44 lines
1.0 KiB
XML
44 lines
1.0 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1">
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<POU Name="PRG_Safety" Id="{3b12eabc-3e96-45aa-8279-75f07072b9b0}" SpecialFunc="None">
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<Declaration><![CDATA[PROGRAM PRG_Safety
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VAR_INPUT
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xConfirmAlarms : BOOL;
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xRobotStopped : BOOL;
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END_VAR
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VAR_OUTPUT
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xStopRobot : BOOL := FALSE;
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xEStopOk AT %I* : BOOL;
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END_VAR
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VAR
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xComStartup AT %I* : BOOL;
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xRequestOpenDoor AT %I* : BOOL;
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xRun AT %Q* : BOOL;
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xErrorAck AT %Q* : BOOL;
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xLockDoor AT %Q* : BOOL := TRUE;
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_rtDoorUnlock : R_TRIG;
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_tofErrorAck : TOF;
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_xStopRobot : BOOL;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[xRun := NOT xComStartup;
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_rtDoorUnlock(CLK := xRequestOpenDoor AND xRobotStopped);
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IF _rtDoorUnlock.Q THEN
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_xStopRobot := (NOT _xStopRobot);
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xLockDoor := (NOT xLockDoor);
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END_IF
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// Reset safety group errors
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_tofErrorAck(IN:= xConfirmAlarms, PT:= T#500MS, Q=> xErrorAck, ET=> );
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// Copy internal signals to outputs
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xStopRobot := _xStopRobot;]]></ST>
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</Implementation>
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</POU>
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</TcPlcObject> |