FB52 SEQ1 P03 :  Stacker Crane SEQ1 (3/3)

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    6: // M302 >HBS1 or M305 >HBS2, M303 >HBS1 or M305 >HBS2, or M304 >HBS1 or M305 >HBS2

        IF #SSM.S.stepfc THEN

            // M305 >HBS2 and M302 >HBS1

            "DI MAIN P03".MoDa.RunTimeSetP_seq1 := 280;

            "DI MAIN P03".MoDa.RunTimeCntrl_seq1 := 0;

            IF "DI OUT P03".M305_Box_Data.Info.Occupied AND "DI OUT P03".M302_Box_Data.Info.Occupied THEN

                // M302 >HBS1

                #ExecuteCoordinate(INDEX_POS := "DI OUT P03".M302_Box_Data.Trgt_Storage.Place,

                                   REF_POS := "ModulDa".MaPa.HBS1.RefPos,

                                   PLACES_ON_X := "ModulDa".MaPa.HBS1.NoOf_Places_X,

                                   PLACES_ON_Y := "ModulDa".MaPa.HBS1.NoOf_Places_Y,

                                   GAP_FACTOR_X := "ModulDa".MaPa.HBS1.Gap.X,

                                   GAP_FACTOR_Y := "ModulDa".MaPa.HBS1.Gap.Y,

                                   TARGET_POS := "ModulDa".MaPa.HBS1.PlacingPos);

                #Distance_Xaxis_HBS1 := ABS(IN := "DI OUT P03".G120C_X.DRV.Support.ActPos - "ModulDa".MaPa.HBS1.PlacingPos.X);

                // M305 > HBS2

                #ExecuteCoordinate(INDEX_POS := "DI OUT P03".M305_Box_Data.Trgt_Storage.Place,

                                   REF_POS := "ModulDa".MaPa.HBS2.RefPos,

                                   PLACES_ON_X := "ModulDa".MaPa.HBS2.NoOf_Places_X,

                                   PLACES_ON_Y := "ModulDa".MaPa.HBS2.NoOf_Places_Y,

                                   GAP_FACTOR_X := "ModulDa".MaPa.HBS2.Gap.X,

                                   GAP_FACTOR_Y := "ModulDa".MaPa.HBS2.Gap.Y,

                                   TARGET_POS := "ModulDa".MaPa.HBS2.PlacingPos);

                #Distance_Xaxis_HBS2 := ABS(IN := "DI OUT P03".G120C_X.DRV.Support.ActPos - "ModulDa".MaPa.HBS2.PlacingPos.X);

                // M305 > HBS2

                IF #Distance_Xaxis_HBS2 < #Distance_Xaxis_HBS1 THEN

                    #CurrentStoragePlace := "DI OUT P03".M305_Box_Data.Trgt_Storage.Place;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := - "ModulDa".MaPa.HBS2.Gap.Z * "DI OUT P03".M305_Box_Data.Trgt_Storage.Depth; // -1 * instead -

                    "DI OUT P03".G120C_Z.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Z.TchInVelo_1;

                    "DI OUT P03".HBS2.RdyToTakeIn_FrmNC := TRUE;

                    IF "DI OUT P03".M305_Box_Data.Info.SizeTyp = 1 THEN

                        "DI OUT P03".M305_Box_Data.Info.SmalBox := TRUE;

                    ELSIF "DI OUT P03".M305_Box_Data.Info.SizeTyp = 2 THEN

                        "DI OUT P03".M305_Box_Data.Info.LargeBox := TRUE;

                    ELSE

                        #SSM.S."1_FAULT_00_15".%X1 := TRUE;

                    END_IF;

                    // M302 > HBS1

                ELSIF #Distance_Xaxis_HBS1 <= #Distance_Xaxis_HBS2 THEN

                    #CurrentStoragePlace := "DI OUT P03".M302_Box_Data.Trgt_Storage.Place;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := "ModulDa".MaPa.HBS1.Gap.Z * "DI OUT P03".M302_Box_Data.Trgt_Storage.Depth;

