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This commit is contained in:
Matthias Heisig
2026-01-08 11:08:17 +01:00
commit fe882dc444
311 changed files with 511562 additions and 0 deletions
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13
PLC/2 Spinner/POUs/Peripherie/Chuck/DUTs/sChuckConfig.TcDUT Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.6">
<DUT Name="sChuckConfig" Id="{6c20e52c-d491-421a-b1b1-af27ecb71920}">
<Declaration><![CDATA[TYPE sChuckConfig :
STRUCT
HomePosition : LREAL := 99;
HomeSpeed : LREAL := 60;
HomeAcceleration : LREAL := 600;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

39
PLC/2 Spinner/POUs/Peripherie/Chuck/DUTs/sSpinnerChuckSignal.TcDUT Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.6">
<DUT Name="sSpinnerChuckSignal" Id="{3156ee25-1e40-48a9-ac88-c9dedd0ce517}">
<Declaration><![CDATA[TYPE sSpinnerChuckSignal :
STRUCT
// Init : BOOL;
InitDone : BOOL;
Enable : BOOL;
Enabled : BOOL;
Stop : BOOL;
ActualVelocity : LREAL;
ActualPosition : LREAL;
TargetVelocity : REAL;
TargetPosition : LREAL;
UsedTargetSpeed : LREAL;
TargetAcceleration : REAL;
UsedTargetAcceleration : LREAL;
StartVelocity : BOOL;
StartPosition : BOOL;
InVelocity : BOOL;
PositionDone : BOOL;
GoToHome : BOOL;
Error : BOOL;
InVacuum : BOOL;
OutVacuum : BOOL;
InMotorPinUp : BOOL;
InMotorPinDown : BOOL;
OutMotorUp : BOOL;
OutMotorDown : BOOL;
DoorClosed : BOOL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

11
PLC/2 Spinner/POUs/Peripherie/Chuck/DUTs/sSpinnerStepChuck.TcDUT Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.6">
<DUT Name="sSpinnerStepChuck" Id="{ab022e11-5f71-4b7a-a44c-9d5a06a10ff4}">
<Declaration><![CDATA[TYPE sSpinnerStepChuck :
STRUCT
Speed : INT(-2000..2000) := 0;
Acceleration : UINT(0..1000) := 200;
END_STRUCT
END_TYPE]]></Declaration>
</DUT>
</TcPlcObject>

13
PLC/2 Spinner/POUs/Peripherie/Chuck/GVLs/SPINNER_CHUCH_GVL.TcGVL Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<GVL Name="SPINNER_CHUCH_GVL" Id="{f2d8b558-5496-4fbc-a46d-bc2275b8fbe4}">
<Declaration><![CDATA[VAR_GLOBAL
// SpinnerChuck : ARRAY[FirstSpinner..LastSpinner] OF GENERAL_Axis_FB;
END_VAR
VAR_GLOBAL CONSTANT
CHUCK_MAX_RPM : ARRAY[FirstSpinner..LastSpinner] OF LREAL := [6000,6000];
CHUCK_MAX_ACC : ARRAY[FirstSpinner..LastSpinner] OF LREAL := [500,500];
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>

22
PLC/2 Spinner/POUs/Peripherie/Chuck/POUs/MaxSetAcceleration.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.8">
<POU Name="MaxSetAcceleration" Id="{47314fa1-3e0a-44a1-89d1-a52c7eefa06f}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION MaxSetAcceleration : LREAL
VAR_INPUT
iStation : INT;
END_VAR
VAR
// CoverConfig : REFERENCE TO sCoverConfig;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStation = 0 THEN
MaxSetAcceleration := 1;
RETURN;
END_IF
MaxSetAcceleration := CHUCK_MAX_ACC[iStation];]]></ST>
</Implementation>
</POU>
</TcPlcObject>

36
PLC/2 Spinner/POUs/Peripherie/Chuck/POUs/MaxSetSpeed.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.8">
<POU Name="MaxSetSpeed" Id="{42c5fc17-93f0-4459-bf51-dec97ac7b74a}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION MaxSetSpeed : LREAL
VAR_INPUT
iStation : INT;
END_VAR
VAR
// CoverConfig : REFERENCE TO sCoverConfig;
// IO : REFERENCE TO SPINNER_IO_FB;
// COATER_IO : REFERENCE TO COATER_IO_FB;
// CLEANER_IO : REFERENCE TO CLEANER_IO_FB;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStation = 0 THEN
MaxSetSpeed := 0;
RETURN;
END_IF
MaxSetSpeed := CHUCK_MAX_RPM[iStation];
(*IF SPINNER_MAIN[iStation].DoubleRotationChuck.InSmallRotationPosition OR SPINNER_MAIN[iStation].DoubleRotationChuck.InSmallRotationPositionClosed THEN
MaxSetSpeed := 60;
ELSIF SPINNER_MAIN[iStation].DoubleRotationChuck.InRobotPosition THEN
MaxSetSpeed := 0;
ELSIF SPINNER_MAIN[iStation].DoubleRotationChuck.InBigRotationPosition THEN
MaxSetSpeed := CHUCK_MAX_RPM[iStation];
ELSIF SPINNER_MAIN[iStation].DoubleRotationChuck.SystemCMD <> eDoubleRotationChuckCMD.DChuckNoCMD THEN
MaxSetSpeed := SPINNER_MAIN[iStation].Config.DChuck.ChuckHomeSpeed;
ELSE
MaxSetSpeed := 0;
END_IF*)]]></ST>
</Implementation>
</POU>
</TcPlcObject>

2127
PLC/2 Spinner/POUs/Peripherie/Chuck/VISUs/VISU_SPINNER_AUTOMATIC_CHUCK_MINILOGO_MC.TcVIS Normal file
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1167
PLC/2 Spinner/POUs/Peripherie/Chuck/VISUs/VISU_SPINNER_CHUCK_LOGO.TcVIS Normal file
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2425
PLC/2 Spinner/POUs/Peripherie/Chuck/VISUs/VISU_SPINNER_CONFIG_CHUCK.TcVIS Normal file
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856
PLC/2 Spinner/POUs/Peripherie/Chuck/VISUs/VISU_SPINNER_RECIPE_CHUCK.TcVIS Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
<Visu Name="VISU_SPINNER_RECIPE_CHUCK" Id="{48fc9891-edcd-4d95-8fc3-0af870511086}">
<XmlArchive>
<Data>
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<n n="VisualElementOfflinePaintCommands" />
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<d n="VisualElementInputActions" t="Hashtable" ckt="String" cvt="STSnippetInputAction[]">
<v>OnMouseClick</v>
<a cet="STSnippetInputAction">
<o>
<v n="STSnippet">"Timer(In := TRUE, PT := T#1S);
IF Click THEN
IF Timer.Q THEN
Timer(In:= FALSE);
Timer(In:= TRUE);
ELSE
Recipe.DATA[CurrentStep].StepEndCond := EndbyChuckSpeed;
Click := FALSE;
END_IF
ELSE
Click := TRUE;
Timer(In := FALSE);
Timer(In := TRUE);
END_IF"</v>
</o>
</a>
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<n n="TabOrder" />
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<v n="InputBoxVariable">""</v>
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<v n="InputBoxMax">"CHUCK_MAX_RPM[VisuStationStatus.StationType]"</v>
<v n="InputBoxDialogTitle">"'Chuck Speed'"</v>
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<v n="VisuRegisterGvl">{984b9ffa-ca73-4b2e-a701-5ba2a0906fe3}</v>
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Click : BOOL;
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</TcPlcObject>

71
PLC/2 Spinner/POUs/Peripherie/FlowCheck/FlowCheck_FB.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
<POU Name="FlowCheck_FB" Id="{17b1d40e-e4e0-4b29-8651-216f03eb8211}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FlowCheck_FB
VAR_INPUT
iStation : INT;
MediaIndex : INT;
Config : REFERENCE TO sConfigFlowCheck;
UnderLimitErrorIndex : INT;
OverLimitErrorIndex : INT;
NotInRangeErrorIndex : INT;
END_VAR
VAR_OUTPUT
Warning : BOOL;
FlowOk : BOOL;
MediaName : T_MaxString;
CurrentFlow : LREAL;
END_VAR
VAR
Timer : TON;
FlowStatus : (Off, Wait, InLimit, UnderLimit, OverLimit);
TimerInLimit : TON;
Output : BOOL;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[Output := MediaArray[iStation][MediaIndex].bReferenceControl;
CurrentFlow := MediaArray[iStation][MediaIndex].rReferenceFlow;
MediaName := MediaArray[iStation][MediaIndex].ServiceName[Language];
Timer(IN := Output, PT := T#5S);
IF NOT Output THEN
FlowStatus := Off;
ELSE
IF CurrentFlow >= Config.rMin AND
CurrentFlow <= Config.rMax THEN
Timer(IN := FALSE);
FlowStatus := InLimit;
ELSIF Timer.Q THEN
IF CurrentFlow < Config.rMin THEN
FlowStatus := UnderLimit;
ELSIF CurrentFlow > Config.rMax THEN
FlowStatus := OverLimit;
END_IF
ELSE
FlowStatus := Wait;
END_IF
END_IF
TimerInLimit(IN := FlowStatus = InLimit, PT := T#3S, Q => FlowOk);
CASE FlowStatus OF
Off, Wait, InLimit:
AlarmSend(iStation, UnderLimitErrorIndex, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, TRUE);
AlarmSend(iStation, OverLimitErrorIndex, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, TRUE);
Warning := FALSE;
UnderLimit:
AlarmSend(iStation, UnderLimitErrorIndex, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, FALSE);
AlarmSend(iStation, OverLimitErrorIndex, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, TRUE);
Warning := TRUE;
OverLimit:
AlarmSend(iStation, UnderLimitErrorIndex, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, TRUE);
AlarmSend(iStation, OverLimitErrorIndex, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, FALSE);
Warning := TRUE;
END_CASE]]></ST>
</Implementation>
</POU>
</TcPlcObject>

1213
PLC/2 Spinner/POUs/Peripherie/FlowCheck/VISU_FLOW_CONFIG.TcVIS Normal file
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5631
PLC/2 Spinner/POUs/Peripherie/FlowCheck/VISU_SPINNER_CONFIG_FLOW.TcVIS Normal file
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12
PLC/2 Spinner/POUs/Peripherie/FlowCheck/sConfigFlowCheck.TcDUT Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<DUT Name="sConfigFlowCheck" Id="{ff7e35fc-ec2f-4900-9dc7-61f535f82af3}">
<Declaration><![CDATA[TYPE sConfigFlowCheck :
STRUCT
rLimit : LREAL;
rTol : LREAL;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

97
PLC/2 Spinner/POUs/Peripherie/KUKA/DUTs/eSpinnerKUKAMoveType.TcTLEO Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<EnumerationTextList Name="eSpinnerKUKAMoveType" Id="{80a44484-0cbf-4b9e-afa6-9431fd8ad2c6}">
<Declaration><![CDATA[{attribute 'qualified_only'}
{attribute 'strict'}
{attribute 'to_string'}
TYPE eSpinnerKUKAMoveType :
(
NoMoveType := 0,
MovePosition,
MovePositionWithCorrection,
MovePreposition,
MovePrepositionWithCorrection,
MoveNozzlePosition,
MoveNozzleTestPositionWithCorrection
);
END_TYPE
]]></Declaration>
<XmlArchive>
<Data>
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<o>
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<o>
<v n="TextID">"MovePosition"</v>
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</o>
<o>
<v n="TextID">"MoveNozzlePosition"</v>
<v n="TextDefault">""</v>
<l n="LanguageTexts" t="ArrayList" cet="String">
<v>Move Nozzle Test Position</v>
</l>
</o>
<o>
<v n="TextID">"MoveNozzleTestPositionWithCorrection"</v>
<v n="TextDefault">""</v>
<l n="LanguageTexts" t="ArrayList" cet="String">
<v>Move Nozzle Test Position With Correction</v>
</l>
</o>
<o>
<v n="TextID">""</v>
<v n="TextDefault">""</v>
<l n="LanguageTexts" t="ArrayList" cet="String">
<v></v>
</l>
</o>
</l>
<l n="Languages" t="ArrayList" cet="String">
<v>en</v>
</l>
<v n="GuidInit">{bacb1960-6b36-4e2e-a112-56dd5b24cfa8}</v>
<v n="GuidReInit">{8f9c7e24-ce9f-4f40-a976-2ee2cf2748d8}</v>
<v n="GuidExitX">{99aed97d-ad35-4ff4-9bf6-659376fc6ddf}</v>
</o>
</Data>
<TypeList>
<Type n="ArrayList">System.Collections.ArrayList</Type>
<Type n="Guid">System.Guid</Type>
<Type n="String">System.String</Type>
<Type n="TextListEnumerationTextListObject">{4b60233c-f940-4beb-b331-82133b520151}</Type>
<Type n="TextListRow">{53da1be7-ad25-47c3-b0e8-e26286dad2e0}</Type>
</TypeList>
</XmlArchive>
</EnumerationTextList>
</TcPlcObject>

12
PLC/2 Spinner/POUs/Peripherie/KUKA/DUTs/sNozzleCalibrationConfig.TcDUT Normal file
View File

@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.13">
<DUT Name="sNozzleCalibrationConfig" Id="{61c7112e-90a5-4b55-b14e-19cade2dc0bc}">
<Declaration><![CDATA[TYPE sNozzleCalibrationConfig :
STRUCT
CalibrationPosition : sPosition;
ReferencePosition : sPoint;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

12
PLC/2 Spinner/POUs/Peripherie/KUKA/DUTs/sPosition.TcDUT Normal file
View File

@@ -0,0 +1,12 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<DUT Name="sPosition" Id="{ba18163e-1273-4daf-9207-13d420a9e96b}">
<Declaration><![CDATA[TYPE sPosition :
STRUCT
Position : sPosition_6Axis;
Nozzle : USINT(1..6) := 1;
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

10
PLC/2 Spinner/POUs/Peripherie/KUKA/DUTs/sRobotPrePosition.TcDUT Normal file
View File

@@ -0,0 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
<DUT Name="sRobotPrePosition" Id="{c47e8a17-f5d4-4f35-8b95-71b36ea07688}">
<Declaration><![CDATA[TYPE sRobotPrePosition :
STRUCT
PrePosition : ARRAY[0..MaxNumberOfSizes] OF sPosition;
END_STRUCT
END_TYPE]]></Declaration>
</DUT>
</TcPlcObject>

