c1b54ce}">
+      <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[// Set station capabilities
+_dwCapabilities := 16#0002;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/POUs/Stations/FB_Input.TcPOU
+++ b/PLC/POUs/Stations/FB_Input.TcPOU
@@ -1,16 +1,40 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_Input" Id="{d51b3f46-877e-4234-99b6-53eb690c6bdc}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_Input EXTENDS FB_StationBase
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Input EXTENDS FB_BaseStation
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
 VAR
+	_tonNewProductReady : TON;
+	
+	_stFlowRecipe : ST_FlowRecipe;
+	_xRecipeSet : BOOL;
+	_xStart : BOOL;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[_tonNewProductReady(IN := ((NOT _xProdAvail) AND _xRecipeSet AND _xStart), PT := T#5S);
+IF _tonNewProductReady.Q THEN
+	_iFlowRecIdx := fbFlowRecHandler.M_AddFlowRec(stFlowRecipe := _stFlowRecipe);
+	
+	// Todo create additional recipe data in pool array where the index
+	// is the same as _iFlowRecIdx
+	
+	_xProdAvail := TRUE;
+END_IF]]></ST>
    </Implementation>
+    <Method Name="M_SetRecipe" Id="{58f2ee2a-65a7-4788-a8f6-1e5a7ab222c9}">
+      <Declaration><![CDATA[METHOD M_SetRecipe
+VAR_INPUT
+	stRecipe : ST_FlowRecipe;
+END_VAR
+]]></Declaration>
+      <Implementation>
+        <ST><![CDATA[_stFlowRecipe := stRecipe;
+_xRecipeSet := TRUE;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/POUs/Stations/FB_NIO.TcPOU
+++ b/PLC/POUs/Stations/FB_NIO.TcPOU
@@ -1,16 +1,51 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_NIO" Id="{2cf6f855-1738-40a7-bc96-4518cbb192c2}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_NIO EXTENDS FB_StationBase
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_NIO EXTENDS FB_BaseStation
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
 VAR
+	_iState : INT;
+	_tonAutoRemove : TON;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[CASE _iState OF
+	// Wait for product
+	0:
+		IF _iFlowRecIdx <>  -1 THEN
+			_iState := 10;
+		END_IF
+		
+	// Remove product from line
+	10:
+		_tonAutoRemove(IN := TRUE, PT := T#5S);
+		IF _tonAutoRemove.Q THEN
+			_tonAutoRemove(IN := FALSE);
+			
+			fbFlowRecHandler.M_RemFlowRec(iIdx := _iFlowRecIdx);
+			_iFlowRecIdx := -1;
+			_iState := 0;
+		END_IF
+END_CASE]]></ST>
    </Implementation>
+    <Method Name="FB_Init" Id="{a2216f45-001c-4771-bc7d-1f63f2637a1e}">
+      <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[// Set station capabilities
+_dwCapabilities := 16#0008;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/POUs/Stations/FB_Output.TcPOU
+++ b/PLC/POUs/Stations/FB_Output.TcPOU
@@ -1,16 +1,51 @@
 <?xml version="1.0" encoding="utf-8"?>
 <TcPlcObject Version="1.1.0.1">
  <POU Name="FB_Output" Id="{9711b552-d6a0-4f78-8a70-9ea977b18390}" SpecialFunc="None">
-    <Declaration><![CDATA[FUNCTION_BLOCK FB_Output EXTENDS FB_StationBase
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Output EXTENDS FB_BaseStation
 VAR_INPUT
 END_VAR
 VAR_OUTPUT
 END_VAR
 VAR
+	_iState : INT;
+	_tonAutoRemove : TON;
 END_VAR
 ]]></Declaration>
    <Implementation>
-      <ST><![CDATA[]]></ST>
+      <ST><![CDATA[CASE _iState OF
+	// Wait for product
+	0:
+		IF _iFlowRecIdx <>  -1 THEN
+			_iState := 10;
+		END_IF
+		
+	// Remove product from line
+	10:
+		_tonAutoRemove(IN := TRUE, PT := T#5S);
+		IF _tonAutoRemove.Q THEN
+			_tonAutoRemove(IN := FALSE);
+			
+			fbFlowRecHandler.M_RemFlowRec(iIdx := _iFlowRecIdx);
+			_iFlowRecIdx := -1;
+			_iState := 0;
