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To go to next HMI image use the touch buttons; some of them are interactive.

FB38 MAN P01 :  P01 manual mode

Netzwerk 1: MD12 Gripper fingers 1+2 axis - enable

IF #ST_MANU AND NOT #SUPPORT_SEQ THEN

    IF "M00 CmpltMaRun Imp" THEN

        #MD12.ManuVelocity_1 := "DI OUT P01".MD_12.DRV.Support.SetVelo / 5.0;

    END_IF;

    // Set value velocity

    "DI OUT P01".MD_12.DRV.Support.SetVelo := #MD12.ManuVelocity_1 * 5.0;

    // Jog slow WP (button function)

    #MD12.CmdExe_slow_WP := "HMI KEY".P01.MD_12.F3_Jog_slow_WP;

    // Jog slow HP (button function)

    #MD12.CmdExe_slow_HP := "HMI KEY".P01.MD_12.F4_Jog_slow_HP;

END_IF;

// Enabling HP

"HMI KEY".P01.MD_12.F11_Enable_HP :=

"DI OUT P01".MD_12.DRV.Support.InOperation // ready

AND "E00 MD_12 LimMin"

AND "DI OUT P01".MD_12.DRV.Support.ActPos >= "DI OUT P01".MD_12.DRV.Support.SW_EndLim_MinPos //(not by modulo on)

AND NOT ("DI OUT P01".MD_12.DRV.Support.SW_EndLim_Min OR "DI OUT P01".MD_12.Com_FLT);

// Enabling WP

"HMI KEY".P01.MD_12.F12_Enable_WP :=

"DI OUT P01".MD_12.DRV.Support.InOperation // ready

AND "E00 MD_12 LimMax"

AND "DI OUT P01".MD_12.DRV.Support.ActPos <= "DI OUT P01".MD_12.DRV.Support.SW_EndLim_MaxPos // (not by modulo on)

AND NOT ("DI OUT P01".MD_12.DRV.Support.SW_EndLim_Max OR "DI OUT P01".MD_12.Com_FLT);

Netzwerk 2: MD34 Gripper fingers 3+4 axis - enable

IF #ST_MANU AND NOT #SUPPORT_SEQ THEN

    IF "M00 CmpltMaRun Imp" THEN

        #MD34.ManuVelocity_1 := "DI OUT P01".MD_34.DRV.Support.SetVelo / 5.0;

    END_IF;

    // Set value velocity

    "DI OUT P01".MD_34.DRV.Support.SetVelo := #MD34.ManuVelocity_1 * 5.0;

    // Jog slow WP (button function)

    #MD34.CmdExe_slow_WP := "HMI KEY".P01.MD_34.F3_Jog_slow_WP;

    // Jog slow HP (button function)

    #MD34.CmdExe_slow_HP := "HMI KEY".P01.MD_34.F4_Jog_slow_HP;

END_IF;

// Enabling HP

"HMI KEY".P01.MD_34.F11_Enable_HP :=

"DI OUT P01".MD_34.DRV.Support.InOperation // ready

AND "E00 MD_34 LimMin"

AND "DI OUT P01".MD_34.DRV.Support.ActPos >= "DI OUT P01".MD_34.DRV.Support.SW_EndLim_MinPos //(not by modulo on)

AND NOT ("DI OUT P01".MD_34.DRV.Support.SW_EndLim_Min OR "DI OUT P01".MD_34.Com_FLT);

// Enabling WP

"HMI KEY".P01.MD_34.F12_Enable_WP :=

"DI OUT P01".MD_34.DRV.Support.InOperation // ready

AND "E00 MD_34 LimMax"

AND "DI OUT P01".MD_34.DRV.Support.ActPos <= "DI OUT P01".MD_34.DRV.Support.SW_EndLim_MaxPos // (not by modulo on)

AND NOT ("DI OUT P01".MD_34.DRV.Support.SW_EndLim_Max OR "DI OUT P01".MD_34.Com_FLT);

Netzwerk 3: V90_X Gripper linear Xaxis - enable

IF #ST_MANU AND NOT #SUPPORT_SEQ THEN

    IF "M00 CmpltMaRun Imp" THEN

        #V90_X.ManuVelocity_1 := "DI OUT P01".V90_X.DRV.Support.SetVelo / 5.0;