                    "DI OUT P03".G120C_Z.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Z.TchInVelo_1;

                    "DI OUT P03".HBS1.RdyToTakeIn_FrmNC := TRUE;

                    IF "DI OUT P03".M302_Box_Data.Info.SizeTyp = 1 THEN

                        "DI OUT P03".M302_Box_Data.Info.SmalBox := TRUE;

                    ELSIF "DI OUT P03".M302_Box_Data.Info.SizeTyp = 2 THEN

                        "DI OUT P03".M302_Box_Data.Info.LargeBox := TRUE;

                    ELSE

                        #SSM.S."1_FAULT_00_15".%X1 := TRUE;

                    END_IF;

                END_IF;

                // M305 > HBS2 and M303 > HBS1

            ELSIF "DI OUT P03".M305_Box_Data.Info.Occupied AND "DI OUT P03".M303_Box_Data.Info.Occupied THEN

                // M303 > HBS1

                #ExecuteCoordinate(INDEX_POS := "DI OUT P03".M303_Box_Data.Trgt_Storage.Place,

                                   REF_POS := "ModulDa".MaPa.HBS1.RefPos,

                                   PLACES_ON_X := "ModulDa".MaPa.HBS1.NoOf_Places_X,

                                   PLACES_ON_Y := "ModulDa".MaPa.HBS1.NoOf_Places_Y,

                                   GAP_FACTOR_X := "ModulDa".MaPa.HBS1.Gap.X,

                                   GAP_FACTOR_Y := "ModulDa".MaPa.HBS1.Gap.Y,

                                   TARGET_POS := "ModulDa".MaPa.HBS1.PlacingPos);

                #Distance_Xaxis_HBS1 := ABS(IN := "DI OUT P03".G120C_X.DRV.Support.ActPos - "ModulDa".MaPa.HBS1.PlacingPos.X);

                // M305 > HBS2

                #ExecuteCoordinate(INDEX_POS := "DI OUT P03".M305_Box_Data.Trgt_Storage.Place,

                                   REF_POS := "ModulDa".MaPa.HBS2.RefPos,

                                   PLACES_ON_X := "ModulDa".MaPa.HBS2.NoOf_Places_X,

                                   PLACES_ON_Y := "ModulDa".MaPa.HBS2.NoOf_Places_Y,

                                   GAP_FACTOR_X := "ModulDa".MaPa.HBS2.Gap.X,

                                   GAP_FACTOR_Y := "ModulDa".MaPa.HBS2.Gap.Y,

                                   TARGET_POS := "ModulDa".MaPa.HBS2.PlacingPos);

                #Distance_Xaxis_HBS2 := ABS(IN := "DI OUT P03".G120C_X.DRV.Support.ActPos - "ModulDa".MaPa.HBS2.PlacingPos.X);

                // M305 > HBS2               

                IF #Distance_Xaxis_HBS2 < #Distance_Xaxis_HBS1 THEN

                    #CurrentStoragePlace := "DI OUT P03".M305_Box_Data.Trgt_Storage.Place;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := - "ModulDa".MaPa.HBS2.Gap.Z * "DI OUT P03".M305_Box_Data.Trgt_Storage.Depth;

                    "DI OUT P03".G120C_Z.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Z.TchInVelo_1;

                    "DI OUT P03".HBS2.RdyToTakeIn_FrmNC := TRUE;

                    IF "DI OUT P03".M305_Box_Data.Info.SizeTyp = 1 THEN

                        "DI OUT P03".M305_Box_Data.Info.SmalBox := TRUE;

                    ELSIF "DI OUT P03".M305_Box_Data.Info.SizeTyp = 2 THEN

                        "DI OUT P03".M305_Box_Data.Info.LargeBox := TRUE;

                    ELSE

                        #SSM.S."1_FAULT_00_15".%X1 := TRUE;

                    END_IF;

