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FB31 SET P01 : Move CAM_DISC axis towards home position |
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Network 1: Query home position "DI MAIN P01".M00.HomPosIS := "DI OUT P01".G120_M.DRV.Support.HomeDone AND "DI OUT P01".G120C_S.DRV.Support.HomeDone AND "DI OUT P01".S120_M1.DRV.Support.HomeDone AND "DI OUT P01".S120_S1.DRV.Support.HomeDone AND "DI OUT P01".S120_M2.DRV.Support.HomeDone AND "DI OUT P01".S120_S2.DRV.Support.HomeDone AND "DI OUT P01".S210_M4.DRV.Support.HomeDone AND "DI OUT P01".S210_S4.DRV.Support.HomeDone AND "DI OUT P01".G120_M.DRV.Support.LampOFF AND "DI OUT P01".G120C_S.DRV.Support.LampOFF AND "DI OUT P01".S120_M1.DRV.Support.LampOFF AND "DI OUT P01".S120_M2.DRV.Support.LampOFF AND "DI OUT P01".S210_M4.DRV.Support.LampOFF AND NOT "DI OUT P01".G120_M.DRV.Support.EndLim_Min AND NOT "DI OUT P01".G120C_S.DRV.Support.EndLim_Min AND "DI OUT P01".S120_S1.DRV.MC_GearIn.InGear AND "DI OUT P01".S120_S2.DRV.MC_GearIn.InGear AND "DI OUT P01".S210_S4.DRV.MC_GearIn.InGear AND "DI OUT P01".Y100.FB_HP AND "DI OUT P01".Y101.FB_HP; |
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Network 2: Define last step #SSM(LAST_STEP := 21); |
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Network 3: Step Switching Mechanism (SSM) CASE #SSM.S.stepact OF 0: // Waiting for SET to start #SSM.S.stepd := #SSM.S.steps;
1: // Pre-Setting IF #SSM.S.stepfc THEN #SSM.S.c1.set := 25; #SSM.S.c1.start := TRUE; "DI OUT P01".CAM_DISC.CAM.Support.Cam.Current_Position := #tmp_del_pos; "DI OUT P01".G120_M.DRV.Support.SetVelo := "HMI KEY".SetValues.Linear_Axis_Fast; "DI OUT P01".G120C_S.DRV.Support.SetVelo := "HMI KEY".SetValues.Linear_Axis_Middle; "DI OUT P01".S210_M4.DRV.Support.SetVelo := "DI OUT P01".S120_M2.DRV.Support.SetVelo := "DI OUT P01".S120_M1.DRV.Support.SetVelo := "HMI KEY".SetValues.Rotary_Axis_Middle; "DI OUT P01".CAM_DISC.CAM.Support.Write_Index := "DI OUT P01".CAM_DISC.CAM.Support.Read_Index := "DI OUT P01".CAM_DISC.CAM.Support.Output_Index := 0; #Enable_MC_Power_Mode3 := TRUE; ELSE "HMI KEY".P01.S120_S1.F21_Halt := "HMI KEY".P01.S120_S2.F21_Halt := "HMI KEY".P01.S210_S4.F21_Halt := NOT #SSM.S.c1.done; #SSM.S.stepd := NOT ("DI OUT P01".S120_S1.DRV.MC_GearIn.InGear OR "DI OUT P01".S120_S2.DRV.MC_GearIn.InGear OR "DI OUT P01".S210_S4.DRV.MC_GearIn.InGear) AND #SSM.S.c1.done; END_IF;
2: // G120C_S Master Mold Silicon Sprayer MoveJog towards 0.0 position IF "DI OUT P01".G120C_S.DRV.Support.ActPos <= 7.0 THEN "DI OUT P01".G120C_S.DRV.Support.SetVelo := 1.0; #SSM.S.c1.start := TRUE; #SSM.S.c1.set := 25; "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogHP := FALSE; "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogWP := "HMI KEY".P01.G120C_S.F12_Enable_WP AND #SSM.S.stepa AND #SSM.S.c1.done; IF "DI OUT P01".G120C_S.DRV.Support.ActPos >= 0.0 THEN "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogHP := "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogWP := FALSE; #SSM.S.stepd := "DI OUT P01".G120C_S.DRV.Support.LampOFF; END_IF; ELSIF "DI OUT P01".G120C_S.DRV.Support.ActPos > 7.0 THEN "DI OUT P01".G120C_S.DRV.Support.SetVelo := "HMI KEY".SetValues.Rotary_Axis_Middle; "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogWP := FALSE; "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.G120C_S.F11_Enable_HP AND #SSM.S.stepa AND NOT #SSM.S.steplo; END_IF;
