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OB100 Startup :  Global Complete Restart

Network 1: Fixed Values Pre-Setting

// Log-In run-time

"DI MAIN GLB".M00.TON_Login.PT := t#120s;

"DI MAIN GLB".#M00.ProductCounter.DlyOnReset.PT := t#1.5s;

// G120_M Convex master mold back and forth conveyor

"DI OUT P01".G120_M.DRV.Support.SW_EndLim_MinPos := "+1-G120_M".PositionLimits_SW.MinPosition + 10.0;

"DI OUT P01".G120_M.DRV.Support.SW_EndLim_MaxPos := "+1-G120_M".PositionLimits_SW.MaxPosition - 10.0;

// G120C_S  G120C_S Master Mold Silicon Spreader

"DI OUT P01".G120C_S.DRV.Support.SW_EndLim_MinPos := "+1-G120C_S".PositionLimits_SW.MinPosition + 4.5;

"DI OUT P01".G120C_S.DRV.Support.SW_EndLim_MaxPos := "+1-G120C_S".PositionLimits_SW.MaxPosition - 4.04;

// +1-S120_M1 Pick & Place Master Articulated Arm A1

"DI OUT P01".S120_M1.DRV.Support.SW_EndLim_MinPos := "+1-S120_M1".PositionLimits_SW.MinPosition + 5.0;

"DI OUT P01".S120_M1.DRV.Support.SW_EndLim_MaxPos := "+1-S120_M1".PositionLimits_SW.MaxPosition - 5.0;

// +1-S120_S1 Pick & Place Master Articulated Arm A1

"DI OUT P01".S120_S1.DRV.Support.SW_EndLim_MinPos := "+1-S120_S1".PositionLimits_SW.MinPosition;

"DI OUT P01".S120_S1.DRV.Support.SW_EndLim_MaxPos := "+1-S120_S1".PositionLimits_SW.MaxPosition;

"DI OUT P01".S120_S1.DRV.MC_GearIn.RatioNumerator := -1;

"DI OUT P01".S120_S1.DRV.MC_GearIn.RatioDenominator := 1;

// +1-S120_M2 Pick & Place Master Articulated Arm A2

"DI OUT P01".S120_M2.DRV.Support.SW_EndLim_MinPos := "+1-S120_M2".PositionLimits_SW.MinPosition + 10.0;

"DI OUT P01".S120_M2.DRV.Support.SW_EndLim_MaxPos := "+1-S120_M2".PositionLimits_SW.MaxPosition - 10.0;

// +1-S120_S2 Pick & Place Master Articulated Arm A2

"DI OUT P01".S120_S2.DRV.Support.SW_EndLim_MinPos := "+1-S120_S2".PositionLimits_SW.MinPosition;

"DI OUT P01".S120_S2.DRV.Support.SW_EndLim_MaxPos := "+1-S120_S2".PositionLimits_SW.MaxPosition;

"DI OUT P01".S120_S2.DRV.MC_GearIn.RatioNumerator := -1;

"DI OUT P01".S120_S2.DRV.MC_GearIn.RatioDenominator := 1;

// +1-S210_M4 Pick & Place Rotary Vaccum Gripper A4

"DI OUT P01".S210_M4.DRV.Support.SW_EndLim_MinPos := "+1-S210_M4".PositionLimits_SW.MinPosition;

"DI OUT P01".S210_M4.DRV.Support.SW_EndLim_MaxPos := "+1-S210_M4".PositionLimits_SW.MaxPosition;

// +1-S210_S4 Pick & Place Rotary Vaccum Gripper A4

"DI OUT P01".S210_S4.DRV.Support.SW_EndLim_MinPos := "+1-S210_S4".PositionLimits_SW.MinPosition;

"DI OUT P01".S210_S4.DRV.Support.SW_EndLim_MaxPos := "+1-S210_S4".PositionLimits_SW.MaxPosition;