                    // M303 > HBS1

                ELSIF #Distance_Xaxis_HBS1 <= #Distance_Xaxis_HBS2 THEN

                    #CurrentStoragePlace := "DI OUT P03".M303_Box_Data.Trgt_Storage.Place;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := "ModulDa".MaPa.HBS1.Gap.Z * "DI OUT P03".M303_Box_Data.Trgt_Storage.Depth;

                    "DI OUT P03".G120C_Z.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Z.TchInVelo_1;

                    "DI OUT P03".HBS1.RdyToTakeIn_FrmNC := TRUE;

                    IF "DI OUT P03".M303_Box_Data.Info.SizeTyp = 1 THEN

                        "DI OUT P03".M303_Box_Data.Info.SmalBox := TRUE;

                    ELSIF "DI OUT P03".M303_Box_Data.Info.SizeTyp = 2 THEN

                        "DI OUT P03".M303_Box_Data.Info.LargeBox := TRUE;

                    ELSE

                        #SSM.S."1_FAULT_00_15".%X1 := TRUE;

                    END_IF;

                END_IF;

                // M305 > HBS2 and M304 > HBS1   

            ELSIF "DI OUT P03".M305_Box_Data.Info.Occupied AND "DI OUT P03".M304_Box_Data.Info.Occupied THEN

                // M304 > HBS1

                #ExecuteCoordinate(INDEX_POS := "DI OUT P03".M304_Box_Data.Trgt_Storage.Place,

                                   REF_POS := "ModulDa".MaPa.HBS1.RefPos,

                                   PLACES_ON_X := "ModulDa".MaPa.HBS1.NoOf_Places_X,

                                   PLACES_ON_Y := "ModulDa".MaPa.HBS1.NoOf_Places_Y,

                                   GAP_FACTOR_X := "ModulDa".MaPa.HBS1.Gap.X,

                                   GAP_FACTOR_Y := "ModulDa".MaPa.HBS1.Gap.Y,

                                   TARGET_POS := "ModulDa".MaPa.HBS1.PlacingPos);

                #Distance_Xaxis_HBS1 := ABS(IN := "DI OUT P03".G120C_X.DRV.Support.ActPos - "ModulDa".MaPa.HBS1.PlacingPos.X);

                // M305 > HBS2

                #ExecuteCoordinate(INDEX_POS := "DI OUT P03".M305_Box_Data.Trgt_Storage.Place,

                                   REF_POS := "ModulDa".MaPa.HBS2.RefPos,

                                   PLACES_ON_X := "ModulDa".MaPa.HBS2.NoOf_Places_X,

                                   PLACES_ON_Y := "ModulDa".MaPa.HBS2.NoOf_Places_Y,

                                   GAP_FACTOR_X := "ModulDa".MaPa.HBS2.Gap.X,

                                   GAP_FACTOR_Y := "ModulDa".MaPa.HBS2.Gap.Y,

                                   TARGET_POS := "ModulDa".MaPa.HBS2.PlacingPos);

                #Distance_Xaxis_HBS2 := ABS(IN := "DI OUT P03".G120C_X.DRV.Support.ActPos - "ModulDa".MaPa.HBS2.PlacingPos.X);

                // M305 > HBS2               

                IF #Distance_Xaxis_HBS2 < #Distance_Xaxis_HBS1 THEN

                    #CurrentStoragePlace := "DI OUT P03".M305_Box_Data.Trgt_Storage.Place;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := - "ModulDa".MaPa.HBS2.Gap.Z * "DI OUT P03".M305_Box_Data.Trgt_Storage.Depth;

                    "DI OUT P03".G120C_Z.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Z.TchInVelo_1;

                    "DI OUT P03".HBS2.RdyToTakeIn_FrmNC := TRUE;

                    IF "DI OUT P03".M305_Box_Data.Info.SizeTyp = 1 THEN

                        "DI OUT P03".M305_Box_Data.Info.SmalBox := TRUE;

                    ELSIF "DI OUT P03".M305_Box_Data.Info.SizeTyp = 2 THEN

                        "DI OUT P03".M305_Box_Data.Info.LargeBox := TRUE;