3: // G120C_S Master Mold Silicon Sprayer MoveJog towards WindowRange IF "DI OUT P01".G120C_S.DRV.Support.ActPos <= "DI OUT P01".G120C_S.DRV.Support.WindowRange THEN "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogHP := "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogWP := FALSE; #SSM.S.stepd := "DI OUT P01".G120C_S.DRV.Support.LampOFF AND "E01 G120C_S EndLimMin"; ELSIF "DI OUT P01".G120C_S.DRV.Support.ActPos > "DI OUT P01".G120C_S.DRV.Support.WindowRange THEN "DI OUT P01".G120C_S.DRV.Support.SetVelo := 0.5; "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogWP := FALSE; "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.G120C_S.F12_Enable_WP AND NOT #SSM.S.steplo; END_IF;
4: // Query G120C_S Master Mold Silicon Sprayer HomDone #SSM.S.c1.start := "HMI KEY".P01.G120C_S.F5_Set_Ref_Point := NOT "DI OUT P01".G120C_S.DRV.Support.HomeDone; #SSM.S.c1.set := 8; #SSM.S.stepd := "DI OUT P01".G120C_S.DRV.Support.HomeDone AND (#SSM.S.c1.done OR NOT (#SSM.S.steplo OR #SSM.S.c1.done));
5: // G120C_S Master Mold Silicon Sprayer MoveAbsolute towards HomPos "DI OUT P01".G120C_S.DRV.MC_MoveAbsolute.Position := 0.0; #SSM.S.stepd := "DI OUT P01".G120C_S.DRV.Support.InPos AND NOT #SSM.S.steplo; "DI OUT P01".G120C_S.DRV.Support.Cmd_MoveAbsolute := "DI OUT P01".G120C_S.DRV.Support.Epos_Enabled AND NOT #SSM.S.stepd AND #SSM.S.stepa;
6: // S120_M1 Pick & Place Master Articulated Arm A1 MoveJog towards 0.0 position "DI OUT P01".S120_M1.DRV.Support.Cmd_MoveJogWP := "HMI KEY".P01.S120_M1.F12_Enable_WP AND "DI OUT P01".S120_M1.DRV.Support.ActPos <= 0.0 AND #SSM.S.stepa; "DI OUT P01".S120_M1.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.S120_M1.F11_Enable_HP AND "DI OUT P01".S120_M1.DRV.Support.ActPos >= 0.0 AND #SSM.S.stepa; IF ABS("DI OUT P01".S120_M1.DRV.Support.ActPos) <= 20.0 THEN #SSM.S.stepd := TRUE; END_IF;
7: // S120_M1 Pick & Place Master Articulated Arm A1 MoveJog towards 0.0 position IF "E01 S120_M1 Ref.punkt" THEN #SSM.S.c1.start := TRUE; #SSM.S.c1.set := 25; "DI OUT P01".Y100.VLV_O.CmdExe_WP := FALSE; "DI OUT P01".S120_M1.DRV.Support.Cmd_MoveJogHP := "DI OUT P01".S120_M1.DRV.Support.Cmd_MoveJogWP := FALSE; #SSM.S.stepd := "DI OUT P01".S120_M1.DRV.Support.LampOFF AND #SSM.S.c1.done; RETURN; END_IF; IF "DI OUT P01".S120_M1.DRV.Support.ActPos >= 0.0 THEN "DI OUT P01".S120_M1.DRV.Support.SetVelo := "HMI KEY".SetValues.Rotary_Axis_Slow; "DI OUT P01".S120_M1.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.S120_M1.F11_Enable_HP AND #SSM.S.stepa; ELSIF "DI OUT P01".S120_M1.DRV.Support.ActPos < 0.0 THEN "DI OUT P01".S120_M1.DRV.Support.SetVelo := "HMI KEY".SetValues.Rotary_Axis_Slow; "DI OUT P01".S120_M1.DRV.Support.Cmd_MoveJogWP := "HMI KEY".P01.S120_M1.F12_Enable_WP AND #SSM.S.stepa; END_IF;