"DI OUT P01".S210_S4.DRV.MC_GearIn.RatioNumerator := -1;

"DI OUT P01".S210_S4.DRV.MC_GearIn.RatioDenominator := 1;

// T200_PEW Hot Water Output Temperature [°C]

"DI OUT P02".T200_PEW.Support.High_Lim := 120.0;

"DI OUT P02".T200_PEW.Support.Low_Lim := 0.0;

// T201_PEW Hot Water Input Temperature

"DI OUT P02".T201_PEW.Support.High_Lim := 115.0;

"DI OUT P02".T201_PEW.Support.Low_Lim := 0.0;

// T202_PEW Cold Water Output Temperature

"DI OUT P02".T202_PEW.Support.High_Lim := 100.0;

"DI OUT P02".T202_PEW.Support.Low_Lim := 0.0;

// HMI SetValues

"HMI KEY".SetValues.T200_PEW_Hot_Heating_Input_Required_Temperature := 100.7;

"HMI KEY".SetValues.T201_PEW_Hot_Heating_Output_Required_Temperature := 96.3;

"HMI KEY".SetValues.T202_PEW_Cold_Heating_Output_Required_Temperature := 23.6;

"HMI KEY".SetValues."T201 Temperature_Deviation" := 5.5;

"HMI KEY".SetValues."T202 Temperature_Deviation" := 7.8;

"HMI KEY".SetValues.Scal_PE_Unit_PU_SET_VAL := 20.0; // Factor

"HMI KEY".SetValues.Scal_PE_Unit_Regulating_Factor := 1.21; // Factor

"HMI KEY".SetValues.FIT200_Hot_Water_Flow :=

"HMI KEY".SetValues.FIT201_Cold_Water_Flow := 0.0;

// RV200_PID

"DI OUT P02".RV200_PID.Support.ManualValue := 80.7;

Network 2: HMI SetValues Pre-Setting

"HMI KEY".SetValues.SCARA_3D_VelocityFactor_Slow := 4.39;

"HMI KEY".SetValues.SCARA_3D_VelocityFactor_Middle := 21.97;

"HMI KEY".SetValues.SCARA_3D_VelocityFactor_Fast := 87.89;

"HMI KEY".SetValues.Rotary_Axis_Slow := 100.0;

"HMI KEY".SetValues.Rotary_Axis_Fast := 400.0;

Network 3: CAM_DISC Machine - Default Pre-Setting (OEM)

"HMI KEY".CamDisc_Machine.Cam_End_Leading_Value := 961.53846;

"HMI KEY".CamDisc_Machine.Mold_OnCarrier_End_Recording_xy := 810.88;

"HMI KEY".CamDisc_Machine.Mold_OnCarrier_StartMeasuringInput := 876.19;

"HMI KEY".CamDisc_Machine.Mold_OnCarrier_StartSpraying_x := 1866.66;

"HMI KEY".CamDisc_Machine.Mold_onCarrier_StartSpraying_y := 0.0;

"HMI KEY".CamDisc_Machine.Mold_onCarrier_PlacingPos_x := 3248.97;

"HMI KEY".CamDisc_Machine.Mold_onCarrier_PlacingPos_y := 141.49;

Network 4: CAM_DISC Pre-setting (SCADA default)

"DI OUT P01".CAM_DISC.CAM.MC_MeasuringInput.Mode := 2; // REg+FEg

"DI OUT P01".CAM_DISC.CAM.MC_MeasuringInput.MeasuringRange := FALSE;

"DI OUT P01".CAM_DISC.CAM.MC_MeasuringInput.StartPosition := 0.0;

"DI OUT P01".CAM_DISC.CAM.MC_MeasuringInput.EndPosition := 0.0; // full range

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.MasterSyncPosition := 0.0;

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.MasterStartDistance := 80.0;

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.ApplicationMode := 0; // one plc cycle

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.SyncDirection := 1; // positive, default=3 shortest war

