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/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>