870
PLC/2 Spinner/POUs/Peripherie/KUKA/Spinner_KUKA_FB.TcPOU Normal file
View File

@@ -0,0 +1,870 @@
<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<POU Name="Spinner_KUKA_FB" Id="{b7de581d-7536-439f-99c3-faee33285c23}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK Spinner_KUKA_FB EXTENDS Peripherie_FB
VAR_INPUT
Config : REFERENCE TO sSpinnerRobotConfig;
rOutProgrammNumber : USINT;
bOut_DRIVES_OFF : BOOL;
bOut_DRIVES_ON : BOOL;
bOut_MOVE_ENABLE : BOOL;
bOut_EXT_START : BOOL;
bOut_CONF_MESS : BOOL;
bOut_PGBO_VALID : BOOL;
bOut_PGBO_PARITY : BOOL;
bOut_Jog_A_P : BOOL;
bOut_Jog_A_N : BOOL;
bOut_Jog_B_P : BOOL;
bOut_Jog_B_N : BOOL;
bOut_Jog_C_P : BOOL;
bOut_Jog_C_N : BOOL;
bOut_EndOfCycle : BOOL;
bOutStartPos : BOOL;
bOutJobAcknowledgement : BOOL;
rOutXCord : LREAL;
rOutYCord : lreal;
rOutZCord : lreal;
rOutACord : lreal;
rOutBCord : lreal;
rOutCCord : LREAL;
rOutOverride : LREAL;
rOutTargetSpeed : LREAL := 10;
EndofCyle : BOOL;
sTargetPosition : sPosition;
rOutNozzleNumber : USINT(0..6) := 0;
bIn_PERI_RDY AT %I* : BOOL;
bIn_USER_SAF : BOOL;
bIn_ROB_STOPPED : BOOL;
bIn_STOPMESS : BOOL;
bIn_PGNO_REG : BOOL;
bIn_APPL_RUN : BOOL;
bIn_T1 AT %I* : BOOL;
bIn_T2 AT %I* : BOOL;
bIn_EXT AT %I* : BOOL;
bInI_O_ACTCONF : BOOL;
bInPrimaryHomePosition : BOOL;
bIn_PRO_ACT : BOOL;
bInProgramReady : BOOL;
bInGoToAutoMode : BOOL;
bInStartPos : BOOL;
bOutInitialPosition : BOOL;
bInChangeProgram : BOOL;
rInTargetProgram : USINT;
ExternalModeErrorIndex : INT;
HomePositionErrorIndex : INT;
bOutProcessProgramIsStarted : BOOL;
MoveType : eSpinnerKUKAMoveType;
rInTargetPredefinedPosition : INT;
rInTargetPredefinedPositionSize : INT := 1;
ProcessType : eSpinnerRecipeProcessType;
END_VAR
VAR_OUTPUT
bInJobDone : BOOL;
bInPosReady : BOOL;
bInInitialPosition : BOOL;
rInProgrammNumber : USINT;
bInProcessPositionStart : BOOL;
bInProcessPositionStop : BOOL;
bOutInProcessPosition : BOOL;
rInXCord : LREAL;
rInYCord : LREAL;
rInZCord : LREAL;
rInACord : LREAL;
rInBCord : LREAL;
rInCCord : LREAL;
END_VAR
VAR
RobotOutData AT %Q* : ARRAY [0..3] OF DINT;
OutXCord AT %Q* : DINT;
OutYCord AT %Q* : DINT;
OutZCord AT %Q* : DINT;
OutACord AT %Q* : DINT;
OutBCord AT %Q* : DINT;
OutCCord AT %Q* : DINT;
OutTargetSpeed AT %Q* : DINT;
OutOverride AT %Q* : DINT;
RobotInData AT %I* : ARRAY [0..3] OF DINT;
InXCord AT %I* : DINT;
InYCord AT %I* : DINT;
InZCord AT %I* : DINT;
InACord AT %I* : DINT;
InBCord AT %I* : DINT;
InCCord AT %I* : DINT;
// rIn_Axis6 AT %I* : DINT;
bOutAutoDone : BOOL;
i, ParityCounter : SINT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStationStatus.Soll.Stop THEN
bOutAutoDone := FALSE;
bOut_DRIVES_OFF := FALSE;
bOut_DRIVES_ON := FALSE;
bOut_MOVE_ENABLE := FALSE;
bOut_EXT_START := FALSE;
bOut_CONF_MESS := FALSE;
bOut_PGBO_VALID := FALSE;
bOutStartPos := FALSE;
bOut_EndOfCycle := FALSE;
bInGoToAutoMode := FALSE;
bInStartPos := FALSE;
bInProcessPositionStart := FALSE;
bOutInProcessPosition := FALSE;
INIT();
StartPos();
RETURN;
END_IF
IO();
MAIN();
ErrorHandling();]]></ST>
</Implementation>
<Method Name="ChangeProgram" Id="{d62769ec-84f1-4164-b932-589cedea8876}">
<Declaration><![CDATA[METHOD ChangeProgram : BOOL
VAR_INPUT
In : USINT;
Stop : BOOL := FALSE;
END_VAR
VAR_INST
Step : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF Stop THEN
Step := 0;
RETURN;
END_IF
CASE Step OF
0:
rOutProgrammNumber := In;
IF rInProgrammNumber = In THEN
Step := 10;
ELSE
Step := 50;
END_IF
10:
IF bIn_PGNO_REG THEN
Step := 20;
ELSE
Step := 90;
END_IF
20:
bOut_PGBO_VALID := TRUE;
IF NOT bIn_PGNO_REG THEN
bOut_PGBO_VALID := FALSE;
Step := 10;
END_IF
50:
IF bIn_PGNO_REG THEN
Step := 10;
ELSE
Step := Step +1;
END_IF
51:
bOut_EndOfCycle := TRUE;
IF bIn_PGNO_REG THEN
bOut_EndOfCycle := FALSE;
Step := 20;
END_IF
90:
IF bInProgramReady THEN
Step := 95;
END_IF
95:
// IF bInJobDone OR bInError THEN
// rOutJobType := 99;
// ELSE
// rOutJobType := 0;
Step := 100;
// END_IF
100:
ChangeProgram := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="INIT" Id="{27828ab4-3b04-4d85-b156-9f8bd96454de}">
<Declaration><![CDATA[METHOD INIT : BOOL
VAR_INPUT
END_VAR
VAR_INST
Step : INT;
Timer : TON;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStationStatus.Soll.Stop THEN
Step := 0;
RETURN;
END_IF
IF Error THEN
RETURN;
END_IF
IF SpinnerNoRobotInit THEN
INIT := TRUE;
RETURN;
END_IF
CASE Step OF
0:
bOut_MOVE_ENABLE := FALSE;
bOut_DRIVES_OFF := FALSE;
bOut_DRIVES_ON := FALSE;
bOut_EXT_START := FALSE;
bOUT_CONF_MESS := FALSE;
bOutAutoDone := FALSE;
Timer(IN := TRUE, PT := T#1S);
IF Timer.Q THEN
Timer(IN := FALSE, PT := T#1S);
Step := 10;
END_IF
10:
IF bIn_EXT THEN
Step := 15;
ELSE
error_index := AlarmSend(iStation, ExternalModeErrorIndex, TRUE, eReportType.Info, sAvailableResponse.Cancel, FALSE);
Error := TRUE;
END_IF
15:
IF bInPrimaryHomePosition THEN
Step := 20;
ELSE
error_index := AlarmSend(iStation, HomePositionErrorIndex, TRUE, eReportType.Info, sAvailableResponse.Cancel, FALSE);
Error := TRUE;
END_IF
20:
bOut_MOVE_ENABLE := TRUE;
bOut_DRIVES_OFF := TRUE;
Step := Step +1;
21:
IF bIn_ROB_STOPPED THEN
Step := 30;
END_IF
30:
IF bIn_PERI_RDY THEN
Step := 40;
ELSE
bOut_DRIVES_ON := TRUE;
Step := Step +1;
END_IF
31:
IF bIn_PERI_RDY THEN
bOut_DRIVES_ON := FALSE;
Step := 40;
END_IF
40:
IF bInI_O_ACTCONF THEN
Step := 50;
END_IF
50:
IF bIn_STOPMESS THEN
bOUT_CONF_MESS := TRUE;
Step := Step +1;
ELSE
Step := 60;
END_IF
51:
Timer(IN := TRUE, PT := T#1S);
IF Timer.Q THEN
Timer(IN := FALSE, PT := T#3S);
Step := 0;
END_IF
IF NOT bIn_STOPMESS THEN
Timer(IN := FALSE, PT := T#3S);
bOUT_CONF_MESS := FALSE;
Step := 60;
END_IF
60:
IF bIn_PRO_ACT THEN
Step := 100;
ELSE
bOut_EXT_START := TRUE;
Step := Step +1;
END_IF
61:
IF bIn_PRO_ACT THEN
Step := 100;
END_IF
100:
Step := 0;
bOutAutoDone := TRUE;
bInGoToAutoMode := FALSE;
INIT := TRUE;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="Initialization" Id="{42e45945-4235-4a49-bad5-9d465706b12b}">
<Declaration><![CDATA[METHOD Initialization : BOOL
VAR_INPUT
iStation : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[PeripherieInitialization(iStation);
iMediaArray[eSpinnerMedienNamen.GoToAuto].ServiceName[0] := 'Auto Mode$NStart';
iMediaArray[eSpinnerMedienNamen.GoToAuto].bReferenceControl REF= bInGoToAutoMode;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].ServiceName[0] := 'Program$NStart';
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].bReferenceControl REF= bInProcessPositionStart;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].InputAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].NoErrorInput := TRUE;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].bReferenceResetControl := bInProcessPositionStop;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].ServiceName[0] := 'Program$NStop';
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].bReferenceControl REF= bInProcessPositionStop;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].InputAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].NoErrorInput := TRUE;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].bReferenceResetControl := bInProcessPositionStart;
iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].ServiceName[0] := 'Move$NStart';
iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].bReferenceControl REF= bInStartPos;
iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].InputAvailable := TRUE;
]]></ST>
</Implementation>
</Method>
<Method Name="IO" Id="{73f1e15d-7020-416a-8945-167e995069c2}">
<Declaration><![CDATA[METHOD IO : BOOL
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[MEMMOVE(ADR(RobotOutData[0]), ADR(rOutProgrammNumber), 1);
ParityCounter := 0;
FOR i := 0 TO 7 DO
IF GETBIT32(rOutProgrammNumber, i) THEN
ParityCounter := ParityCounter +1;
END_IF
END_FOR
bOut_PGBO_PARITY := ParityCounter.0;
RobotOutData[0].8 := bOut_DRIVES_OFF;
RobotOutData[0].9 := bOut_DRIVES_ON;
RobotOutData[0].10 := bOut_MOVE_ENABLE;
RobotOutData[0].11 := bOut_EXT_START;
RobotOutData[0].12 := bOut_CONF_MESS;
RobotOutData[0].13 := bOut_PGBO_VALID;
RobotOutData[0].14 := bOut_PGBO_PARITY;
RobotOutData[0].30 := bOutStartPos;
RobotOutData[1].2 := bOutInitialPosition;
RobotOutData[1].25 := bOut_EndOfCycle;
RobotOutData[3].0 := bOut_Jog_A_P;
RobotOutData[3].1 := bOut_Jog_A_N;
RobotOutData[3].2 := bOut_Jog_B_P;
RobotOutData[3].3 := bOut_Jog_B_N;
RobotOutData[3].4 := bOut_Jog_C_P;
RobotOutData[3].5 := bOut_Jog_C_N;
MEMMOVE(ADR(RobotOutData[2]), ADR(rOutNozzleNumber), 1);
RobotOutData[2].8 := bOutJobAcknowledgement;
bInJobDone := RobotInData[2].8;
bInPosReady := RobotInData[1].1;
MEMMOVE(ADR(rInProgrammNumber), ADR(RobotInData[0]), 1);
bIn_USER_SAF := RobotInData[0].9;
bIn_ROB_STOPPED := RobotInData[0].10;
bIn_STOPMESS := RobotInData[0].11;
bIn_PGNO_REG := RobotInData[0].12;
bIn_APPL_RUN := RobotInData[0].13;
bInI_O_ACTCONF := RobotInData[0].17;
bInPrimaryHomePosition := RobotInData[0].22;
bInInitialPosition := RobotInData[1].2;
bIn_PRO_ACT := RobotInData[1].6;
bInProgramReady := RobotInData[1].26;
OutXCord := LREAL_TO_DINT(rOutXCord*1000);
OutYCord := LREAL_TO_DINT(rOutYCord*1000);
OutZCord := LREAL_TO_DINT(rOutZCord*1000);
OutACord := LREAL_TO_DINT(rOutACord*1000);
OutBCord := LREAL_TO_DINT(rOutBCord*1000);
OutCCord := LREAL_TO_DINT(rOutCCord*1000);
OutTargetSpeed := LREAL_TO_DINT(rOutTargetSpeed*1000);
OutOverride := LREAL_TO_DINT(rOutOverride*1000);
rInXCord := DINT_TO_LREAL(InXCord)/1000;
rInYCord := DINT_TO_LREAL(InYCord)/1000;
rInZCord := DINT_TO_LREAL(InZCord)/1000;
rInACord := DINT_TO_LREAL(InACord)/1000;
rInBCord := DINT_TO_LREAL(InBCord)/1000;
rInCCord := DINT_TO_LREAL(InCCord)/1000;]]></ST>
</Implementation>
</Method>
<Method Name="MAIN" Id="{68d29e6f-6c80-4cef-a27c-643e5194b3cb}">
<Declaration><![CDATA[METHOD MAIN : BOOL
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF bIn_T1 THEN
bOut_MOVE_ENABLE := TRUE;
bOut_DRIVES_ON := FALSE;
bOut_PGBO_VALID := FALSE;
bOut_EXT_START := FALSE;
bOutInProcessPosition := FALSE;
bInStartPos := FALSE;
ProcessProgramStart();
ProcessProgramStop();
StartPos();
END_IF
IF bInGoToAutoMode THEN
INIT();
END_IF
IF bInStartPos THEN
IF StartPos() THEN
bInStartPos := FALSE;
END_IF
END_IF
IF bInChangeProgram THEN
IF ChangeProgram(rInTargetProgram) THEN
bInChangeProgram := FALSE;
END_IF
END_IF
IF bInProcessPositionStart THEN
IF ProcessProgramStart() THEN
bInProcessPositionStart := FALSE;
bOutInProcessPosition := TRUE;
END_IF
END_IF
IF bInProcessPositionStop THEN
IF ProcessProgramStop() THEN
bInProcessPositionStop := FALSE;
bOutInProcessPosition := FALSE;
END_IF
END_IF
iMediaArray[eSpinnerMedienNamen.GoToAuto].Invisible := (bIn_PRO_ACT AND bIn_PERI_RDY) OR bIn_T1 OR bIn_T2;
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStart].Invisible := bOutInProcessPosition OR NOT (bIn_PRO_ACT AND bIn_PERI_RDY);
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible := FALSE;
IF NOT bOutInProcessPosition THEN
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible := TRUE;
END_IF
IF ABS(rInXCord) > 10 THEN
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible := TRUE;
END_IF
IF ABS(rInYCord) > 10 THEN
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible := TRUE;
END_IF
IF ABS(rInZCord) > 60 THEN
iMediaArray[eSpinnerMedienNamen.KUKA_PositionProcessStop].Invisible := TRUE;
END_IF
iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].Invisible := NOT bOutInProcessPosition;
CASE MoveType OF
eSpinnerKUKAMoveType.NoMoveType:
iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].Invisible := TRUE;
eSpinnerKUKAMoveType.MoveNozzlePosition:
IF rOutNozzleNumber = 0 THEN
iMediaArray[eSpinnerMedienNamen.KUKA_StartMove].Invisible := TRUE;
END_IF
END_CASE
]]></ST>
</Implementation>
</Method>
<Method Name="MoveNozzleTestPosition" Id="{c4e47cbd-d9b5-48f4-b4c0-e1aad8255b4c}">
<Declaration><![CDATA[METHOD MoveNozzleTestPosition : BOOL
VAR_INPUT
END_VAR
VAR_INST
Step : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStationStatus.Soll.Stop THEN
Step := 0;
bInProcessPositionMove := FALSE;
RETURN;
END_IF
CASE Step OF
0:
rOutXCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.X * 1000);
rOutYCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.Y * 1000);
rOutZCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.Z * 1000);
rOutACord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.A * 1000);
rOutBCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.B * 1000);
rOutCCord := LREAL_TO_DINT(Config.NozzleCalibration[rInTargetTestPosition].CalibrationPosition.C * 1000);
rOutNozzleNumber := rInTargetTestPosition;
rOutTargetSpeed := LREAL_TO_DINT(rInServiceTargetSpeed*1000);
IF NOT bStartPos THEN
bStartPos := TRUE;
Step := 10;
END_IF
10:
IF NOT bStartPos THEN
Step := 20;
END_IF
20:
bInProcessPositionMove := FALSE;
MoveNozzleTestPosition := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="ProcessProgramMove" Id="{ad686a99-8e85-4563-a057-6802952e64cb}">
<Declaration><![CDATA[METHOD ProcessProgramMove : BOOL
VAR_INPUT
END_VAR
VAR_INST
Step : INT;
Size : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStationStatus.Soll.Stop THEN
Step := 0;
RETURN;
END_IF
CASE Step OF
0:
Size := rInServieTargetSize;
rOutXCord := LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].X * 1000);
rOutYCord := LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].Y * 1000);
rOutZCord := LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].Z * 1000);
rOutACord := LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].A * 1000);
rOutBCord := LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].B * 1000);
rOutCCord := LREAL_TO_DINT(Config.PrePosition[rInTargetPrePosition].PrePosition[Size].C * 1000);
rOutNozzleNumber := Config.PrePosition[rInTargetPrePosition].PrePosition[Size].Tool;
rOutTargetSpeed := LREAL_TO_DINT(rInServiceTargetSpeed*1000);
IF NOT bStartPos THEN
bStartPos := TRUE;
Step := 10;
END_IF
10:
IF NOT bStartPos THEN
Step := 20;
END_IF
20:
ProcessProgramMove := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="ProcessProgramStart" Id="{ee1c82ed-2606-46ce-a1aa-efe14750f8c3}">
<Declaration><![CDATA[METHOD ProcessProgramStart : BOOL
VAR_INST
Step : int;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF SpinnerNoRobotInit THEN
Step := 0;
ProcessProgramStart := TRUE;
RETURN;
END_IF
IF iStationStatus.Soll.Stop OR bIn_T1 THEN
Step := 0;
RETURN;
END_IF
IF bOutInProcessPosition THEN
RETURN;
END_IF
IF bIn_T1 THEN
Step := 0;
bInProcessPositionStart := FALSE;
bInStartPos := FALSE;
bOutInProcessPosition := FALSE;
RETURN;
END_IF
CASE Step OF
0:
rOutProgrammNumber := 1;
bOutStartPos := FALSE;
Step := 10;
10:
IF bIn_PGNO_REG THEN
Step := 20;
ELSE
Step := 30;
END_IF
20:
bOut_PGBO_VALID := TRUE;
IF NOT bIn_PGNO_REG THEN
bOut_PGBO_VALID := FALSE;
Step := 10;
END_IF
30:
CASE iStation OF
FirstSpinner:
IF rInXCord <> 100.545 THEN
RETURN;
END_IF
IF rInYCord <> 41.407 THEN
RETURN;
END_IF
IF rInZCord <> 46.312 THEN
RETURN;
END_IF
IF rInACord <> 24.945 THEN
RETURN;
END_IF
IF rInBCord <> -1.029 THEN
RETURN;
END_IF
IF rInCCord <> 0.146 THEN
RETURN;
END_IF
LastSpinner:
IF rInXCord <> 100.545 THEN
RETURN;
END_IF
IF rInYCord <> 41.407 THEN
RETURN;
END_IF
IF rInZCord <> 46.312 THEN
RETURN;
END_IF
IF rInACord <> 24.945 THEN
RETURN;
END_IF
IF rInBCord <> -1.029 THEN
RETURN;
END_IF
IF rInCCord <> 0.146 THEN
RETURN;
END_IF
END_CASE
Step := 40;
40:
bOutStartPos := FALSE;
IF bInPosReady THEN
Step := 50;
END_IF
50:
ProcessProgramStart := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="ProcessProgramStop" Id="{5672c6cc-102b-4413-af57-80d69ab271eb}">
<Declaration><![CDATA[METHOD ProcessProgramStop : BOOL
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF SpinnerNoRobotInit THEN
ProcessProgramStop := TRUE;
RETURN;
END_IF
bOut_EndOfCycle := TRUE;
IF bIn_PGNO_REG THEN
bOut_EndOfCycle := FALSE;
ProcessProgramStop := TRUE;
END_IF
]]></ST>
</Implementation>
</Method>
<Method Name="StartPos" Id="{3e7fdc5d-8bcc-4484-ae9e-ecf58febe9c6}">
<Declaration><![CDATA[METHOD StartPos : BOOL
VAR_INPUT
END_VAR
VAR_INST
Step : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStationStatus.Soll.Stop OR bIn_T1 THEN
Step := 0;
RETURN;
END_IF
IF SpinnerNoRobotInit THEN
StartPos := TRUE;
RETURN;
END_IF
IF bIn_T1 THEN
Step := 0;
bInProcessPositionStart := FALSE;
bInStartPos := FALSE;
bOutInProcessPosition := FALSE;
RETURN;
END_IF
CASE Step OF
0:
CASE MoveType OF
eSpinnerKUKAMoveType.NoMoveType:
StartPos := TRUE;
Step := 0;
RETURN;
eSpinnerKUKAMoveType.MovePosition:
;
eSpinnerKUKAMoveType.MovePreposition:
sTargetPosition := Config.PrePosition[rInTargetPredefinedPosition][ProcessType].PrePosition[rInTargetPredefinedPositionSize];
rOutXCord := sTargetPosition.X;
rOutYCord := sTargetPosition.Y;
rOutZCord := sTargetPosition.Z;
rOutACord := sTargetPosition.A;
rOutBCord := sTargetPosition.B;
rOutCCord := sTargetPosition.C;
rOutNozzleNumber := sTargetPosition.Tool;
eSpinnerKUKAMoveType.MovePrepositionWithCorrection:
sTargetPosition := Config.PrePosition[rInTargetPredefinedPosition][ProcessType].PrePosition[rInTargetPredefinedPositionSize];
rOutXCord := sTargetPosition.X;
rOutYCord := sTargetPosition.Y;
rOutZCord := sTargetPosition.Z;
rOutACord := sTargetPosition.A;
rOutBCord := sTargetPosition.B;
rOutCCord := sTargetPosition.C;
rOutNozzleNumber := sTargetPosition.Tool;
IF rOutNozzleNumber > 0 THEN
rOutACord := rOutACord - rNozzleCalibration[rOutNozzleNumber].Y;
rOutCCord := rOutCCord - rNozzleCalibration[rOutNozzleNumber].X;
END_IF
eSpinnerKUKAMoveType.MoveNozzlePosition:
sTargetPosition := Config.NozzleCalibration[rOutNozzleNumber].CalibrationPosition;
rOutXCord := sTargetPosition.X;
rOutYCord := sTargetPosition.Y;
rOutZCord := sTargetPosition.Z;
rOutACord := sTargetPosition.A;
rOutBCord := sTargetPosition.B;
rOutCCord := sTargetPosition.C;
eSpinnerKUKAMoveType.MovePositionWithCorrection:
IF rOutNozzleNumber > 0 THEN
rOutACord := rOutACord - rNozzleCalibration[rOutNozzleNumber].Y;
rOutCCord := rOutCCord - rNozzleCalibration[rOutNozzleNumber].X;
END_IF
eSpinnerKUKAMoveType.MoveNozzleTestPositionWithCorrection:
sTargetPosition := Config.NozzleCalibration[rOutNozzleNumber].CalibrationPosition;
rOutXCord := sTargetPosition.X;
rOutYCord := sTargetPosition.Y;
rOutZCord := sTargetPosition.Z;
rOutACord := sTargetPosition.A;
rOutBCord := sTargetPosition.B;
rOutCCord := sTargetPosition.C;
IF rOutNozzleNumber > 0 THEN
rOutACord := rOutACord - rNozzleCalibration[rOutNozzleNumber].Y;
rOutCCord := rOutCCord - rNozzleCalibration[rOutNozzleNumber].X;
END_IF
END_CASE
bOutStartPos := FALSE;
IF bInPosReady THEN
Step := 10;
END_IF
10:
bOutStartPos := TRUE;
IF NOT bInPosReady THEN
bOutStartPos := FALSE;
Step := 20;
END_IF
20:
IF bInJobDone THEN
bOutJobAcknowledgement := TRUE;
Step := Step +1;
END_IF
21:
IF NOT bInJobDone THEN
bOutJobAcknowledgement := FALSE;
bOutStartPos := FALSE;
Step := 30;
END_IF
30:
StartPos := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>