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.SlaveOffset := 0.0;

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.SyncProfileReference := 1;

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.Velocity := -1.0;

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.MasterScaling := 1.0;

"DI OUT P01".CAM_DISC.CAM.MC_CamIn.SlaveScaling := 1.0;

"DI OUT P01".CAM_DISC.CAM.MC_OutputCam.Direction := 1;

"DI OUT P01".CAM_DISC.CAM.MC_OutputCam.Mode := 1;

"DI OUT P01".CAM_DISC.CAM.Support.Cam_Shift_Distance := 990.0;

"DI OUT P01".CAM_DISC.CAM.Support.Output_StartPosition := 2073.46;

"DI OUT P01".CAM_DISC.CAM.Support.Output_Distance := 38.0;

// Copy Cam

"DI OUT P01".COPY_CAM.CAM.MC_CopyCamData.Mode := 1;

"DI OUT P01".COPY_CAM.CAM.MC_CopyCamData.NumberOfPoints := 26;

Network 5: HMI SetValues - Velocity default values

// SCARA VelocityFactor MoveDirect - MoveDirectAbsolut/Relative

"HMI KEY".SetValues.SCARA_3D_VelocityFactor_Slow := 0.05;

"HMI KEY".SetValues.SCARA_3D_VelocityFactor_Middle := 0.09;

"HMI KEY".SetValues.SCARA_3D_VelocityFactor_Fast := 0.36;

// Rotary Axis 4.39°/s, 21.97°/s, 48.34°/s, 87.89°/s

"HMI KEY".SetValues.Rotary_Axis_Slow := 4.39;

"HMI KEY".SetValues.Rotary_Axis_Middle := 21.97;

"HMI KEY".SetValues.Rotary_Axis_Fast := 48.34;

// Linear Axis

"HMI KEY".SetValues.Linear_Axis_Slow := 20.00;

"HMI KEY".SetValues.Linear_Axis_Middle := 80.00;

"HMI KEY".SetValues.Linear_Axis_Fast := 400.00;

Network 6: SCARA_3D Selective Compliance Assembly Robot Arm Pre-Setting - default

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectAbsolute.CoordSystem := 0; // WCS

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectAbsolute.VelocityFactor := "HMI KEY".SetValues.SCARA_3D_VelocityFactor_Fast;

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectAbsolute.DirectionA := 3; //shortest distance

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectAbsolute.BufferMode := 2; // smooth

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectAbsolute.PositionMode := 2; //Orientation A4 move relative when modulo on

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectAbsolute.CoordSystem := 100; // MCS

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectAbsolute.Position[3] := 940.84; // Virtual z-axis

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.CoordSystem := 0; // WCS

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.VelocityFactor := "HMI KEY".SetValues.SCARA_3D_VelocityFactor_Fast;

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.BufferMode := 2;

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.CoordSystem := 100; // MCS

"DI OUT P01".SCARA_3D.KIN.MC_MoveDirectRelative.Distance[3] := 0.0; // Virtual z-axis

Network 7: HMI MoveDirectPos in MCS / WCS

// MoveDirectRelative P0 MCS

"HMI KEY".MoveDirectPos[0].WCS[1] := 90.0;

"HMI KEY".MoveDirectPos[0].WCS[2] := 90.0;

"HMI KEY".MoveDirectPos[0].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[0].WCS[4] := -180.0;

// MoveDirectAbsolute P1 WCS

"HMI KEY".MoveDirectPos[1].WCS[1] := 745.45;

"HMI KEY".MoveDirectPos[1].WCS[2] := 686.46;

"HMI KEY".MoveDirectPos[1].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[1].WCS[4] := 0.0;

// MoveDirectAbsolute P2 WCS

"HMI KEY".MoveDirectPos[2].WCS[1] := 745.45;

"HMI KEY".MoveDirectPos[2].WCS[2] := 1108.76;

