First working implementation

- Currently only with one sided gripper

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>