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PLC/2 Spinner/POUs/Peripherie/Meca500/DUTs/Meca500SmPdo.TcDUT Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<DUT Name="Meca500SmPdo" Id="{03901e6c-6297-48b9-90c1-8376e2071255}">
<Declaration><![CDATA[TYPE Meca500SmPdo :
STRUCT
//From Ethercat Device SmPdos, Create this Structure by Enabling Create Sm/Pdo variable , in the Ethercat tab/Advance/Behavior
Inputs AT %I* : ECAT_Meca500_SM_A41851CD; //v10.2.0
Outputs AT %Q* : ECAT_Meca500_SM_B68C3E66; //v10.2.0
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

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PLC/2 Spinner/POUs/Peripherie/Meca500/DUTs/Mecademic_MotionCommandID.TcDUT Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<DUT Name="Mecademic_MotionCommandID" Id="{8933b420-bc36-4903-be24-f2a98be9229b}">
<Declaration><![CDATA[{attribute 'qualified_only'}
TYPE Mecademic_MotionCommandID :
(
/// No Motion command active
NO_COMMAND := 0,
/// This command makes the robot rotate simultaneously its joints to the specified joint set.
/// All joint rotations start and stop at the same time. The path that the robot takes is linear in
/// the joint space, but nonlinear in the Cartesian space. Therefore, the TCP trajectory is not
/// easily predictable. Finally, with MoveJoints, the robot can cross singularities.
/// All six subindices are in degrees.
MOVE_JOINTS := 1,
/// This command makes the robot move its TRF to a specific pose with respect TO the WRF.
/// Essentially, the robot controller calculates all possible joint sets corresponding to the desired
/// pose and for which euler angle 6 is in the range +/-180°, except those corresponding to a singular robot
/// posture. Then, it either chooses the joint set that corresponds to the desired configuration guration or
/// the one that is fastest to reach (see SetConf and SetAutoConf). Finally, it executes internally
/// a MoveJoints command with the chosen joint set.
/// Thus, all joint rotations start and stop at the same time. The path the robot takes is
/// linear in the joint-space, but nonlinear in Cartesian space. Therefore, the path the TCP will
/// follow to its final destination is not easily predictable, as illustrated in Fig. 7.
/// Using this command, the robot can cross a singularity or start from a singular robot
/// posture, as long as SetAutoConf is enabled. However, the robot cannot go to a singular robot
/// posture using MovePose. For example, assuming that the TRF coincides with the FRF, you
/// cannot execute the command MovePose(190,0,308,0,90,0), since this pose corresponds only
/// to singular robot posture (e.g., the joint set {0,0,0,0,0,0}). You can only use the MovePose
/// command with a pose that corresponds to at least one non-singular robot posture.
/// As with the MoveJoints command, if the complete motion cannot be performed due to
/// singularities or joint limits, it will normally not even start, and an error will be generated.
/// Finally, note that this command will make the robot move to a joint set (corresponding
/// to the desired pose) for which euler angle 6 is in the range +/-180°. Finally, note that this command will
/// be executed only if euler angle 6 is already in the range +/-180°.
/// Subindices 1, 2, 3 are in mm and 4, 5, 6 are in degrees.
MOVE_POSE := 2,
/// This command makes the robot move its TRF to a specific pose with respect to the WRF
/// while keeping the TCP along a linear path in Cartesian space, as illustrated in Fig. 8. If the
/// final (desired) orientation of the TRF is different from the initial orientation, the orientation
/// will be modified along the path using LERP interpolation.
/// Using this command, the robot cannot move to or through a singular robot posture or one
/// that is too close to being singular. This command cannot automatically change the robot
/// configuration. Furthermore, note that when executing this command, euler angle 6 must already be in
/// the the range +/-180° and will remain in that range during the execution of the command.
/// Finally, note that if the motion requires that a joint rotates more than 180°, it will not be
/// executed (unless you are upgrading from firmware 7). Furthermore, if the complete motion
/// cannot be performed due to singularities or joint limits, it will normally not even start, and
/// an error will be generated.
/// Subindices 1, 2, 3 are in mm and 4, 5, 6 are in degrees.
MOVE_LIN := 3,
/// This command is similar to the MoveLin command, but allows a desired pose to be specified
/// relative to the current pose of the TRF. Thus, the arguments X, Y, Z, Rx, Ry, Rz represent the
/// desired pose of the TRF with respect to the current pose of the TRF (i.e., the pose of the
/// TRF just before executing the MoveLinRelTRF command).
/// As with the MoveLin command, if the complete motion cannot be performed due to
/// singularities or joint limits, it will normally not even start and an error will be generated.
/// These joint limits include the fact that joint 6 must be in the range +/-180° at all times and
/// no joint can rotate more than 180° (in a single linear displacement).
/// Subindices 1, 2, 3 are in mm and 4, 5, 6 are in degrees.
MOVE_LIN_REL_TRF := 4,
/// This command is similar to the MoveLinRelTRF command, but instead of defening the
/// desired pose with respect to the current pose of the TRF it is defined with respect to a
/// reference frame that has the same orientation as the WRF but its origin is at the current
/// position of the TCP.
/// As with the MoveLin command, if the complete motion cannot be performed due to
/// singularities or joint limits, it will not even start. These joint limits include the fact that
/// joint 6 must be in the range +/-180° at all times and no joint can rotate more than 180° (in
/// a single linear displacement).
/// Subindices 1, 2, 3 are in mm and 4, 5, 6 are in degrees.
MOVE_LIN_REL_WRF := 5,
/// This command is used to add a time delay after a motion command. In other words, the
/// robot completes all movements sent before the Delay command and stops temporarily. (In
/// contrast, the PauseMotion command interrupts the motion as soon as received by the robot.)
/// Subindex 1 is the pause in seconds.
DELAY := 6,
/// This command enables/disables the robot's blending feature (recall Section 2.2.2). Note
/// that the commands MoveLin, MovePose, and MoveJoints will only send "[3004][End of move-
/// ment.]" responses when the robot comes to a complete stop and the command SetEOM(1)
/// was used. Therefore, enabling blending may suppress these responses.
/// Also, note that there is blending only between consecutive movements with the commands
/// MoveJoints and MovePose, or between consecutive movements with the commands MoveLin,
/// MoveLinRelTRF and MoveLinRelTRF. In other words, there will never be blending between
/// the trajectories of a MovePose command followed by a MoveLin command.
/// Subindex 1 is the percentage of blending, from 0 or 100.
SET_BLENDING := 7,
/// This command limits the angular velocities of the robot joints. It affects the movements
/// generated by the MovePose and MoveJoints commands.
/// It is not possible to limit the velocity of only one joint. With this command, the maximum
/// velocities of all joints are limited proportionally. The maximum velocity of each joint will
/// be reduced to a percentage p of its top velocity. The top velocity of joints 1 and 2 is 150°/s,
/// of joint 3 is 180°/s, of joints 4 and 5 is 300°/s, and of joint 6 is 500°/s.
/// Subindex 1 is the percentage of maximum joint velocities, from 0.001 to 100.
SET_JOINT_VEL := 8,
/// This command limits the acceleration of the joints during movements resulting from joint-
/// space commands (see Fig. 6). Note that this command makes the robot stop, even if blending
/// is enabled.
/// Note that the argument of this command is exceptionally limited to 150. This is because
/// in firmware 8, a scaling was applied so that if this argument is kept at 100, most joint-
/// space movements are feasible even at full payload. More precisely, if you are upgrading from
/// firmware 7 and you want to keep the same joint accelerations, you need to multiply the
/// arguments of your SetJointAcc commands by the factor 1.43.
/// Subindex 1 is the percentage of maximum joint accelerations, from 0.001 to 150.
SET_JOINT_ACC := 9,
/// This command limits the angular velocity of the robot TRF with respect to its WRF. It only
/// affects the movements generated by the MoveLin, MoveLinRelTRF and MoveLinRelWRF
/// commands.
/// Subindex 1 is the Cartesian angular velocity limit, from 0.001 to 300, measured in °/s.
SET_CART_ANG_VEL := 10,
/// This command limits the Cartesian linear velocity of the robot's TRF with respect to
/// its WRF. It only affects the movements generated by the MoveLin, MoveLinRelTRF and
/// MoveLinRelWRF commands.
/// Subindex 1 is the linear velocity limit for the TCP, from 0.001 to 1,000, measured in mm/s.
SET_CART_LIN_VEL := 11,
/// This command limits the Cartesian acceleration (both the linear and the angular) of the
/// end-effector during movements resulting from Cartesian-space commands (see Fig. 6). Note
/// that this command makes the robot come to a complete stop, even if blending is enabled.
/// Note that the argument OF THIS command is exceptionally limited TO 600. THIS is because
/// in firmware 8, a change was made to allow the robot to accelerate much faster. For backwards
/// compatibility, however, 100% now corresponds to 100% in firmware 7 and before.
/// Subindex 1 is the percentage of maximum Cartesian accelerations, ranging from 0.001 to 100.
SET_CART_ACC := 12,
/// This command defines the pose of the TRF with respect to the FRF. Note that this command
/// makes the robot come to a complete stop, even if blending is enabled.
/// Subindices 1, 2, 3 are in mm and 4, 5, 6 are in degrees.
SET_TRF := 13,
/// This command defines the pose of the WRF with respect to the BRF. Note that this com-
/// mand makes the robot come to a complete stop, even if blending is enabled.
/// Subindices 1, 2, 3 are in mm and 4, 5, 6 are in degrees.
SET_WRF := 14,
/// This command sets the desired robot inverse kinematic configuration to be observed in the
/// MovePose command.
/// The robot inverse kinematic configuration (see Fig. 5) can be automatically selected by
/// using the SetAutoConf command. Using SetConf automatically disables the automatic con-
/// figuration selection.
/// Subindices 1, 2, and 3 are -1 or 1.
SET_CONF := 15,
/// This command enables or disables the automatic robot configuration selection and has effect
/// only on the MovePose command. This automatic selection allows the controller to choose
/// the "closest" joint set corresponding to the desired pose (the arguments of the MovePose
/// command) and for which Euler Angle 6 is in the range +/-180°
/// Subindex 1 is 0 or 1.
SET_AUTO_CONF := 16,
/// This command defines a checkpoint in the motion queue. Thus, if you send a sequence
/// of motion commands to the robot, then the command SetCheckpoint, then other motion
/// commands, you will be able to know the exact moment when the motion command sent just
/// before the SetCheckpoint command was completed. At that precise moment, the robot will
/// send you back the response [3030][n], where n is a positive integer number defined by you. If
/// blending was activated, the checkpoint response will be sent somewhere along the blending.
/// Finally, note that you can use the same checkpoint number multiple times.
/// Using a checkpoint is the only reliable way to know whether a particular motion sequence
/// was completed. Do not rely on the EOM or EOB messages as they may be received well
/// before the completion of a motion or a motion sequence (or, of course, not at all, if these
/// messages were not enabled).
/// Subindex 1 in an integer number, ranging from 1 to 8,000.
SET_CHECKPOINT := 17,
/// This command is used to open or close Mecademic's optional MEGP 25 gripper.
/// The gripper will move its fingers apart or closer until the grip force reaches 40 N. You can
/// reduce this maximum grip force with the SetGripperForce command. In addition, you can
/// control the speed of the gripper with the SetGripperVel command.
/// It is very important to understand that the GripperOpen and GripperClose commands
/// have the same behavior as a robot motion command, being executed only after the preceding
/// motion command has been completed. Currently, however, if a robot motion command is
/// sent after the GripperOpen or GripperClose command, the robot will start executing the
/// motion command without waiting for the gripper to finish its action. You must therefore
/// send a Delay command after GripperOpen and GripperClose commands.
/// Subindex 1 is 0 for GripperClose, and 1 for GripperOpen.
/// Meca500 only.
GRIPPER := 18,
/// This command limits the velocity of the gripper fingers (with respect to the gripper).
/// Subindex 1 is the percentage of maximum eger velocity (~100 mm/s), from 10 to 100.
/// Meca500 only.
SET_GRIPPER_VEL := 19,
/// This command limits the grip force of the MEGP 25 gripper.
/// Subindex 1 is the percentage of maximum grip force (~40 N), from 10 to 100.
/// Meca500 only.
SET_GRIPPER_FORCE := 20,
/// This command makes the robot rotate simultaneously its joints with the specified joint
/// velocities. All joint rotations start and stop at the same time. The path that the robot
/// takes is linear in the joint space, but nonlinear in the Cartesian space. Therefore, the TCP
/// path is not easily predictable (Fig. 7). With MoveJointsVel, the robot can cross singularities
/// without any problem.
/// Note that the robot will decelerate to a full stop after a period defined by the command
/// SetVelTimeout, unless another MoveJointsVel command is sent. Also, bear in mind that
/// the MoveJointsVel command, unlike position-mode motion commands, generates no motion
/// errors when a joint limit is reached. The robot simply stops slightly before the limit.
/// Subindices 1 trhough 6 are in °/s.
MOVE_JOINTS_VEL := 21,
/// This command makes the robot move its TRF with the specified instantaneous Cartesian
/// velocity, defined with respect to the WRF.
/// Note that the robot will decelerate to a complete stop after a period of time defined
/// by the SetVelTimeout command, unless another MoveLinVelWRF or a MoveLinVelTRF
/// command is sent and, of course, unless a PauseMotion command is sent or some motion
/// limit is encountered. Also, bear in mind that this command, unlike position-mode motion
/// commands, generates no motion errors when a joint limit (including the +/-180° limit on
/// joint 6) or a singularity is reached. The robot simply stops slightly before the limit.
/// Subindices 1, 2, 3 are in mm/s and 4, 5, 6 are in are in °/s.
MOVE_LIN_VEL_WRF := 22,
/// This command makes the robot move its TRF with the specified instantaneous Cartesian
/// velocity, defined with respect to the TRF.
/// Note that the robot will decelerate to a complete stop after a period of time defined
/// by the SetVelTimeout command, unless another MoveLinVelTRF or a MoveLinVelWRF
/// command is sent and, of course, unless a PauseMotion command is sent or some motion
/// limit is encountered. Also, bear in mind that this command, unlike position-mode motion
/// commands, generates no motion errors when a joint limit (including the +/-180° limit on
/// joint 6) or a singularity is reached. The robot simply stops slightly before the limit.
/// Subindices 1, 2, 3 are in mm/s and 4, 5, 6 are in are in °/s.
MOVE_LIN_VEL_TRF := 23,
/// This command sets the timeout after a velocity-mode motion command (MoveJointsVel,
/// MoveLinVelTRF, or MoveLinVelWRF), after which all joint speeds will be set to zero unless
/// another velocity-mode motion command is received. The SetVelTimeout command should
/// be regarded simply as a safety precaution.
/// Subindex 1 is in seconds.
SET_VEL_TIMEOUT := 24,
/// THIS command sets the desired turn configuration FOR joint 6 TO be observed in the MovePose AND
/// MoveLin* commands (see Section 1.2.1 and Section 1.2.2). When a turn configuration is set, a MovePose
/// command is executed only if the final robot position can be in the desired turn configuration. In
/// contrast, when a desired turn configuration is set, a MoveLin* command will be executed only if the
/// final robot position can be and the initial robot position already is in the desired turn configuration. The
/// turn configuration can be automatically selected, when executing a MovePose or MoveLin* command,
/// by using the SetAutoConf command. Using SetConfTurn automatically disables the automatic turn
/// configuration selection.
/// Subindex 1 turn configuration, an integer between −100 AND 100.
/// The turn configuration parameter defines the desired range for joint 6, according to the following
/// equation: −180° + ct360° < θ6 ≤ 180° + ct360°).
SET_CONF_TURN := 25,
/// This command enables or disables the automatic turn selection for joint 6.
/// It affects the MovePose command, and all MoveLin* commands. When the automatic turn
/// selection is enabled, and a MovePose command is executed, joint 6 will always take the shortest path,
/// and rotate no more than 180°. In the case of a MoveLin* command, however, enabling the automatic
/// turn selection simply allows the change of turn configuration along the linear move.
/// Subindex1 enable (1) or disable (0) automatic turn configuration selection.
SET_AUTO_CONF_TURN := 26,
/// THIS command sets the thresholds FOR the torques applied TO each joint, as percentages OF the maximum
/// allowable torques that can be applied at each joint. When a torque limit is exceeded, a customizable
/// event is created. The event behavior can be set by the command SetTorqueLimitsCfg.
/// This command is intended only for improving the chances of protecting your robot, its end-effector, and
/// the surrounded equipment, in the case of a collision. The torque in each joint is estimated by measuring
/// the current in the corresponding drive.
/// Unlike the SetJointLimits commands, the SetTorqueLimits command can only be applied after the
/// robot has been homed. Note that high accelerations or large movements may also produce high torque
/// peaks. Therefore, you should rely on this command only in the vicinity of obstacles, for example, while
/// applying an adhesive. Remember that SetTorqueLimits is a motion command and will therefore be
/// inserted in the motion queue and not necessarily executed immediately.
/// Subindex 1,2,3,4,5,6 percentage of the maximum allowable torque that can be applied at joint i,
/// ranging from 0.001% to 100%.
SET_TORQUE_LIMITS := 27,
/// THIS command sets the robot behavior when a joint torque exceeds the threshold set BY the
/// SetTorqueLimits command. It also sets the filtering TYPE used FOR accurate detection. It also sends a
/// torque limit status every time torque limit status changes (exceeded or not) for events severity greater
/// than 0. Torque limit error is sent when torque exceeds the limit for severity 4.
/// Arguments
/// • s: integer defining the torque limit event severity as
/// – 0, no action;
/// – 1, trace warning;
/// – 2, pause motion;
/// – 3, clear motion;
/// – 4, error.
/// • m: integer defining the detection mode as 0, always detect; 1, skip detection during acceleration/
/// deceleration and blending.
SET_TORQUE_LIMIT_CFG := 28,
/// THIS command has the exact behavior as the MoveJoints command, but instead OF accepting the
/// desired (target) joint set as arguments, it takes the desired relative joint displacements. The command is
/// particularly useful when you need to displace certain joints a certain amount, but you do not know the
/// current joint position and wish to avoid having to use the command GetRtTargetJointPos.
/// Arguments
/// • Δθi: the desired relative displacement of joint i (i = 1, 2, ..., 6), in degrees. The value of the argument
/// can be positive, negative or even zero.
MOVE_JOINTS_REL := 29,
/// THIS command is use TO control independently each OF the two valves in the MPM500 pneumatic module.
/// Arguments
/// • v1: open (1), close (0) or keep unchanged (−1) valve 1;
/// • v2: open (1), close (0) or keep unchanged (−1) valve 2.
/// Meca500 only.
SET_VALVE_STATE := 30,
/// THIS command sets the closed AND open states OF the gripper AND is used mainly TO redefine the actions
/// of the GripperClose and GripperOpen commands, respectively. The SetGripperRange command is
/// useful for the MEGP 25LS gripper. If, for example, you are manipulating parts that require fingers
/// opening between 10 mm and 20 mm, but the allowable range of the gripper as detected during
/// the homing is 48 mm, it would be more efficient to redefine the actions of the GripperClose and
/// GripperOpen commands by calling SetGripperRange(8,22), or else the fingers will move more than
/// necessary, and therefore increase your cycle time.
/// The SetGripperRange command does not limit the accessible range of the gripper, in contrast to the
/// SetJointLimits command, which limits the range of a joint. For example, if during homing, the robot
/// detected that the range for the finger opening was [0, 15], and then you sent SetGripperRange(8,13),
/// you can still open the gripper more with MoveGripper(14). However, using the commands GripperOpen
/// and GripperClose will be equivalent to using the commands MoveGripper(8) and MoveGripper(13),
/// respectively. Furthermore, when the fingers opening is 8 mm (or less) or 13 mm (or more), the state of
/// the gripper will be “gripper open” or “gripper close”, respectively (see GetRtGripperState).
/// Arguments
/// • dclosed: fingers opening that should correspond to closed state, in mm;
/// • dopen: fingers opening that should correspond to open state, in mm.
/// Meca500 only.
SET_GRIPPER_RANGE := 31,
/// The MEGP 25E AND MEGP 25LS grippers are equipped with incremental encoders, so it is impossible TO
/// directly measure the absolute positions of the gripper jaws. Thus, during the homing of the robot, the
/// gripper is also homed by completely closing and then opening its fingers, until resistance is met in each
/// direction. The maximum fingers opening is detected and is a positive number not larger than 6 mm
/// (MEGP 25E) or 48 mm (MEGP 25LS). Most importantly, the fingers opening, a non-negative distance,
/// is defined as the sum of the distances traveled by each jaw from their fully-closed positions detected
/// during homing.
/// The MoveGripper command makes the gripper fingers move towards the specified fingers opening.
/// Meca500 only.
/// Arguments
/// • d: desired fingers opening, a
MOVE_GRIPPER := 32,
//In revision 4 OF the Meca500, we have introduced the possibility TO go beyond the maximum rated joint
//velocities in any type of movement. For compatibility reasons, we introduced this new command.
//The SetJointVelLimit overrides the default joint velocity limits. Unlike the SetJointVel command, this
//command affects the movements generated by all Move* commands (even the MoveLinVel* ones).
SetJointVelLimit :=33,
//This queued command is used to control the digital outputs of the MVK01 vacuum and I/O module.
//the arguments are BankId (a 32-BIT integer), output-values (32 bits, one BIT per output,
//only the first eight are used), and output-mask (32 bits, one bit per output, only the first eight are used).
//The mask defines which outputs are changed; outputs with corresponding bit equal to 0 in the mask won't
//be changed.
//Meca500 only.
SetOutputState:=34,
//This is the same command as SetOutputState, but it is instantaneous, rather than queued and can be
//executed even when the robot is deactivated.
//Meca500 only.
SetOutputState_Immediate:=35,
//THIS instantaneous command, availably only FOR the Meca500, toggles the simulation mode FOR the MVK01
//vacuum and I/O module. With the simulation enabled, you can use all the MVK01 commands (e.g.,
//VacuumGrip, SetOutputState) and if the MVK01 is physically present, these commands will not have any
//physical impact (i.e., they will only be simulated).
//Meca500 only.
SetIoSim:=36,
//This queued command activate the suction in the MVK01 vacuum and I/O module for the
//Meca500 SCARA robot.
//all six arguments are ignored.
//Meca500 only.
VacuumGrip:=37,
//These instantaneous commands activate the suction in the MVK01 vacuum and I/O module
//for the Meca500 SCARA robot. Unlike their queued equivalents (VacuumGrip and VaccumRelease), they
//can be executed even when the robot is deactivated.
//all six arguments are ignored.
//Meca500 only.
VacuumGrip_Immediate:=38,
//This queued command deactivate the suction in the MVK01 vacuum and I/O module for the
//Meca500 SCARA robot.
//all six arguments are ignored.
//Meca500 only.
VacuumRelease:=39,
//These instantaneous commands deactivate the suction in the MVK01 vacuum and I/O module
//for the Meca500 SCARA robot. Unlike their queued equivalents (VacuumGrip and VaccumRelease), they
//can be executed even when the robot is deactivated.
//all six arguments are ignored.
//Meca500 only.
VacuumRelease_Immediate:=40,
//THIS queued command sets the thresholds FOR the vacuum sensor (which measures only negative
//pressure) in the MVK01 vacuum and I/O module that will be used for reporting whether a part is being
//hold or not.
//Meca500 only.
//Arguments
//1: when the negative pressure sensed is smaller than ph, the robot reports that a part is being
//held. The value for this argument ranges from −100 kPa to −5 kPa.
//2: when the value of the negative pressure sensed is larger than pr, the robot reports no part is
//being held. The value for this argument ranges from −95 kPa to 0 kPa. The value of pr must be larger
//than the value of ph by at least 5 KPa.
//Default values
//By default, ph = −40 kPa, and pr = −30 kPa. To reset to the default values, reactivate the robot or send the
//command SetVacuumThreshold(0,0).
SetVacuumThreshold:=41,
//THIS is the same command as SetVacuumThreshold, but it is instantaneous, rather than queued AND can
//be executed even when the robot is deactivated.
//Meca500 only.
SetVacuumThreshold_Immediate:=42,
//THIS queued command sets the duration OF the air purge FOR ejecting a part when using the commands
//VacuumRelease*.
//Meca500 only.
//Arguments
//1: duration in seconds.
//Default values
//By default, tp= 0.1.
SetVacuumPurgeDuration:=43,
//THIS is the same command as SetVacuumPurgeDuration, but it is instantaneous, rather than queued AND
//can be executed even when the robot is deactivated.
//Meca500 only.
SetVacuumPurgeDuration_Immediate:=44,
//THIS command can only be used on the Meca500. Essentially, the robot moves up/down its end-effector
//a certain distance (retract motion along a line and without changing its orientation), then moves it to a
//pose that is a certain distance over/under the desired pose (lateral motion), and finally moves it down/
//up to the desired pose (approach linear motion without changing its orientation)
//The MoveJump command is highly optimized for fast pick and place motion and results in much
//faster cycle times than when using a simple sequence of MoveLin - MovePose - MoveLin commands.
//Meca500 only.
//Arguments
//• x, y, z: the coordinates of the origin of the TRF with respect to the WRF, in mm;
//• γ: the orientation OF the TRF about its z-axis, with respect TO the WRF, in degrees.
//As with the MovePose command, the joint set corresponding TO the FINAL desired pose is calculated
//according to the desired robot posture and turn configurations, if such were set, or the one that is
//fastest to reach. Also, as with the MovePose command, if the complete motion cannot be performed
//due to joint limits, it will not even start, and an error will be generated. Note that since the robot uses
//the optimal (quickest) path in joint space, in the lateral motion, the end-effector follows a complex
//non-linear path. Finally, the speed and the acceleration during the MoveJump motion are defined by the
//SetJointVel and SetJointAcc commands.
//The parameters defining the trajectory of the end-effector in a MoveJump motion are set by the
//commands SetMoveJumpHeight and SetMoveJumpApproachVel
MoveJump:=45,
//THIS command prescribes the exact distances the end-effector must MOVE up OR down, with a pure
//vertical translational motion, during the vertical portions of the MoveJump movement. It also prescribes
//the minimum AND maximum allowed heights FOR the lateral motion.
//Meca500 only.
//Arguments
//• hstart: height of the initial pure vertical translation, in mm, from −102 to 102;
//• hend: height of the final pure vertical translation, in mm, from −102 to 102;
//• hmin: minimum height to reach while performing the lateral motion, with respect to the highest (if
//hstart and hend are positive) or lowest (if hstart and hend are negative) between the start and end poses,
//in mm, from −102 to 102;
//• hmax: maximum height allowed to reach while performing the lateral motion, with respect to the
//highest (if hstart and hend are positive) or lowest (if hstart and hend are negative) between the start and
//end poses, in mm, from −102 to 102.
//The direction the heights (positive OR negative) is with respect TO the z-axis OF the BRF.
//Default values
//By default, hstart = hend = 10, hmin = 0, hmax = 102. The default values for hmin and hmax give full freedom
//to choose the optimal (quickest) path between the start and end poses. You may change hmin and hmax
//to avoid obstacles between the start and end poses, but be aware that this may result in slower (suboptimal)
//cycle times. Also, note that the highest point during the lateral motion can happen anywhere,
//not necessary in the middle. In addition, note that changing the joint velocities with the command
//SetJointVel will also change the profile of the lateral motion.
SetMoveJumpHeight:=46,
//THIS command is intended FOR reducing the speed during the initial AND FINAL moments OF the MoveJump
//motion.
//Meca500 only.
//Arguments
//• vstart: maximum allowed vertical speed near the start pose, in mm/s, from 0.001 to 700;
//• pstart: initial portion of the retreat motion during which vstart is applied, in mm, from 0 to 102;
//• vend: maximum allowed vertical speed near the end pose, in mm/s, from 0.001 to 700;
//• pend: final portion of the approach motion during which vstart is applied, in mm, from 0 to 102.
//Default values
//By default, vstart = vend = 10 and pstart = pend = 1.
//Note that if pstart ≥ |hstart|, then the complete retract vertical motion will be limited in speed to vstart.
//Similarly, if pend ≥ |hend|, then the complete approach vertical motion will be limited in speed to vend. Also,
//if vstart or vend is larger than the speed resulting from the SetJointVel command, it will be ignored
SetMoveJumpApproachVel:=47,
//THIS command sets the TIME scaling (in percentage) OF the trajectory generator. BY calling THIS command
//with p < 100, all robot motions remain exactly the same (i.e., the path remains the same), but everything
//becomes p% slower, including time delays (e.g., the pause set by the command Delay). In other words,
//this command is more than a simple velocity override.
//When using the MecaPortal, you can change the time scaling in real time with the "Time Scaling" slider at
//the bottom of the program panel.
//Arguments
//• p: time scaling percentage, from 0.001 to 100.
//Default values
//By default, p = 100.
SetTimeScaling:=48,
/// THIS command starts a PROGRAM that has been previously saved in the robot's memory. The robot must
/// be activated and homed before running a program. Executing this command will launch the program n
/// only once.
/// Alternately, pressing the Start/Stop button on the robot base will start program 1 (and only program 1)
/// and execute it the number of times defined by the SetOfflineProgramLoop command.
/// Arguments
/// • n: program number, where n ≤ 500 (maximum number of programs that can be stored).
START_PROGRAM := 100
)UDINT;
END_TYPE]]></Declaration>
</DUT>
</TcPlcObject>