"HMI KEY".MoveDirectPos[2].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[2].WCS[4] := 0.0;

// MoveDirectAbsolute P3 WCS

"HMI KEY".MoveDirectPos[3].WCS[1] := 2556.0;

"HMI KEY".MoveDirectPos[3].WCS[2] := 2015.0;

"HMI KEY".MoveDirectPos[3].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[3].WCS[4] := 0.0;

// MoveDirectAbsolute P4 WCS

"HMI KEY".MoveDirectPos[4].WCS[1] := 3700.0;

"HMI KEY".MoveDirectPos[4].WCS[2] := 1860.0;

"HMI KEY".MoveDirectPos[4].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[4].WCS[4] := 0.0;

// MoveDirectAbsolute P5 WCS

"HMI KEY".MoveDirectPos[5].WCS[1] := 4895.0;

"HMI KEY".MoveDirectPos[5].WCS[2] := 2063.0;

"HMI KEY".MoveDirectPos[5].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[5].WCS[4] := 0.0;

// MoveDirectAbsolute P6 WCS

"HMI KEY".MoveDirectPos[6].WCS[1] := 5229.93;

"HMI KEY".MoveDirectPos[6].WCS[2] := 1061.22;

"HMI KEY".MoveDirectPos[6].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[6].WCS[4] := 0.0;

// MoveDirectAbsolute P7 --- not used

"HMI KEY".MoveDirectPos[7].WCS[1] := 2372.79;

"HMI KEY".MoveDirectPos[7].WCS[2] := 2410.85;

"HMI KEY".MoveDirectPos[7].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[7].WCS[4] := 0.0;

// MoveDirectAbsolute P8 --- not used

"HMI KEY".MoveDirectPos[8].WCS[1] := 60.21;

"HMI KEY".MoveDirectPos[8].WCS[2] := 58.40;

"HMI KEY".MoveDirectPos[8].WCS[3] := 940.84;

"HMI KEY".MoveDirectPos[8].WCS[4] := -118.59;

Network 8: Dimentions Length, Width, Heigh [mm]

// Sprayer carrier framework

"HMI KEY".Sprayer_Framework.Length := 1844.89;

"HMI KEY".Sprayer_Framework.Width := 538.78;

"HMI KEY".Sprayer_Framework.Height := 1474.82;

// Convex master mold

"HMI KEY".Convex_Master_Mold.Length := 816.32;

"HMI KEY".Convex_Master_Mold.Width := 489.79;

"HMI KEY".Convex_Master_Mold.Height := 304.76;

// Mold carrier

"HMI KEY".Mold_Carrier.Length := 4653.06;

"HMI KEY".Mold_Carrier.Width := 565.98;

"HMI KEY".Mold_Carrier.Height := 261.22;

// Plastic sheet

"HMI KEY".Plastic_Sheet.Length := 1121.08;

"HMI KEY".Plastic_Sheet.Width := 489.78;

"HMI KEY".Plastic_Sheet.Height := 21.76;

// Vacuum gripper

"HMI KEY".Vacuum_Gripper.Length := 707.48;

"HMI KEY".Vacuum_Gripper.Width := 489.79;

"HMI KEY".Vacuum_Gripper.Height := 157.82;

// Heating jacket

"HMI KEY".Heating_Jacket.Length := 854.42;

"HMI KEY".Heating_Jacket.Width := 522.44;

"HMI KEY".Heating_Jacket.Height := 92.51;

// Articulated arm framework

"HMI KEY".Articulated_Arm_Framework.Length := 2802.70;

"HMI KEY".Articulated_Arm_Framework.Width := 1061.22;

"HMI KEY".Articulated_Arm_Framework.Height := 2612.23;

// Traversing range

"HMI KEY".Traversing_Range.Length := 3472.34;

"HMI KEY".Traversing_Range.Width := 1104.76;

"HMI KEY".Traversing_Range.Height := 2367.34;