                    ELSE

                        #SSM.S."1_FAULT_00_15".%X1 := TRUE;

                    END_IF;

                    // M304 > HBS1   

                ELSIF #Distance_Xaxis_HBS1 <= #Distance_Xaxis_HBS2 THEN

                    #CurrentStoragePlace := "DI OUT P03".M304_Box_Data.Trgt_Storage.Place;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := "ModulDa".MaPa.HBS1.Gap.Z * "DI OUT P03".M304_Box_Data.Trgt_Storage.Depth;

                    "DI OUT P03".G120C_Z.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Z.TchInVelo_1;

                    "DI OUT P03".HBS1.RdyToTakeIn_FrmNC := TRUE;

                    IF "DI OUT P03".M304_Box_Data.Info.SizeTyp = 1 THEN

                        "DI OUT P03".M304_Box_Data.Info.SmalBox := TRUE;

                    ELSIF "DI OUT P03".M304_Box_Data.Info.SizeTyp = 2 THEN

                        "DI OUT P03".M304_Box_Data.Info.LargeBox := TRUE;

                    ELSE

                        #SSM.S."1_FAULT_00_15".%X1 := TRUE;

                    END_IF;

                END_IF;

            END_IF;

        ELSE

            // M302 > HBS1

            IF "DI OUT P03".HBS1.RdyToTakeIn_FrmNC THEN

                "POS REACHED"(START := #SSM.S.steplo OR NOT #SSM.S.stepa,

                              TARGET_POS := "ModulDa".MaPa.HBS1.PlacingPos,

                              VELO_X := "DI OUT P03".Manual.G120C_X.TchInVelo_1,

                              VELO_Y := "DI OUT P03".Manual.G120C_Y.TchInVelo_1,

                              ENABLE_X := "DI OUT P03".G120C_X.DRV.Support.Epos_Enabled,

                              ENABLE_Y := "DI OUT P03".G120C_Y.DRV.Support.Epos_Enabled,

                              WINDOW_RANGE := 1.0,

                              MOV_TO_POS_X => "DI OUT P03".G120C_X.DRV.Support.Cmd_MovAbso,

                              MOV_TO_POS_Y => "DI OUT P03".G120C_Y.DRV.Support.Cmd_MovAbso,

                              TARGET_REACHED => "DI MAIN P03".M00.SEQ1_Busy);

                "DI OUT P03".G120C_Z.DRV.Support.Cmd_MovAbso := "DI OUT P03".G120C_Z.DRV.Support.Epos_Enabled

                AND "E03 GapCntrl HBS1" AND "DI MAIN P03".M00.SEQ1_Busy AND ("E03 M302 LimS21" OR #SSM.S.c1.done) AND #SSM.S.stepa;

                // G120C_Z MovAbso towing arm towards extended pos. HBS1

                IF "DI OUT P03".G120C_Z.DRV.Support.InPos AND NOT ("E03 G120C_Z MiddleCntrl" OR #SSM.S.c1.done) THEN

                    "DI OUT P03".G120C_Z.DRV.Support.Cmd_MovAbso := FALSE;

                    #SSM.S.c1.start := TRUE;

                    #SSM.S.c1.set := 10;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := 0.0;

                    // G120C_Z MovAbso towing arm towards middle pos. 0.0   

                ELSIF "DI OUT P03".G120C_Z.DRV.Support.InPos AND "E03 G120C_Z MiddleCntrl" THEN

                    "DI MAIN P03".M00.SEQ1_Done := #BoxCommissionDone_HSB1;

                END_IF;