8: // Query S120_M1 Pick & Place Master Articulated Arm A1 query HomeDone #SSM.S.c1.start := TRUE; #SSM.S.c2.set := #SSM.S.c1.set := 8; "HMI KEY".P01.S120_M1.F5_Set_Ref_Point := NOT #SSM.S.c1.done; #SSM.S.c2.start := "DI OUT P01".S120_M1.DRV.Support.HomeDone AND NOT #SSM.S.c2.done; #SSM.S.stepd := #SSM.S.c2.done;
9: // S210_M4 Pick & Place Swivel Vacuum Gripper A4 MoveJog towards 0.0 position "DI OUT P01".S210_M4.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.S210_M4.F11_Enable_HP AND "DI OUT P01".S210_M4.DRV.Support.ActPos >= 1.0 AND #SSM.S.stepa; IF ABS("DI OUT P01".S210_M4.DRV.Support.ActPos) <= 5.0 THEN #SSM.S.stepd := TRUE; END_IF;
10: // S210_M4 Pick & Place Rotary Vacuum Gripper A4 MoveJog towards 0.0 position IF "E01 S210_M4 Ref.punkt" THEN #SSM.S.c1.start := TRUE; #SSM.S.c1.set := 8; "DI OUT P01".S210_M4.DRV.Support.Cmd_MoveJogHP := "DI OUT P01".S210_M4.DRV.Support.Cmd_MoveJogWP := FALSE; #SSM.S.stepd := "DI OUT P01".S210_M4.DRV.Support.LampOFF AND #SSM.S.c1.done; RETURN; END_IF; IF "DI OUT P01".S210_M4.DRV.Support.ActPos >= 0.0 THEN "DI OUT P01".S210_M4.DRV.Support.SetVelo := "HMI KEY".SetValues.Rotary_Axis_Slow; "DI OUT P01".S210_M4.DRV.Support.Cmd_MoveJogWP := "HMI KEY".P01.S210_M4.F12_Enable_WP AND #SSM.S.stepa; END_IF;
11: // S210_M4 Pick & Place Rotary Vacuum Gripper A4 query HomeDone #SSM.S.c1.start := TRUE; #SSM.S.c2.set := #SSM.S.c1.set := 8; "HMI KEY".P01.S210_M4.F5_Set_Ref_Point := NOT #SSM.S.c1.done; #SSM.S.c2.start := "DI OUT P01".S210_M4.DRV.Support.HomeDone AND NOT #SSM.S.c2.done; #SSM.S.stepd := #SSM.S.c2.done;
12: // S120_M2 Pick & Place Master Articulated Arm A1 MoveJog towards 0.0 position "DI OUT P01".S120_M2.DRV.Support.Cmd_MoveJogWP := "HMI KEY".P01.S120_M2.F12_Enable_WP AND "DI OUT P01".S120_M2.DRV.Support.ActPos <= 0.0 AND #SSM.S.stepa; "DI OUT P01".S120_M2.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.S120_M2.F11_Enable_HP AND "DI OUT P01".S120_M2.DRV.Support.ActPos >= 0.0 AND #SSM.S.stepa; IF ABS("DI OUT P01".S120_M2.DRV.Support.ActPos) <= 20.0 THEN #SSM.S.stepd := TRUE; END_IF;
13: // S120_M2 Pick & Place Master Articulated Arm A1 MoveJog towards 0.0 position IF "E01 S120_M2 Ref.punkt" THEN #SSM.S.c1.start := TRUE; #SSM.S.c1.set := 25; "DI OUT P01".S120_M2.DRV.Support.Cmd_MoveJogHP := "DI OUT P01".S120_M2.DRV.Support.Cmd_MoveJogWP := FALSE; #SSM.S.stepd := "DI OUT P01".S120_M2.DRV.Support.LampOFF AND #SSM.S.c1.done; RETURN; END_IF; IF "DI OUT P01".S120_M2.DRV.Support.ActPos >= 0.0 THEN "DI OUT P01".S120_M2.DRV.Support.SetVelo := "HMI KEY".SetValues.Rotary_Axis_Slow; "DI OUT P01".S120_M2.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.S120_M2.F11_Enable_HP AND #SSM.S.stepa; ELSIF "DI OUT P01".S120_M2.DRV.Support.ActPos < 0.0 THEN "DI OUT P01".S120_M2.DRV.Support.SetVelo := "HMI KEY".SetValues.Rotary_Axis_Slow; "DI OUT P01".S120_M2.DRV.Support.Cmd_MoveJogWP := "HMI KEY".P01.S120_M2.F12_Enable_WP AND #SSM.S.stepa; END_IF;
14: // Query S120_M2 Pick & Place Master Articulated Arm A1 query HomeDone #SSM.S.c1.start := TRUE; #SSM.S.c2.set := #SSM.S.c1.set := 8; "HMI KEY".P01.S120_M2.F5_Set_Ref_Point := NOT #SSM.S.c1.done; #SSM.S.c2.start := "DI OUT P01".S120_M2.DRV.Support.HomeDone AND NOT #SSM.S.c2.done; #SSM.S.stepd := #SSM.S.c2.done;