+		END_IF
+END_CASE]]></ST>
    </Implementation>
+    <Method Name="FB_Init" Id="{ae701a9f-9b93-4e2d-8380-8e14731a8c09}">
+      <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[// Set station capabilities
+_dwCapabilities := 16#0004;]]></ST>
+      </Implementation>
+    </Method>
  </POU>
 </TcPlcObject>
--- a/PLC/POUs/Stations/FB_Robot.TcPOU
+++ b/PLC/POUs/Stations/FB_Robot.TcPOU
@@ -0,0 +1,71 @@
+<?xml version="1.0" encoding="utf-8"?>
+<TcPlcObject Version="1.1.0.1">
+  <POU Name="FB_Robot" Id="{dc28987f-6f20-437a-aca7-b51d3eb98f94}" SpecialFunc="None">
+    <Declaration><![CDATA[FUNCTION_BLOCK FB_Robot EXTENDS FB_BaseTransport
+VAR_INPUT
+END_VAR
+VAR_OUTPUT
+END_VAR
+VAR_IN_OUT
+	fbScheduler : FB_Scheduler;
+END_VAR
+VAR
+	_tonTransportDone : TON;
+	_timTransportTime : TIME := T#5S;
+	
+	_itfSourceStation : I_Station;
+	_itfTargetStation : I_Station;
+	
+	_iFlowRecIdx : INT;
+	
+	_iState : INT;
+END_VAR
+]]></Declaration>
+    <Implementation>
+      <ST><![CDATA[CASE _iState OF
+	// Idle, check for new transport job
+	0:
+		IF fbJobQueue.M_GetHighest(stJob => _stTransJon) THEN
+			_xAvailable := FALSE;
+			
+			// Get station interfaces
+			_itfSourceStation := fbScheduler.M_GetStation(_stTransJon.uiFromStation);
+			_itfTargetStation := fbScheduler.M_GetStation(_stTransJon.uiToStation);
+			
+			_iState := 10;
+		END_IF
+		
+	// Move to pickup station
+	10:
+		_tonTransportDone(IN := TRUE, PT := _timTransportTime);
+		IF _tonTransportDone.Q THEN
+			_tonTransportDone(IN := FALSE);
+			
+			// Get product from station
+			_iFlowRecIdx := _itfSourceStation.M_RemoveProduct();
+			
+			_iState := 20;
+		END_IF
+		
+	// Move to drop station
+	20:
+		_tonTransportDone(IN := TRUE, PT := _timTransportTime);
+		IF _tonTransportDone.Q THEN
+			_tonTransportDone(IN := FALSE);
+			
+			// Put product into station
+			_itfTargetStation.M_InsertProduct(_iFlowRecIdx);
+			
+			_iState := 30;
+		END_IF
+		
+	// Release all station reservations
+	30:
+		_itfSourceStation.M_Release(uiHandle := _stTransJon.uiFromStationHandle);
+		_itfTargetStation.M_Release(uiHandle := _stTransJon.uiToStationHandle);
+		_xAvailable := TRUE;
+		_iState := 0;
+END_CASE]]></ST>
+    </Implementation>
+  </POU>
+</TcPlcObject>
--- a/PLC/PlcTask.TcTTO
+++ b/PLC/PlcTask.TcTTO
@@ -12,6 +12,5 @@
    <Fb_exit>{baf80adf-b0f3-4c1e-958c-6b1cb1610e8e}</Fb_exit>
    <CycleUpdate>{ff4c396c-9481-47ed-a237-b2f9054f4e68}</CycleUpdate>
    <PostCycleUpdate>{e06145cf-bc12-4403-9e2e-7beeb337c603}</PostCycleUpdate>
-    <ObjectProperties />
  </Task>
 </TcPlcObject>
--- a/SchedulerTest.tsproj
+++ b/SchedulerTest.tsproj
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <TcSmProject xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20">
-	<Project ProjectGUID="{499C0D3C-2952-40F2-B5CC-1C48D904BF27}" Target64Bit="true" ShowHideConfigurations="#x6">
+	<Project ProjectGUID="{499C0D3C-2952-40F2-B5CC-1C48D904BF27}" TargetNetId="199.4.42.250.1.1" Target64Bit="true" ShowHideConfigurations="#x6">
 		<System>
 			<Tasks>
 				<Task Id="3" Priority="20" CycleTime="100000" AmsPort="350" AdtTasks="true">
--- a/_Config/PLC/PLC
+++ b/_Config/PLC/PLC
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4026.20" ClassName="CTComPlcObjDef">
-	<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" XtvPath="PLC\PLC Instance.xtv">
+	<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" XtvPath="PLC\PLC Instance.xtv" TmcPath="PLC\PLC.tmc">
 		<Name>__FILENAME__</Name>
 		<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 		<Contexts>