                // M305 > HBS2      

            ELSIF "DI OUT P03".HBS2.RdyToTakeIn_FrmNC THEN

                "POS REACHED"(START := #SSM.S.steplo OR NOT #SSM.S.stepa,

                              TARGET_POS := "ModulDa".MaPa.HBS2.PlacingPos,

                              VELO_X := "DI OUT P03".Manual.G120C_X.TchInVelo_1,

                              VELO_Y := "DI OUT P03".Manual.G120C_Y.TchInVelo_1,

                              ENABLE_X := "DI OUT P03".G120C_X.DRV.Support.Epos_Enabled,

                              ENABLE_Y := "DI OUT P03".G120C_Y.DRV.Support.Epos_Enabled,

                              WINDOW_RANGE := 1.0,

                              MOV_TO_POS_X => "DI OUT P03".G120C_X.DRV.Support.Cmd_MovAbso,

                              MOV_TO_POS_Y => "DI OUT P03".G120C_Y.DRV.Support.Cmd_MovAbso,

                              TARGET_REACHED => "DI MAIN P03".M00.SEQ1_Busy);

                "DI OUT P03".G120C_Z.DRV.Support.Cmd_MovAbso := "DI OUT P03".G120C_Z.DRV.Support.Epos_Enabled

                AND "E03 GapCntrl HBS2" AND "DI MAIN P03".M00.SEQ1_Busy AND ("E03 M305 LimS52" OR #SSM.S.c1.done) AND #SSM.S.stepa;

                // G120C_Z MovAbso towing arm towards extended pos. HBS1

                IF "DI OUT P03".G120C_Z.DRV.Support.InPos AND NOT ("E03 G120C_Z MiddleCntrl" OR #SSM.S.c1.done) THEN

                    "DI OUT P03".G120C_Z.DRV.Support.Cmd_MovAbso := FALSE;

                    #SSM.S.c1.start := TRUE;

                    #SSM.S.c1.set := 10;

                    "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := 0.0;

                ELSIF "DI OUT P03".G120C_Z.DRV.Support.InPos AND "E03 G120C_Z MiddleCntrl" THEN

                    "DI MAIN P03".M00.SEQ1_Done := #BoxCommissionDone_HSB2;

                END_IF;

            END_IF;

        END_IF;

    7: // MoveAbsolute STC to towards loading position

        IF #SSM.S.stepfc THEN

            "DI MAIN P03".MoDa.RunTimeSetP_seq1 := 300;

            #CurrentCommission := 0;

            "DI MAIN P03".MoDa.RunTimeCntrl_seq1 := 0;

            "DI OUT P03".G120C_X.DRV.MC_MoveAbsolute.Position := "DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[1].X; // Fetch (scanner) loading position

            "DI OUT P03".G120C_Y.DRV.MC_MoveAbsolute.Position := "DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[1].Y; // Fetch (scanner) loading position

            "DI OUT P03".G120C_Z.DRV.MC_MoveAbsolute.Position := "DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[1].Z; // Fetch (scanner) loading position

            "DI OUT P03".G120C_X.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_X.TchInVelo_1;

            "DI OUT P03".G120C_Y.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Y.TchInVelo_1;

            "DI OUT P03".G120C_Z.DRV.Support.SetVelo := "DI OUT P03".Manual.G120C_Z.TchInVelo_1;

        ELSE

            "DI OUT P03".G120C_X.DRV.Support.Cmd_MovAbso := "DI OUT P03".G120C_X.DRV.Support.Epos_Enabled AND #SSM.S.stepa;

            "DI OUT P03".G120C_Y.DRV.Support.Cmd_MovAbso := "DI OUT P03".G120C_Y.DRV.Support.Epos_Enabled AND #SSM.S.stepa;

            "DI OUT P03".G120C_Z.DRV.Support.Cmd_MovAbso := "DI OUT P03".G120C_Z.DRV.Support.Epos_Enabled AND #SSM.S.stepa;

            IF "DI OUT P03".G120C_X.DRV.Support.InPos AND "DI OUT P03".G120C_Y.DRV.Support.InPos AND "DI OUT P03".G120C_Z.DRV.Support.InPos AND NOT #SSM.S.steplo THEN

                #SSM.S.stepd := TRUE;