    END_IF;

    // Set value velocity

    "DI OUT P01".V90_X.DRV.Support.SetVelo := #V90_X.ManuVelocity_1 * 5.0;

    // Jog slow WP (button function)

    #V90_X.CmdExe_slow_WP := "HMI KEY".P01.V90_X.F3_Jog_slow_WP;

    // Jog slow HP (button function)

    #V90_X.CmdExe_slow_HP := "HMI KEY".P01.V90_X.F4_Jog_slow_HP;

END_IF;

// Enabling HP

"HMI KEY".P01.V90_X.F11_Enable_HP :=

"DI OUT P01".V90_X.DRV.Support.InOperation // ready

AND "E00 V90_X LimMin"

AND "DI OUT P01".V90_X.DRV.Support.ActPos >= "DI OUT P01".V90_X.DRV.Support.SW_EndLim_MinPos //(not by modulo on)

AND NOT ("DI OUT P01".V90_X.DRV.Support.SW_EndLim_Min OR "DI OUT P01".V90_X.Com_FLT);

// Enabling WP

"HMI KEY".P01.V90_X.F12_Enable_WP :=

"DI OUT P01".V90_X.DRV.Support.InOperation // ready

AND "E00 V90_X LimMax"

AND "DI OUT P01".V90_X.DRV.Support.ActPos <= "DI OUT P01".V90_X.DRV.Support.SW_EndLim_MaxPos // (not by modulo on)

AND NOT ("DI OUT P01".V90_X.DRV.Support.SW_EndLim_Max OR "DI OUT P01".V90_X.Com_FLT);

Netzwerk 4: V90_Y Gripper linear Xaxis - enable

IF #ST_MANU AND NOT #SUPPORT_SEQ THEN

    IF "M00 CmpltMaRun Imp" THEN

        #V90_Y.ManuVelocity_1 := "DI OUT P01".V90_Y.DRV.Support.SetVelo / 5.0;

    END_IF;

    // Set value velocity

    "DI OUT P01".V90_Y.DRV.Support.SetVelo := #V90_Y.ManuVelocity_1 * 5.0;

    // Jog slow WP (button function)

    #V90_Y.CmdExe_slow_WP := "HMI KEY".P01.V90_Y.F3_Jog_slow_WP;

    // Jog slow HP (button function)

    #V90_Y.CmdExe_slow_HP := "HMI KEY".P01.V90_Y.F4_Jog_slow_HP;

END_IF;

// Enabling HP

"HMI KEY".P01.V90_Y.F11_Enable_HP :=

"DI OUT P01".V90_Y.DRV.Support.InOperation // ready

AND "E00 V90_Y LimMin"

AND "DI OUT P01".V90_Y.DRV.Support.ActPos >= "DI OUT P01".V90_Y.DRV.Support.SW_EndLim_MinPos //(not by modulo on)

AND NOT ("DI OUT P01".V90_Y.DRV.Support.SW_EndLim_Min OR "DI OUT P01".V90_Y.Com_FLT);

// Enabling WP

"HMI KEY".P01.V90_Y.F12_Enable_WP :=

"DI OUT P01".V90_Y.DRV.Support.InOperation // ready

AND "E00 V90_Y LimMax"

AND "DI OUT P01".V90_Y.DRV.Support.ActPos <= "DI OUT P01".V90_Y.DRV.Support.SW_EndLim_MaxPos // (not by modulo on)

AND NOT ("DI OUT P01".V90_Y.DRV.Support.SW_EndLim_Max OR "DI OUT P01".V90_Y.Com_FLT);

Netzwerk 5: V90_Z Gripper linear Xaxis - enable

IF #ST_MANU AND NOT #SUPPORT_SEQ THEN

    IF "M00 CmpltMaRun Imp" THEN

        #V90_Z.ManuVelocity_1 := "DI OUT P01".V90_Z.DRV.Support.SetVelo / 5.0;

    END_IF;

    // Set value velocity

    "DI OUT P01".V90_Z.DRV.Support.SetVelo := #V90_Z.ManuVelocity_1 * 5.0;