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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.13">
<EnumerationTextList Name="eMeca500MoveType" Id="{78528ae5-55d2-498b-aa96-604b4ad72298}">
<Declaration><![CDATA[{attribute 'qualified_only'}
{attribute 'strict'}
{attribute 'to_string'}
TYPE eMeca500MoveType :
(
NoMoveType := 0,
MovePosition := 1,
MovePositionWithCorrection :=2,
MovePreposition:=3,
MovePrepositionWithCorrection:=4,
MoveNozzleTestPosition:=5,
MoveNozzleTestPositionWithCorrection:=6
);
END_TYPE
]]></Declaration>
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<v>No Move</v>
</l>
</o>
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<v n="TextDefault">"1"</v>
<l n="LanguageTexts" t="ArrayList" cet="String">
<v>Move Direct Position</v>
<v>Move Direct Position</v>
</l>
</o>
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<v>Move Direct Position With Correction</v>
</l>
</o>
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<v>Move Predefined Position</v>
<v>Move Predefined Position</v>
</l>
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
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<Declaration><![CDATA[TYPE sMeca500Config :
STRUCT
END_STRUCT
END_TYPE
]]></Declaration>
</DUT>
</TcPlcObject>

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<?xml version="1.0" encoding="utf-8"?>
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<DUT Name="sPosition_6Axis" Id="{d8cb8337-70c0-44ff-a4d6-553f0cf6f2fa}">
<Declaration><![CDATA[TYPE sPosition_6Axis : ARRAY [1..6] OF LREAL; END_TYPE]]></Declaration>
</DUT>
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<DUT Name="sSpinnerRobotConfig" Id="{07f1c245-e9b3-4344-81c9-1f7363c3f94a}">
<Declaration><![CDATA[TYPE sSpinnerRobotConfig :
STRUCT
WRF : sPosition_6Axis;
TRF : ARRAY[0..6] OF sPosition_6Axis;
PrePositionName : ARRAY[0..1] OF ARRAY[0..50] OF T_MaxString;
PrePosition : ARRAY[0..1] OF ARRAY[0..50] OF sRobotPrePosition;
NozzleCalibration : ARRAY[1..9] OF sNozzleCalibrationConfig;
END_STRUCT
END_TYPE
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</DUT>
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778
PLC/2 Spinner/POUs/Peripherie/Meca500/VISUs/VISU_Meca500_MoveType_NozzleTestPosition.TcVIS Normal file
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</TcPlcObject>

814
PLC/2 Spinner/POUs/Peripherie/Meca500/VISUs/VISU_Meca500_MoveType_PrePosition.TcVIS Normal file
View File

@@ -0,0 +1,814 @@
<?xml version="1.0" encoding="utf-8"?>
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1587
PLC/2 Spinner/POUs/Peripherie/Meca500/VISUs/VISU_SPINNER_MECA500_SERVICE_CART_AXIS.TcVIS Normal file
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PLC/2 Spinner/POUs/Peripherie/StrahlSensor/FB_IOL.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
<POU Name="FB_IOL" Id="{8e843d37-b249-4ef7-8507-2564231e131d}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK FB_IOL EXTENDS Peripherie_FB
VAR_INPUT
Port : E_IolPort;
NoComErrorIndex : INT;
bInIgnoreComError : BOOL;
END_VAR
VAR_OUTPUT
bOutComOk : BOOL;
END_VAR
VAR
AmsNetId AT %I* : AMSNETID;
State AT %I* : USINT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStationStatus.Soll.Stop THEN
Step := 0;
RETURN;
END_IF
bOutComOk := State = 3;
AlarmSend(iStation, NoComErrorIndex, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, bOutComOk OR bInIgnoreComError);
]]></ST>
</Implementation>
<Method Name="Initialization" Id="{4876bc03-824c-47eb-ac78-b87fd9639833}">
<Declaration><![CDATA[METHOD Initialization : BOOL
VAR_INPUT
iStation : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[PeripherieInitialization(iStation);]]></ST>
</Implementation>
</Method>
<Method Name="Read" Id="{52ce6629-1eaf-4603-a45f-35434588997e}">
<Declaration><![CDATA[METHOD Read : BOOL
VAR_INPUT
Addresss : PVOID;
Length : UINT;
Index : WORD;
Subindex : BYTE;
END_VAR
VAR_INST
fblRead : FB_IolRead;
Step : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[CASE Step OF
0:
fblRead(bExecute := FALSE);
fblRead.sNetId := F_CreateAmsNetId(AmsNetId);
fblRead.nIolPort := Port;
fblRead.pDSTBuf := Addresss;
fblRead.cbBufLen := Length;
fblRead.nIndex := Index;
fblRead.nSubindex := Subindex;
Step := 10;
10:
fblRead(bExecute := TRUE);
IF fblRead.bError THEN
Step := 110;
ELSIF fblRead.bBusy THEN
Step := Step +1;
END_IF
11:
IF fblRead.bError THEN
Step := 110;
ELSIF fblRead.bDone THEN
Step := 20;
END_IF
fblRead(bExecute := FALSE);
20:
Read := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="Write" Id="{42582b67-d5a5-40d6-9d4f-faa8812b2f69}">
<Declaration><![CDATA[METHOD Write : BOOL
VAR_INPUT
Addresss : PVOID;
Length : UINT;
Index : WORD;
Subindex : BYTE;
END_VAR
VAR_INST
fblWrite : FB_IolWrite;
Step : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[CASE Step OF
0:
fblWrite(bExecute := FALSE);
fblWrite.sNetId := F_CreateAmsNetId(AmsNetId);
fblWrite.nIolPort := Port;
fblWrite.pSRCBuf := Addresss;
fblWrite.cbBufLen := Length;
fblWrite.nIndex := Index;
fblWrite.nSubindex := Subindex;
Step := 10;
10:
fblWrite(bExecute := TRUE);
IF fblWrite.bError THEN
Step := 110;
ELSIF fblWrite.bBusy THEN
Step := Step +1;
END_IF
11:
IF fblWrite.bError THEN
Step := 110;
ELSIF fblWrite.bDone THEN
Step := 20;
END_IF
fblWrite(bExecute := FALSE);
20:
Write := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>