15: // S120_S1, S120_S2, S210_S4 activate GearIn IF #SSM.S.stepfc THEN #SSM.S.c1.set := 25; #SSM.S.c1.start := TRUE; #Enable_MC_Power_Mode3 := FALSE; ELSE "HMI KEY".P01.S120_S1.F22_Start_Gearing := "HMI KEY".P01.S120_S2.F22_Start_Gearing := "HMI KEY".P01.S210_S4.F22_Start_Gearing := NOT #SSM.S.c1.done; #SSM.S.stepd := "DI OUT P01".S120_S1.DRV.MC_GearIn.InGear AND "DI OUT P01".S120_S2.DRV.MC_GearIn.InGear AND "DI OUT P01".S210_S4.DRV.MC_GearIn.InGear AND #SSM.S.c1.done; END_IF;
16: // S120_S1, S120_S2, S210_S4 Set Ref.P #SSM.S.c1.set := 10; #SSM.S.c1.start := TRUE; "HMI KEY".P01.S120_S1.F5_Set_Ref_Point := "HMI KEY".P01.S120_S2.F5_Set_Ref_Point := "HMI KEY".P01.S210_S4.F5_Set_Ref_Point := NOT #SSM.S.c1.done; #SSM.S.stepd := "DI OUT P01".S120_S1.DRV.Support.HomeDone AND "DI OUT P01".S120_S2.DRV.Support.HomeDone AND "DI OUT P01".S210_S4.DRV.Support.HomeDone AND #SSM.S.c1.done;
17: // G120_M Convex master mold back and forth carrier Move towards 0.0 position IF "DI OUT P01".G120_M.DRV.Support.ActPos <= 60.0 THEN "DI OUT P01".G120_M.DRV.Support.SetVelo := 2.0; END_IF; "DI OUT P01".G120_M.DRV.Support.Cmd_MoveJogHP := "HMI KEY".P01.G120_M.F11_Enable_HP AND NOT "E01 G120_M EndLimMin" AND #SSM.S.stepa; #SSM.S.stepd := "E01 G120_M EndLimMin" AND "DI OUT P01".G120_M.DRV.Support.LampOFF AND NOT #SSM.S.steplo;
18: // G120_M Convex master mold back and forth carrier query HomeDone IF "DI OUT P01".G120_M.DRV.Support.HomeDone THEN #SSM.S.stepd := TRUE; "HMI KEY".P01.G120_M.F5_Set_Ref_Point := FALSE; ELSE #SSM.S.c1.set := 8; #SSM.S.c1.start := TRUE; "HMI KEY".P01.G120_M.F5_Set_Ref_Point := NOT #SSM.S.c1.done AND #SSM.S.stepa; END_IF;
19: // G120_M Convex master mold back and forth carrier MoveAbsolute towards 0.0 position "DI OUT P01".G120_M.DRV.MC_MoveAbsolute.Position := 0.0; #SSM.S.stepd := "DI OUT P01".G120_M.DRV.Support.InPos AND NOT #SSM.S.steplo; "DI OUT P01".G120_M.DRV.Support.Cmd_MoveAbsolute := "DI OUT P01".G120_M.DRV.Support.Epos_Enabled AND NOT #SSM.S.stepd AND #SSM.S.stepa;
20: // Query P01 home position #SSM.S.stepd := "DI MAIN P01".M00.HomPosIS;
21: // SCARA_3D MoveDirectRelative MCS (Machine Coordinate System) IF #SSM.S.steplo THEN "DI MAIN P01".SEQ1.Pos_No := 0; "DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.Distance := "HMI KEY".MoveDirectPos["DI MAIN P01".SEQ1.Pos_No].WCS; "DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.VelocityFactor := "HMI KEY".SetValues.SCARA_3D_VelocityFactor_Middle; "DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.CoordSystem := 100; "DI OUT P01".SCARA_3D.KIN.Support.InPos := FALSE; ELSE "DI MAIN P01".M00.HomPosRun := NOT "DI OUT P01".SCARA_3D.KIN.Support.InPos OR #SSM.S.steplo; "DI OUT P01".SCARA_3D.KIN.Support.Cmd_MoveDirect_Relative := NOT "DI OUT P01".SCARA_3D.KIN.Support.InPos AND "DI OUT P01".SCARA_3D.KIN.Support.KINpos_Enabled AND #SSM.S.stepa; END_IF; END_CASE; |
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