                "DI OUT P03".G120C_X.DRV.Support.Cmd_MovAbso := "DI OUT P03".G120C_Y.DRV.Support.Cmd_MovAbso := "DI OUT P03".G120C_Z.DRV.Support.Cmd_MovAbso := FALSE;

            END_IF;

        END_IF;

    8: // Scanning during loading lift conveyor system

        IF #SSM.S.stepfc THEN

            #SSM.S.c2.set := 30;

            #SCANNER_ET200SP.Scanned_BoxData_A :=

            #SCANNER_ET200SP.Scanned_BoxData_B :=

            #SCANNER_ET200SP.Scanned_BoxData_C :=

            #SCANNER_ET200SP.Scanned_BoxData_D := #SCANNER_ET200SP.Clear_BoxDat_00;

            "DI MAIN P03".MoDa.RunTimeSetP_seq1 := 600;

            "DI MAIN P03".MoDa.RunTimeCntrl_seq1 := 0;

        END_IF;

        IF "DI MAIN P03".SEQ1.SCANNER_ET200SP.Support_AT.%X2 THEN // Scanning done

            #SSM.S.c2.start := TRUE;

        END_IF;

        IF #SCANNER_ET200SP.LB_1 THEN

            #SSM.S.c1.act := 0;

            #SSM.S.c1.done := FALSE;

        ELSE

            #SSM.S.c1.set := 150;

            #SSM.S.c1.start := TRUE;

        END_IF;

        "DI OUT P03".M302.DRV.CmdExe_WP := "HMI KEY".P03.M302.F12_Enable_WP AND #SSM.S.stepa;

        "DI OUT P03".M303.DRV.CmdExe_WP := "HMI KEY".P03.M303.F12_Enable_WP AND #SSM.S.stepa;

        "DI OUT P03".M304.DRV.CmdExe_WP := "HMI KEY".P03.M304.F12_Enable_WP AND #SSM.S.stepa;

        "DI OUT P03".M305.DRV.CmdExe_WP := "HMI KEY".P03.M305.F12_Enable_WP AND #SSM.S.stepa;

        #tmp_llo := "DI OUT P03".M302.DRV.FdBack AND "DI OUT P03".M303.DRV.FdBack AND "DI OUT P03".M304.DRV.FdBack AND "DI OUT P03".M305.DRV.FdBack;

        #SCANNER_ET200SP(LADDR_HW_IO := 415, // Hw_SubModule

                         PUFFER := "RCV_P2P_RS232".Scanned_Data[0],

                         ENABLE := "E03 SCAN Enbl" AND NOT (#SSM.S.c2.start OR #SSM.S.c1.done AND "DI MAIN GLB".M00.AutoCmpltMa_run) AND #tmp_llo,

                         LB_1 := "E03 SCAN Enbl" AND "E03 SCAN LimS_1",

                         LB_2 := "E03 SCAN LimS_2",

                         ERROR := #SSM.S."1_FAULT_00_15".%X0,

                         ACK_FLT := "DI MAIN GLB".M00.FLT_CmpltMaACK_Imp);

        // Copy scanned BoxData to STC cache       

        "DI OUT P03".M302_Box_Data := #SCANNER_ET200SP.Scanned_BoxData_A;

        "DI OUT P03".M303_Box_Data := #SCANNER_ET200SP.Scanned_BoxData_B;

        "DI OUT P03".M304_Box_Data := #SCANNER_ET200SP.Scanned_BoxData_C;

        "DI OUT P03".M305_Box_Data := #SCANNER_ET200SP.Scanned_BoxData_D;

        IF #SSM.S.c2.done THEN

            "DI OUT P03".M302.DRV.CmdExe_WP := "DI OUT P03".M303.DRV.CmdExe_WP := "DI OUT P03".M304.DRV.CmdExe_WP := "DI OUT P03".M305.DRV.CmdExe_WP := FALSE;

            "DI MAIN P03".M00.SEQ1_Done := #STCtoLoadPosDone := TRUE;

        END_IF;

END_CASE;

FB52 SEQ1 3/3

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