161
PLC/2 Spinner/POUs/Peripherie/StrahlSensor/StrahlSensor_FB.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
<POU Name="StrahlSensor_FB" Id="{b66db517-dc18-43f0-9776-869c3e2c79de}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK StrahlSensor_FB EXTENDS Peripherie_FB
VAR_INPUT
NoComErrorIndex : INT;
rInTargetProgramm : USINT;
rOutCurrentProgramm : USINT;
bInChangeProgramm : BOOL;
bInReadProgramm : BOOL;
bOutSensorOn AT %Q* : BOOL := FALSE;
bOutReadingOk : BOOL;
END_VAR
VAR_OUTPUT
rInPositionZ : LREAL;
rInPositionX : LREAL;
END_VAR
VAR
IO_Link : FB_IOL;
InPositionZ AT %I* : REAL;
InPositionX AT %I* : REAL;
PowerOnIndex : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IO_Link.bInIgnoreComError := NOT bOutSensorOn;
IO_Link();
IF bInChangeProgramm THEN
IF ChangeParameter(rInTargetProgramm) THEN
bInChangeProgramm := FALSE;
END_IF
END_IF
IF bInReadProgramm THEN
IF ReadProgramm() THEN
bInReadProgramm := FALSE;
END_IF
END_IF
MediaArray[iStation][PowerOnIndex].Input := IO_Link.bOutComOk;
bOutReadingOk := IO_Link.bOutComOk;
IF InPositionZ = InPositionZ THEN
rInPositionZ := InPositionZ;
ELSE
rInPositionZ := 0;
bOutReadingOk := FALSE;
END_IF
IF InPositionX = InPositionX THEN
rInPositionX := InPositionX;
ELSE
rInPositionX := 0;
bOutReadingOk := FALSE;
END_IF]]></ST>
</Implementation>
<Method Name="ChangeParameter" Id="{059536c5-2eb4-4d32-b6b3-7d1b6b2dfb5f}">
<Declaration><![CDATA[METHOD ChangeParameter : BOOL
VAR_INPUT
In : USINT;
END_VAR
VAR_INST
DATA : USINT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[bOutSensorOn := TRUE;
IF NOT IO_Link.bOutComOk THEN
RETURN;
END_IF
CASE Step OF
0:
IF ReadProgramm() THEN
IF rOutCurrentProgramm = In THEN
ChangeParameter := TRUE;
ELSE
Step := 10;
END_IF
END_IF
10:
IF WriteProgramm(In) THEN
Step := 0;
END_IF
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="Initialization" Id="{4017ab3d-3bd2-4558-9a12-ca6f3af9e57a}">
<Declaration><![CDATA[METHOD Initialization : BOOL
VAR_INPUT
iStation : INT;
PowerOnIndex : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[PeripherieInitialization(iStation);
IO_Link.Initialization(iStation);
IO_Link.NoComErrorIndex := NoComErrorIndex;
IO_Link.Port := E_IolPort.Port1;
bInReadProgramm := TRUE;
THIS^.PowerOnIndex := PowerOnIndex;
MediaArray[iStation][PowerOnIndex].ServiceName[0] := 'Beam Sensor$NTurn On';
MediaArray[iStation][PowerOnIndex].ServiceName[1] := 'Strahlsensor$NEinschalten';
MediaArray[iStation][PowerOnIndex].bReferenceControl REF= bOutSensorOn;
MediaArray[iStation][PowerOnIndex].InputAvailable := TRUE;]]></ST>
</Implementation>
</Method>
<Method Name="ReadProgramm" Id="{f138b10a-09b4-44c4-be30-883a8db36601}">
<Declaration><![CDATA[METHOD ReadProgramm : BOOL
VAR_INST
Step : INT;
DATA : USINT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF NOT IO_Link.bOutComOk THEN
RETURN;
END_IF
IF IO_Link.Read(ADR(DATA), SIZEOF(DATA), 16#52, 0) THEN
rOutCurrentProgramm := DATA;
ReadProgramm := TRUE;
END_IF]]></ST>
</Implementation>
</Method>
<Method Name="WriteProgramm" Id="{1ac9be80-87f8-434a-b5de-799e8d668a19}">
<Declaration><![CDATA[METHOD WriteProgramm : BOOL
VAR_INPUT
In : USINT;
END_VAR
VAR_INST
DATA : USINT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF NOT IO_Link.bOutComOk THEN
RETURN;
END_IF
DATA := In-1;
IF IO_Link.Write(ADR(DATA), SIZEOF(DATA), 16#3E7, 0) THEN
WriteProgramm := TRUE;
END_IF]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>

3025
PLC/2 Spinner/POUs/Peripherie/StrahlSensor/VISU_SPINNER_BEAM_SENSOR_SERVICE.TcVIS Normal file
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39
PLC/2 Spinner/POUs/Peripherie/Vibration Sensor/VibrationSensor_FB.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.11">
<POU Name="VibrationSensor_FB" Id="{72206c36-fd9e-4751-945b-6ea622ca85b7}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK VibrationSensor_FB EXTENDS Peripherie_FB
VAR_INPUT
AddressError : INT;
END_VAR
VAR_OUTPUT
bIn AT %I* : BOOL := TRUE;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[DelayTimer(IN := TRUE, PT := T#5S);
(*IF NOT Error THEN
IF NOT bIn AND DelayTimer.Q THEN
Error := TRUE;
error_index := AlarmSend(iStation,AddressError,FALSE, eReportType.Error, sAvailableResponse.Retry, FALSE);
END_IF
END_IF*)
AlarmSend(iStation,AddressError,FALSE, eReportType.Error, sAvailableResponse.Retry, bIn OR NOT DelayTimer.Q);
ErrorHandling();]]></ST>
</Implementation>
<Method Name="Initialization" Id="{51183c51-5ded-44b7-8b98-8eaf64eeae4b}">
<Declaration><![CDATA[METHOD Initialization : BOOL
VAR_INPUT
iStation : INT;
AddressError : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[PeripherieInitialization(iStation);
THIS^.AddressError := AddressError;]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>

62
PLC/2 Spinner/POUs/ProblemTimer_FB.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<POU Name="ProblemTimer_FB" Id="{9965a97d-e69b-4997-bc35-752a807c5131}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK ProblemTimer_FB
VAR_INPUT
iStation : INT;
Timeout : TIME;
MsgID : INT;
AvailableResponse : UINT;
Step : REFERENCE TO INT;
StepRetry : INT;
StepIgnore : INT;
END_VAR
VAR_OUTPUT
Error : BOOL;
END_VAR
VAR
Timer : TON;
ErrorIndex : INT;
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF StationsStatus[iStation].Soll.Stop THEN
Timer(IN := FALSE);
Error := FALSE;
END_IF
Timer(IN := Timeout <> T#0S, PT := Timeout);
IF Error THEN
CASE DialogRespons[ErrorIndex] OF
eErrorResponse.Abort,
eErrorResponse.Cancel:
StationsStatus[iStation].Soll.Stop := TRUE;
Error := FALSE;
Timer(IN := FALSE);
eErrorResponse.Retry:
Step := StepRetry;
Error := FALSE;
Timer(IN := FALSE);
eErrorResponse.Ignore:
Step := StepIgnore;
Error := FALSE;
Timer(IN := FALSE);
eErrorResponse.OK:
Step := StepIgnore;
Error := FALSE;
Timer(IN := FALSE);
END_CASE
ELSIF Timer.Q THEN
ErrorIndex := AlarmSend(iStation, MsgID, TRUE, eReportType.Error, AvailableResponse, FALSE);
Timeout := T#0S;
Error := TRUE;
END_IF]]></ST>
</Implementation>
</POU>
</TcPlcObject>

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PLC/2 Spinner/POUs/SPINNER_IO_FB.TcPOU Normal file
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.13">
<POU Name="SPINNER_IO_FB" Id="{13e3c288-3e17-4db8-b75e-474c215ba022}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK SPINNER_IO_FB EXTENDS SPINNER_IO_STANDARD_FB
VAR
ChuckEject : ARRAY[1..2] OF PneumaticCylinder_FB;
ChuckUnLock : ARRAY[1..2] OF PneumaticCylinder_FB;
ModbusMaster : ModbusMaster_FB;
FlowSensor : ARRAY[1..NumberOfFlowSensor] OF LeviSensor_FB;
RobotRinse : MotorRinse_FB;
ChuckRinse : MotorRinse_FB;
RobotDoorLock : Lock_FB;
TestGetCenter : BOOL;
TargetCenter : INT;
END_VAR
VAR_INPUT
StrahlSensor : StrahlSensor_FB;
bOutPuddleNozzleHF AT %Q* : BOOL;
bOutPuddleNozzleSF1 AT %Q* : BOOL;
bOutPuddleNozzleSF2 AT %Q* : BOOL;
bOutPuddleNozzleSEF1 AT %Q* : BOOL;
bOutPuddleNozzleSF3 AT %Q* : BOOL;
bOutPuddleNozzleFilmEtchings AT %Q* : BOOL;
bOutPuddleNozzleSEF2 AT %Q* : BOOL;
bOutPuddleNozzleC2H4O2 AT %Q* : BOOL;
bOutPuddleNozzleDIWHot AT %Q* : BOOL;
bOutStaticNozzleC2H4O2 AT %Q* : BOOL;
bOutStaticNozzleDIWHot AT %Q* : BOOL;
bOutBSR AT %Q* : BOOL;
bOutPotRinse AT %Q* : BOOL;
bOutMeasuringChamberRinseDIW AT %Q* : BOOL;
bOutSprayGun AT %Q* : BOOL;
bOutSwitchSF1_SEF1 AT %Q* : BOOL;
bOutSwitchSF3_FilmEtchings AT %Q* : BOOL;
bOutSwitchC2H4O2_DIW AT %Q* : BOOL;
bOutChuckChangeOn : BOOL;
bOutChuckChangeOff : BOOL;
bOutMeasuringChamberRinseN2 AT %Q* : BOOL;
// KUKA : Spinner_KUKA_FB;
bOutStartCenter : BOOL;
sTest : sPoint;
sResult : sPoint;
END_VAR
VAR_OUTPUT
bInExhaustOk AT %I* : BOOL;
bInLeakage AT %I* : ARRAY[1..NumberOfLeakageSensor] OF BOOL;
bInFuseBlook AT %I* : BOOL;
MediaOk : BOOL := TRUE;
// bInStartRecipe AT %I* : BOOL;
bInStartRecipeTrigger : BOOL;
bOutMediaEnable : BOOL;
bInChuckAvailable AT %I* : ARRAY[1..3] OF BOOL;
bInChuckCoding AT %I* : ARRAY[1..3] OF BOOL;
rInCenterSensor AT %I* : REAL;
Point : INT := 1;
END_VAR
VAR CONSTANT
NumberOfLeakageSensor : INT := 4;
NumberOfFlowSensor : BYTE := 9;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[MediaCheck();
StandardMain();
ModbusMaster();
RobotDoorLock();
RobotRinse();
ChuckRinse();
StrahlSensor();
FOR i := 1 TO NumberOfFlowSensor DO
FlowSensor[i]();
END_FOR
IF bOutChuckChangeOn OR bOutChuckChangeOff THEN
IF ChuckChange(bOutChuckChangeOn) THEN
bOutChuckChangeOn := FALSE;
bOutChuckChangeOff := FALSE;
END_IF
END_IF
iMediaArray[eSpinnerMedienNamen.ChuckChangeOn].Disable := bOutChuckChangeOff OR NOT Chuck.bOutReady;
iMediaArray[eSpinnerMedienNamen.ChuckChangeOff].Disable := bOutChuckChangeOn OR NOT Chuck.bOutReady;
FOR i := 1 TO 2 DO
ChuckEject[i]();
ChuckUnLock[i]();
END_FOR
iMediaArray[eSpinnerMedienNamen.ChuckEjectExtend1].Disable := FALSE;
iMediaArray[eSpinnerMedienNamen.ChuckEjectExtend2].Disable := FALSE;
iMediaArray[eSpinnerMedienNamen.ChuckUnlockExtend1].Disable := FALSE;
iMediaArray[eSpinnerMedienNamen.ChuckUnlockExtend2].Disable := FALSE;
IF ABS(Chuck.rOutCurrentModuloPosition - Config.Chuck.HomePosition) > Chuck.rInTolerance THEN
iMediaArray[eSpinnerMedienNamen.ChuckEjectExtend1].Disable := TRUE;
iMediaArray[eSpinnerMedienNamen.ChuckEjectExtend2].Disable := TRUE;
iMediaArray[eSpinnerMedienNamen.ChuckUnlockExtend1].Disable := TRUE;
iMediaArray[eSpinnerMedienNamen.ChuckUnlockExtend2].Disable := TRUE;
END_IF
iMediaArray[eSpinnerMedienNamen.ChuckVacuumOff].Disable := Chuck.rOutCurrentVelocity > 100;
(*IF CMD[RobotStation] = GetCMD AND ROBOT_MAIN.TargetStation = iStation AND ROBOT_MAIN.RobotControl.bInPartOnSucker[ROBOT_MAIN.TargetPuddle] THEN
ChuckVacuum.Down(TRUE);
END_IF
IF CMD[RobotStation] = PutCMD AND ROBOT_MAIN.TargetStation = iStation AND NOT ROBOT_MAIN.RobotControl.bInPartOnSucker[ROBOT_MAIN.TargetPuddle] THEN
ChuckVacuum.Up(TRUE);
END_IF*)
IF ROBOT_MAIN.TargetStation = iStation THEN
CASE CMD[RobotStation] OF
GetCMD:
IF ROBOT_MAIN.RobotControl.bInPartOnSucker[ROBOT_MAIN.TargetPuddle] THEN
ChuckVacuum.Down(TRUE);
END_IF
PutCMD:
IF NOT ROBOT_MAIN.RobotControl.bInPartOnSucker[ROBOT_MAIN.TargetPuddle] THEN
ChuckVacuum.Up(TRUE);
END_IF
ChangeCMD:
IF SpinnerVacOff THEN
ChuckVacuum.Down(TRUE);
END_IF
IF SpinnerVacOn THEN
ChuckVacuum.Up(TRUE);
END_IF
END_CASE
END_IF
IF iStationStatus.Soll.Stop THEN
ChuckChange(FALSE);
END_IF
//IF iStation = FirstSpinner THEN
//sResult := GetOffset(sTest);
//END_IF
(*IF TestGetCenter THEN
IF GetCenter(0, TargetCenter, SEL(TargetCenter = 1, 0,5)) THEN
TestGetCenter := FALSE;
END_IF
END_IF*)]]></ST>
</Implementation>
<Method Name="ChuckChange" Id="{e561f27d-eb90-479f-be06-2897961050e1}">
<Declaration><![CDATA[METHOD ChuckChange : BOOL;
VAR_INPUT
Change : BOOL;
END_VAR
VAR_INST
Step : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF iStationStatus.Soll.Stop THEN
Step := 0;
bOutChuckChangeOn := FALSE;
bOutChuckChangeOff := FALSE;
RETURN;
END_IF
CASE Step OF
0:
IF NOT Change THEN
IF ChuckEject[1].bInDown AND ChuckEject[2].bInDown AND ChuckUnLock[1].bInDown AND ChuckUnLock[2].bInDown THEN
ChuckChange := TRUE;
ELSE
Step := Step +1;
END_IF
ELSE
Step := Step +1;
END_IF
1:
IF ChuckEject[1].Down() AND ChuckEject[2].Down() AND ChuckUnLock[1].Down() AND ChuckUnLock[2].Down() THEN
Step := 10;
END_IF
10:
IF Change THEN
Step := 20;
ELSE
Step := 0;
Chuck.bInEnable := FALSE;
ChuckChange := TRUE;
END_IF
20:
Chuck.bOutReady := FALSE;
Chuck.bInEnable := FALSE;
Chuck.bInInit := TRUE;
Step := Step +1;
21:
IF Chuck.bOutReady THEN
Chuck.rInTargetPosition := Config.Chuck.HomePosition;
Chuck.rInTargetVelocity := Config.Chuck.HomeSpeed;
Chuck.rInTargetAcceleration := Config.Chuck.HomeAcceleration;
Chuck.bInStartModuloPosition := TRUE;
Chuck.bOutReady := FALSE;
Step := Step +1;
END_IF
22:
IF Chuck.bOutReady THEN
Step := 30;
END_IF
30:
IF ChuckUnLock[1].Up() AND ChuckUnLock[2].Up() THEN
Step := Step +1;
END_IF
31:
IF ChuckEject[1].Up() AND ChuckEject[2].Up() THEN
Step := Step +1;
END_IF
32:
IF ChuckEject[1].Down() AND ChuckEject[2].Down() THEN
Step := 40;
END_IF
40:
IF ChuckVacuum.Down() THEN
Step := 50;
END_IF
50:
ChuckChange := TRUE;
Step := 0;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="ChuckChange_Robot" Id="{cfbc8cef-e83c-43f2-a5bd-202ee79f134d}">
<Declaration><![CDATA[METHOD ChuckChange_Robot : BOOL
VAR_INPUT
TargetChuck : USINT;
Stop : BOOL:= FALSE;
END_VAR
VAR
i : INT;
END_VAR
VAR_INST
Step : INT;
CheckChuck : INT;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[IF Stop THEN
Step := 0;
RETURN;
END_IF
IF iStationStatus.Error THEN
RETURN;
END_IF
CASE Step OF
0:
IF NOT iStationStatus.Ist.InitDone THEN
iStationStatus.ErrorIndex := AlarmSend(iStation:=iStationStatus.iStation,MsgId := Spinner_ErrorNr.eNotInitialized,TRUE, eReportType.Error, sAvailableResponse.Cancel, FALSE);
iStationStatus.Error := TRUE;
RETURN;
END_IF
IF NOT KUKA.bInPrimaryHomePosition THEN
iStationStatus.ErrorIndex := AlarmSend(iStation:=iStationStatus.iStation,MsgId := Spinner_ErrorNr.eRobotNotInHomePosition,TRUE, eReportType.Error, sAvailableResponse.Cancel, FALSE);
iStationStatus.Error := TRUE;
RETURN;
END_IF
CheckChuck := 0;
FOR i := 1 TO 3 DO
IF NOT bInChuckAvailable[i] THEN
CheckChuck := CheckChuck +1;
END_IF
END_FOR
IF CheckChuck > 1 THEN
iStationStatus.ErrorIndex := AlarmSend(iStation:=iStationStatus.iStation,MsgId := Spinner_ErrorNr.eChuckChangeChuckMissing,TRUE, eReportType.Error, sAvailableResponse.Cancel, FALSE);
iStationStatus.Error := TRUE;
RETURN;
END_IF
CheckChuck := 0;
FOR i := 1 TO 3 DO
IF NOT bInChuckCoding[i] THEN
CheckChuck := CheckChuck +1;
END_IF
END_FOR
IF CheckChuck > 1 THEN
iStationStatus.ErrorIndex := AlarmSend(iStation:=iStationStatus.iStation,MsgId := Spinner_ErrorNr.eChuckChangeChuckMissing,TRUE, eReportType.Error, sAvailableResponse.Cancel, FALSE);
iStationStatus.Error := TRUE;
RETURN;
END_IF
Step := 10;
10:
IF bInChuckAvailable[TargetChuck] THEN
Step := 20;
ELSE
ChuckChange_Robot := TRUE;
Step := 0;
END_IF
20:
IF iStationStatus.Ist.PrepOut THEN
Step := 30;
ELSE
Step := Step +1;
END_IF
21:
iCMD := PrepOutCMD;
Step := Step +1;
22:
IF NOT iStationStatus.Ist.Busy THEN
Step := 20;
END_IF
30:
IF ChuckChange(TRUE) THEN
Step := 40;
END_IF
40:
;
END_CASE]]></ST>
</Implementation>
</Method>
<Method Name="Initialization" Id="{f9023fdc-2cd4-473f-9304-f8e0cb150e83}">
<Declaration><![CDATA[METHOD Initialization : BOOL
VAR_INPUT
iStation : INT;
END_VAR
VAR
ServiceNameOn : ARRAY[0..NumberOfLanguages] OF T_MaxString;
ServiceNameOff : ARRAY[0..NumberOfLanguages] OF T_MaxString;
i : BYTE;
LanguagesString : ARRAY[0..NumberOfLanguages] OF T_MaxString;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[InitializationStandard(iStation);
StrahlSensor.NoComErrorIndex := SPINNER_ErrorNr.eBeamSensorNoCommunication;
StrahlSensor.Initialization(iStation, eSpinnerMedienNamen.BeamSensor);
LanguagesString[0] := 'Robot$NDoor Lock';
LanguagesString[1] := 'Robot$NDoor Lock';
RobotDoorLock.Initialization(
iStation,
eSpinnerMedienNamen.DoorLock2,
SPINNER_ErrorNr.eDoor2Close,
SPINNER_ErrorNr.eDoor2LockTimeOut,
LanguagesString
);
ServiceNameOn[0] := 'Chuck Eject 1$NExtend';
ServiceNameOn[1] := 'Chuck Eject 1$NExtend';
ServiceNameOff[0] := 'Chuck Eject 1$NRetract';
ServiceNameOff[1] := 'Chuck Eject 1$NRetract';
ChuckEject[1].Initialization(
iStation,
eSpinnerMedienNamen.ChuckEjectExtend1,
eSpinnerMedienNamen.ChuckEjectRetract1,
SPINNER_ErrorNr.ChuckEject1ExtendTimeout,
ServiceNameOn,
ServiceNameOff
);
ServiceNameOn[0] := 'Chuck Eject 2$NExtend';
ServiceNameOn[1] := 'Chuck Eject 2$NExtend';
ServiceNameOff[0] := 'Chuck Eject 2$NRetract';
ServiceNameOff[1] := 'Chuck Eject 2$NRetract';
ChuckEject[2].Initialization(
iStation,
eSpinnerMedienNamen.ChuckEjectExtend2,
eSpinnerMedienNamen.ChuckEjectRetract2,
SPINNER_ErrorNr.ChuckEject2ExtendTimeout,
ServiceNameOn,
ServiceNameOff
);
ServiceNameOn[0] := 'Chuck Unlock 1$NExtend';
ServiceNameOn[1] := 'Chuck Unlock 1$NExtend';
ServiceNameOff[0] := 'Chuck Unlock 1$NRetract';
ServiceNameOff[1] := 'Chuck Unlock 1$NRetract';
ChuckUnLock[1].Initialization(
iStation,
eSpinnerMedienNamen.ChuckUnlockExtend1,
eSpinnerMedienNamen.ChuckUnlockRetract1,
SPINNER_ErrorNr.ChuckUnlock1ExtendTimeout,
ServiceNameOn,
ServiceNameOff
);
ServiceNameOn[0] := 'Chuck Unlock 2$NExtend';
ServiceNameOn[1] := 'Chuck Unlock 2$NExtend';
ServiceNameOff[0] := 'Chuck Unlock 2$NRetract';
ServiceNameOff[1] := 'Chuck Unlock 2$NRetract';
ChuckUnLock[2].Initialization(
iStation,
eSpinnerMedienNamen.ChuckUnlockExtend2,
eSpinnerMedienNamen.ChuckUnlockRetract2,
SPINNER_ErrorNr.ChuckUnlock2ExtendTimeout,
ServiceNameOn,
ServiceNameOff
);
{region "Puddle Nozzle HF"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].ServiceName[0] := 'Puddle Nozzle$NHF';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].ServiceName[1] := 'Puddledüse$NHF';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].RecipeName[0] := 'Puddle Nozzle$NHF';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].RecipeName[1] := 'Puddledüse$NHF';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].bReferenceControl REF= bOutPuddleNozzleHF;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].bReferencePrepareMedia REF= LeviPump[5].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].bReferenceTankState REF= LeviPump[5].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].rReferenceFlow REF= FlowSensor[9].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleHF].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleHF].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit9;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleHF].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit9;
{endregion}
{region "Puddle Nozzle SF1 (0,4)"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].ServiceName[0] := 'Puddle Nozzle$NSF1 (0,4)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].ServiceName[1] := 'Puddledüse$NSF1 (0,4)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].RecipeName[0] := 'Puddle Nozzle$NSF1';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].RecipeName[1] := 'Puddledüse$NSF1';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].bReferenceControl REF= bOutPuddleNozzleSF1;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].bReferencePrepareMedia REF= LeviPump[2].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].bReferenceTankState REF= LeviPump[2].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].rReferenceFlow REF= FlowSensor[1].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSF1].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSF1].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF1].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit;
{endregion}
{region "Puddle Nozzle SF2 (0,1)"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].ServiceName[0] := 'Puddle Nozzle$NSF2 (0,1)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].ServiceName[1] := 'Puddledüse$NSF2 (0,1)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].RecipeName[0] := 'Puddle Nozzle$NSF2';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].RecipeName[1] := 'Puddledüse$NSF2';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].bReferenceControl REF= bOutPuddleNozzleSF2;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].bReferenceResetControl REF= bOutPuddleNozzleSEF1;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].bReferencePrepareMedia REF= LeviPump[2].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].bReferenceTankState REF= LeviPump[2].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].rReferenceFlow REF= FlowSensor[3].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSF2].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSF2].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit3;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF2].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit3;
{endregion}
{region "Puddle Nozzle SF2 (0,1)"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].ServiceName[0] := 'Puddle Nozzle$NSEF1 (0,1)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].ServiceName[1] := 'Puddledüse$NSEF1 (0,1)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].RecipeName[0] := 'Puddle Nozzle$NSEF1';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].RecipeName[1] := 'Puddledüse$NSEF1';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].bReferenceControl REF= bOutPuddleNozzleSEF1;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].bReferenceResetControl REF= bOutPuddleNozzleSF2;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].bReferencePrepareMedia REF= LeviPump[8].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].bReferenceTankState REF= LeviPump[8].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].rReferenceFlow REF= FlowSensor[5].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSEF1].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSEF1].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit5;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF1].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit5;
{endregion}
{region "Puddle Nozzle SF3 (0,2)"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].ServiceName[0] := 'Puddle Nozzle$NSF3 (0,2)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].ServiceName[1] := 'Puddledüse$NSF3 (0,2)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].RecipeName[0] := 'Puddle Nozzle$NSF3';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].RecipeName[1] := 'Puddledüse$NSF3';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].bReferenceControl REF= bOutPuddleNozzleSF3;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].bReferenceResetControl REF= bOutPuddleNozzleFilmEtchings;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].bReferencePrepareMedia REF= LeviPump[2].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].bReferenceTankState REF= LeviPump[2].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].rReferenceFlow REF= FlowSensor[2].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSF3].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSF3].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit2;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSF3].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit2;
{endregion}
{region "Puddle Nozzle SF3 (0,2)"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].ServiceName[0] := 'Puddle Nozzle$NFilm Etchings (0,2)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].ServiceName[1] := 'Puddledüse$NFilmätze (0,2)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].RecipeName[0] := 'Puddle Nozzle$NFilm Etchings';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].RecipeName[1] := 'Puddledüse$NFilmätze';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].bReferenceControl REF= bOutPuddleNozzleFilmEtchings;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].bReferenceResetControl REF= bOutPuddleNozzleSF3;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].bReferencePrepareMedia REF= LeviPump[9].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].bReferenceTankState REF= LeviPump[9].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].rReferenceFlow REF= FlowSensor[8].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit8;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleFilmEtchings].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit8;
{endregion}
{region "Puddle Nozzle SEF2 (0,3)"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].ServiceName[0] := 'Puddle Nozzle$NSEF2 (0,3)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].ServiceName[1] := 'Puddledüse$NSEF2 (0,3)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].RecipeName[0] := 'Puddle Nozzle$NSEF2';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].RecipeName[1] := 'Puddledüse$NSEF2';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].bReferenceControl REF= bOutPuddleNozzleSEF2;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].bReferencePrepareMedia REF= LeviPump[8].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].bReferenceTankState REF= LeviPump[8].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].rReferenceFlow REF= FlowSensor[4].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSEF2].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleSEF2].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit4;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleSEF2].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit4;
{endregion}
{region "Puddle Nozzle C2H4O2 (1,0)"}
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].ServiceName[0] := 'Puddle Nozzle$NC2H4O2 (1,0)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].ServiceName[1] := 'Puddledüse$NC2H4O2 (1,0)';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].RecipeName[0] := 'Puddle Nozzle$NC2H4O2';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].RecipeName[1] := 'Puddledüse$NC2H4O2';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].bReferenceControl REF= bOutPuddleNozzleC2H4O2;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].bReferenceResetControl REF= bOutPuddleNozzleDIWHot;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].bReferencePrepareMedia REF= LeviPump[4].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].bReferenceTankState REF= LeviPump[4].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].rReferenceFlow REF= FlowSensor[6].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleC2H4O2].rLimit;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.PuddleNozzleC2H4O2].rTol;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit6;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleC2H4O2].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit6;
{endregion}
////
iMediaArray[eSpinnerMedienNamen.PuddleNozzleDIWHot].ServiceName[0] := 'Puddle Nozzle$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleDIWHot].ServiceName[1] := 'Puddledüse$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleDIWHot].RecipeName[0] := 'Puddle Nozzle$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleDIWHot].RecipeName[1] := 'Puddledüse$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.PuddleNozzleDIWHot].bReferenceControl REF= bOutPuddleNozzleDIWHot;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleDIWHot].bReferenceResetControl REF= bOutPuddleNozzleC2H4O2;
iMediaArray[eSpinnerMedienNamen.PuddleNozzleDIWHot].bReferenceTankState REF= MediaOk;
{region "Static Nozzle C2H4O2"}
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].ServiceName[0] := 'Static Nozzle$NC2H4O2';
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].ServiceName[1] := 'Statische düse$NC2H4O2';
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].RecipeName[0] := 'Static Nozzle$NC2H4O2';
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].RecipeName[1] := 'Puddledüse$NC2H4O2';
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].bReferenceControl REF= bOutStaticNozzleC2H4O2;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].bReferencePrepareMedia REF= LeviPump[4].bInPrepareSystem;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].bReferenceTankState REF= LeviPump[4].bOutSystemReadyForFlow;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].InputFlowAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].rReferenceFlow REF= FlowSensor[7].rOutCurrentFlow;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].InRangeCheckFlow := TRUE;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].FlowLimit REF= Config.FlowCheck[eSpinnerMedienNamen.StaticNozzleC2H4O2].rLimit;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].FlowTol REF= Config.FlowCheck[eSpinnerMedienNamen.StaticNozzleC2H4O2].rTol;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].ErrorIndex_Underrange := SPINNER_ErrorNr.wFlowUnderLimit7;
iMediaArray[eSpinnerMedienNamen.StaticNozzleC2H4O2].ErrorIndex_Overrange := SPINNER_ErrorNr.wFlowOverLimit7;
{endregion}
iMediaArray[eSpinnerMedienNamen.StaticNozzleDIWHot].ServiceName[0] := 'Static Nozzle$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.StaticNozzleDIWHot].ServiceName[1] := 'Statische düse$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.StaticNozzleDIWHot].RecipeName[0] := 'Static Nozzle$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.StaticNozzleDIWHot].RecipeName[1] := 'Puddledüse$NTemp. DIW';
iMediaArray[eSpinnerMedienNamen.StaticNozzleDIWHot].bReferenceControl REF= bOutStaticNozzleDIWHot;
iMediaArray[eSpinnerMedienNamen.StaticNozzleDIWHot].bReferenceTankState REF= MediaOk;
////
iMediaArray[eSpinnerMedienNamen.BSR].ServiceName[0] := 'BSR$NDIW';
iMediaArray[eSpinnerMedienNamen.BSR].ServiceName[1] := 'BSR$NDIW';
iMediaArray[eSpinnerMedienNamen.BSR].RecipeName[0] := 'BSR$NDIW';
iMediaArray[eSpinnerMedienNamen.BSR].RecipeName[1] := 'BSR$NDIW';
iMediaArray[eSpinnerMedienNamen.BSR].bReferenceControl REF= bOutBSR;
iMediaArray[eSpinnerMedienNamen.BSR].bReferenceTankState REF= MediaReady;
////
iMediaArray[eSpinnerMedienNamen.PotRinse].ServiceName[0] := 'Pot Rinse';
iMediaArray[eSpinnerMedienNamen.PotRinse].ServiceName[1] := 'Topfspülung';
iMediaArray[eSpinnerMedienNamen.PotRinse].RecipeName[0] := 'Pot Rinse';
iMediaArray[eSpinnerMedienNamen.PotRinse].RecipeName[1] := 'Topfspülung';
iMediaArray[eSpinnerMedienNamen.PotRinse].bReferenceControl REF= bOutPotRinse;
iMediaArray[eSpinnerMedienNamen.PotRinse].bReferenceTankState REF= MediaOk;
////
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseDIW].ServiceName[0] := 'Proccess Chamber$NRinseDIW';
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseDIW].ServiceName[1] := 'Prozesskammerspülung$NDIW';
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseDIW].RecipeName[0] := 'Proccess Chamber$NRinseDIW';
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseDIW].RecipeName[1] := 'Prozesskammerspülung$NDIW';
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseDIW].bReferenceControl REF= bOutMeasuringChamberRinseDIW;
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseDIW].bReferenceTankState REF= MediaOk;
////
iMediaArray[eSpinnerMedienNamen.SprayGun].ServiceName[0] := 'Spray Gun';
iMediaArray[eSpinnerMedienNamen.SprayGun].ServiceName[1] := 'Sprühpistole';
iMediaArray[eSpinnerMedienNamen.SprayGun].bReferenceControl REF= bOutSprayGun;
iMediaArray[eSpinnerMedienNamen.SprayGun].bReferenceTankState REF= MediaOk;
////
iMediaArray[eSpinnerMedienNamen.SwitchSF1_SEF1].ServiceName[0] := 'Switch$NSF2/SEF1';
iMediaArray[eSpinnerMedienNamen.SwitchSF1_SEF1].ServiceName[1] := 'Umaschalten$NSF1/SEF1';
iMediaArray[eSpinnerMedienNamen.SwitchSF1_SEF1].bReferenceControl REF= bOutSwitchSF1_SEF1;
iMediaArray[eSpinnerMedienNamen.SwitchSF1_SEF1].bReferenceTankState REF= MediaOk;
////
iMediaArray[eSpinnerMedienNamen.SwitchSF3_FilmEtchings].ServiceName[0] := 'Switch$NSF3/Film Etchings';
iMediaArray[eSpinnerMedienNamen.SwitchSF3_FilmEtchings].ServiceName[1] := 'Umaschalten$NSF3/Filmätze';
iMediaArray[eSpinnerMedienNamen.SwitchSF3_FilmEtchings].bReferenceControl REF= bOutSwitchSF3_FilmEtchings;
iMediaArray[eSpinnerMedienNamen.SwitchSF3_FilmEtchings].bReferenceTankState REF= MediaOk;
////
iMediaArray[eSpinnerMedienNamen.SwitchC2H4O2_DIW].ServiceName[0] := 'Switch$NC2H4O2/DIW Temp.';
iMediaArray[eSpinnerMedienNamen.SwitchC2H4O2_DIW].ServiceName[1] := 'Umaschalten$NC2H4O2/DIW Temp.';
iMediaArray[eSpinnerMedienNamen.SwitchC2H4O2_DIW].bReferenceControl REF= bOutSwitchC2H4O2_DIW;
iMediaArray[eSpinnerMedienNamen.SwitchC2H4O2_DIW].bReferenceTankState REF= MediaOk;
////
iMediaArray[eSpinnerMedienNamen.ChuckChangeOn].ServiceName[0] := 'Chuck Change$NOn';
iMediaArray[eSpinnerMedienNamen.ChuckChangeOn].ServiceName[1] := 'Chuck Change$Nein';
iMediaArray[eSpinnerMedienNamen.ChuckChangeOn].InputAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.ChuckChangeOn].bReferenceControl REF= bOutChuckChangeOn;
////
iMediaArray[eSpinnerMedienNamen.ChuckChangeOff].ServiceName[0] := 'Chuck Change$NOff';
iMediaArray[eSpinnerMedienNamen.ChuckChangeOff].ServiceName[1] := 'Chuck Change$Naus';
iMediaArray[eSpinnerMedienNamen.ChuckChangeOff].InputAvailable := TRUE;
iMediaArray[eSpinnerMedienNamen.ChuckChangeOff].bReferenceControl REF= bOutChuckChangeOff;
////
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseN2].ServiceName[0] := 'Measuring Chamber$NRinse N2';
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseN2].ServiceName[1] := 'Messkammerspülung$NN2';
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseN2].bReferenceControl REF= bOutMeasuringChamberRinseN2;
iMediaArray[eSpinnerMedienNamen.MeasuringChamberRinseN2].bReferenceTankState REF= MediaReady;
ModbusMaster.iStation := iStation;
FOR i := 1 TO NumberOfFlowSensor DO
FlowSensor[i].MB REF= ModbusMaster;
FlowSensor[i].Initialization(iStation ,i);
END_FOR
RobotRinse.Initialization(iStation, eSpinnerMedienNamen.RobotRinsing, 0, FALSE);
iMediaArray[eSpinnerMedienNamen.RobotRinsing].ServiceName[0] := 'Robot Rinse$NN2';
iMediaArray[eSpinnerMedienNamen.RobotRinsing].ServiceName[1] := 'Roboterspülung$NN2';
RobotRinse.TimeOffDelay REF= Config.N2MotorTimer;
ChuckRinse.Initialization(iStation, eSpinnerMedienNamen.ChuckRinsing, 0, FALSE);
iMediaArray[eSpinnerMedienNamen.ChuckRinsing].ServiceName[0] := 'Chuck Rinse$NN2';
iMediaArray[eSpinnerMedienNamen.ChuckRinsing].ServiceName[1] := 'Chuckspülung$NN2';
ChuckRinse.TimeOffDelay REF= Config.N2MotorTimer;]]></ST>
</Implementation>
</Method>
<Action Name="MediaCheck" Id="{c0188b29-db69-4c08-8ccb-be256dcc53c8}">
<Implementation>
<ST><![CDATA[//DelayTimer(IN := TRUE, PT := T#5S);
// IF NOT DelayTimer.Q THEN
// RETURN;
// END_IF
//AlarmSend(iStationStatus.iStation, SPINNER_ErrorNr.wWasteTank, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, bInWasteTankOK);
AlarmSend(iStation, SPINNER_ErrorNr.eExhaust, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, bInExhaustOk);
FOR i := 1 TO NumberOfLeakageSensor DO
AlarmSend(iStation, SPINNER_ErrorNr.eLeakage + i -1, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, bInLeakage[i]);
END_FOR
AlarmSend(iStation, SPINNER_ErrorNr.eFuse, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, bInFuseBlook);
//AlarmSend(iStationStatus.iStation, SPINNER_ErrorNr.eLeakage, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, bInLeakage);
//AlarmSend(iStationStatus.iStation, SPINNER_ErrorNr.wWindowOpened, FALSE, eReportType.Error, sAvailableResponse.NoResponse, bInWindow1ClosedCh1 AND bInWindow1ClosedCh2);
//AlarmSend(iStationStatus.iStation, SPINNER_ErrorNr.wWindowOpened+1, FALSE, eReportType.Error, sAvailableResponse.NoResponse, bInWindow2ClosedCh1 AND bInWindow2ClosedCh2);
//AlarmSend(iStationStatus.iStation, SPINNER_ErrorNr.wTank1, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, InTankOk[1]);
FOR i := 1 TO 32 DO
IF CMD[GeneralStation] <> eStationCMD.StartCMD THEN
iMediaArray[i].bReferenceTankState := TRUE;
END_IF
AlarmSend(iStationStatus.iStation, SPINNER_ErrorNr.FlowMediaNotReady + i-1, FALSE, eReportType.Warning, sAvailableResponse.NoResponse, iMediaArray[i].bReferenceTankState OR NOT iMediaArray[i].MediaUsedInFlow);
END_FOR]]></ST>
</Implementation>
</Action>
</POU>
</TcPlcObject>

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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4026.12">
<POU Name="SPINNER_IO_STANDARD_FB" Id="{2849ecba-adeb-4ecb-8dc6-28bf3244784f}" SpecialFunc="None">
<Declaration><![CDATA[FUNCTION_BLOCK SPINNER_IO_STANDARD_FB EXTENDS Station_GENERAL_IO_FB
VAR_INPUT
Chuck : REFERENCE TO GENERAL_Axis_FB;
Config : REFERENCE TO sSpinnerConfig;
END_VAR
VAR_OUTPUT
END_VAR
VAR
{IF defined (variable: vSpinnerSplashRing)}
SplashRing : PneumaticCylinder_FB;
{END_IF}
{IF defined (variable: vSpinnerMotorLift)}
MotorLift : PneumaticCylinder_FB;
{END_IF}
{IF defined (variable: vChuckVacuum)}
rInChuckVacuum : INT;
ChuckVacuum : PneumaticCylinder_FB;
{END_IF}
{IF defined (variable: vSpinnerDoorLcok)}
Lock : Lock_FB;
{END_IF}
{IF defined (variable: vSpinnerHatch)}
Hatch : Hatch_FB;
{END_IF}
{IF defined (variable: vSpinnerShutter)}
Shutter : PneumaticCylinder_FB;
{END_IF}
{IF defined (variable: vSpinnerMotorRinse)}
MotorRinse : MotorRinse_FB;
{END_IF}
{IF defined (variable: vVibrationSensor)}
VibrationSensor : VibrationSensor_FB;
{END_IF}
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[]]></ST>
</Implementation>
<Method Name="InitializationStandard" Id="{9b6d0952-690e-4d47-9489-52de9f7ed317}">
<Declaration><![CDATA[METHOD InitializationStandard
VAR_INPUT
iStation : INT;
END_VAR
VAR
LanguagesString : ARRAY[0..NumberOfLanguages] OF T_MaxString;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[InitializationExt(iStation);
{IF defined (variable: vSpinnerDoorLcok)}
LanguagesString[0] := 'Process$NDoor Lock';
LanguagesString[1] := 'Process$NDoor Lock';
Lock.Initialization(
iStation,
eSpinnerMedienNamen.DoorLock1,
SPINNER_ErrorNr.eDoorClose,
SPINNER_ErrorNr.eDoorLockTimeOut,
LanguagesString
);
{END_IF}
{IF defined (variable: vSpinnerSplashRing)}
SplashRing.Initialization(
iStation,
eSpinnerMedienNamen.SplashRingUp,
eSpinnerMedienNamen.SplashRingDown,
SPINNER_ErrorNr.eSplashRingUp,
Peripherie_GVL.ServiceNameSplashRingUp,
Peripherie_GVL.ServiceNameSplashRingDown
);
{END_IF}
{IF defined (variable: vSpinnerMotorLift)}
MotorLift.Initialization(
iStation,
eSpinnerMedienNamen.MotorLifting,
eSpinnerMedienNamen.MotorLowering,
SPINNER_ErrorNr.eMotorUpTimeOut,
Peripherie_GVL.ServiceNameMotorUp,
Peripherie_GVL.ServiceNameMotorDown
);
{END_IF}
{IF defined (variable: vSpinnerHatch)}
Hatch.Initialization(
iStation,
eSpinnerMedienNamen.HatchClose,
eSpinnerMedienNamen.HatchOpen,
SPINNER_ErrorNr.eHatchCloseTimeOut
);
{END_IF}
{IF defined (variable: vChuckVacuum)}
ChuckVacuum.Initialization(
iStation,
eSpinnerMedienNamen.ChuckVacuumOn,
eSpinnerMedienNamen.ChuckVacuumOff,
SPINNER_ErrorNr.eChuckVacuumOn,
Peripherie_GVL.ServiceNameChuckVacuumOn,
Peripherie_GVL.ServiceNameChuckVacuumOff
);
ChuckVacuum.TimeOut := T#10S;
{END_IF}
{IF defined (variable: vSpinnerShutter)}
Shutter.Initialization(
iStation,
eSpinnerMedienNamen.ShutterOpen,
eSpinnerMedienNamen.ShutterClose,
SPINNER_ErrorNr.eShutterCloseTimeOut,
Peripherie_GVL.ServiceNameShutterClose,
Peripherie_GVL.ServiceNameShutterOpen
);
Shutter.TimeOut := T#10S;
{END_IF}
{IF defined (variable: vSpinnerMotorRinse)}
MotorRinse.Initialization(iStation, eSpinnerMedienNamen.MotorRinsing, SPINNER_ErrorNr.eMotorN2TimeOut, FALSE);
MotorRinse.TimeOffDelay REF= Config.N2MotorTimer;
iMediaArray[eSpinnerMedienNamen.MotorRinsing].ServiceName[0] := 'Motor Rinse$NN2';
iMediaArray[eSpinnerMedienNamen.MotorRinsing].ServiceName[1] := 'Motorspülung$NN2';
{END_IF}
{IF defined (variable: vVibrationSensor)}
VibrationSensor.Initialization(iStation, SPINNER_ErrorNr.eVibration);
{END_IF}]]></ST>
</Implementation>
</Method>
<Method Name="StandardMain" Id="{c3091d5a-05ab-48fe-875b-c3b76ba1ee67}">
<Declaration><![CDATA[METHOD StandardMain
VAR_INPUT
END_VAR
]]></Declaration>
<Implementation>
<ST><![CDATA[IF NOT _RecipeStandby THEN
{IF defined (variable: vSpinnerMotorLift)}
FOR i := 1 TO 32 DO
IF NOT MotorLift.bInDown THEN
iMediaArray[i].bReferenceControl := FALSE;
END_IF
END_FOR
{END_IF}
{IF defined (variable: vSpinnerDoorLcok)}
FOR i := 1 TO 32 DO
IF (NOT Lock.bInClosed (*OR NOT bInRingUp*)) THEN
iMediaArray[i].bReferenceControl := FALSE;
END_IF
END_FOR
{END_IF}
{IF defined (variable: vSpinnerHatch)}
FOR i := 1 TO 32 DO
IF NOT Hatch.bInClosed THEN
iMediaArray[i].bReferenceControl := FALSE;
END_IF
END_FOR
{END_IF}
END_IF
{IF defined (variable: vSpinnerMotorLift)}
MotorLift();
iMediaArray[eSpinnerMedienNamen.MotorLifting].Disable := Chuck.rOutCurrentVelocity > 1 OR NOT SPINNER_MAIN[iStationStatus.iStation].Arm[1].ArmAtHome;
//IF NOT MotorLift. THEN
// Arm[1].bInEnablePositive := FALSE;
//END_IF
{END_IF}
{IF defined (variable: vSpinnerSplashRing)}
SplashRing();
{END_IF}
{IF defined (variable: vSpinnerHatch)}
Hatch();
{END_IF}
{IF defined (variable: vChuckVacuum)}
ChuckVacuum();
iMediaArray[eSpinnerMedienNamen.ChuckVacuumOff].Disable := Chuck.rOutCurrentVelocity > 100;
//ChuckVacuum.bInUp := ABS(rInChuckVacuum) > Config.MinChuckVac*1000 OR (Config.MinChuckVac = 0);
ChuckVacuum.bInDown := NOT ChuckVacuum.bInUp;
{END_IF}
{IF defined (variable: vSpinnerDoorLcok)}
Lock();
{END_IF}
{IF defined (variable: vSpinnerShutter)}
Shutter();
{END_IF}
{IF defined (variable: vSpinnerMotorRinse)}
MotorRinse();
{END_IF}
{IF defined (variable: vVibrationSensor)}
VibrationSensor();
{END_IF}
IF NOT Shutter.bInDown (*OR NOT IO.bInRingDown*) THEN
iStationStatus.Ist.PrepIn := FALSE;
iStationStatus.Ist.PrepOut := FALSE;
END_IF]]></ST>
</Implementation>
</Method>
</POU>
</TcPlcObject>

2018
PLC/2 Spinner/POUs/SPINNER_MAIN_FB.TcPOU Normal file
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