    // Jog slow WP (button function)

    #V90_Z.CmdExe_slow_WP := "HMI KEY".P01.V90_Z.F3_Jog_slow_WP;

    // Jog slow HP (button function)

    #V90_Z.CmdExe_slow_HP := "HMI KEY".P01.V90_Z.F4_Jog_slow_HP;

END_IF;

// Enabling HP

"HMI KEY".P01.V90_Z.F11_Enable_HP :=

"DI OUT P01".V90_Z.DRV.Support.InOperation // ready

AND "E00 V90_Z LimMin"

AND "DI OUT P01".V90_Z.DRV.Support.ActPos >= "DI OUT P01".V90_Z.DRV.Support.SW_EndLim_MinPos //(not by modulo on)

AND NOT ("DI OUT P01".V90_Z.DRV.Support.SW_EndLim_Min OR "DI OUT P01".V90_Z.Com_FLT);

// Enabling WP

"HMI KEY".P01.V90_Z.F12_Enable_WP :=

"DI OUT P01".V90_Z.DRV.Support.InOperation // ready

AND "E00 V90_Z LimMax"

AND "DI OUT P01".V90_Z.DRV.Support.ActPos <= "DI OUT P01".V90_Z.DRV.Support.SW_EndLim_MaxPos // (not by modulo on)

AND NOT ("DI OUT P01".V90_Z.DRV.Support.SW_EndLim_Max OR "DI OUT P01".V90_Z.Com_FLT);

Netzwerk 6: C01 Lifting gate - enable

"HMI KEY".P01.C01.F11_Enable_HP := "HMI KEY".P01.C01.F12_Enable_WP :=

"DI OUT P01".C01.VLV_O.SetIdleTime > 0 AND NOT "DI OUT P01".C01.com_flt AND "M00 GLB Estop";

Netzwerk 7: Monitoring pneumatics manual operation ***

IF NOT #ST_MANU THEN

    RETURN;

ELSIF #MODULE_HP AND NOT #GLB_HomPos_REg THEN

    "M01 Init" := TRUE;

END_IF;

#GLB_HomPos_REg := #MODULE_HP;

IF #SUPPORT_SEQ THEN

    RETURN;

END_IF;

Netzwerk 8: MD12 Gripper fingers 1+2 axis - execute

#MD12.CmdExe_slow_fast_WP := "HMI KEY".P01.MD_12.F12_Enable_WP

AND NOT "HMI KEY".P01.MD_12.F21_HALT_GoToPos

AND #MD12.CmdExe_slow_WP;

#MD12.CmdExe_slow_fast_HP := "HMI KEY".P01.MD_12.F11_Enable_HP

AND NOT "HMI KEY".P01.MD_12.F21_HALT_GoToPos

AND #MD12.CmdExe_slow_HP;

Netzwerk 9: MD34 Gripper fingers 3+4 axis - execute

#MD34.CmdExe_slow_fast_WP := "HMI KEY".P01.MD_34.F12_Enable_WP

AND NOT "HMI KEY".P01.MD_34.F21_HALT_GoToPos

AND #MD34.CmdExe_slow_WP;

#MD34.CmdExe_slow_fast_HP := "HMI KEY".P01.MD_34.F11_Enable_HP

AND NOT "HMI KEY".P01.MD_34.F21_HALT_GoToPos

AND #MD34.CmdExe_slow_HP;

Netzwerk 10: V90_X Gripper linear Xaxis - execute

#V90_X.CmdExe_slow_fast_WP := "HMI KEY".P01.V90_X.F12_Enable_WP

AND NOT "HMI KEY".P01.V90_X.F21_HALT_GoToPos

AND #V90_X.CmdExe_slow_WP;

#V90_X.CmdExe_slow_fast_HP := "HMI KEY".P01.V90_X.F11_Enable_HP

AND NOT "HMI KEY".P01.V90_X.F21_HALT_GoToPos

AND #V90_X.CmdExe_slow_HP;

Netzwerk 11: V90_Y Gripper linear Xaxis - execute

#V90_Y.CmdExe_slow_fast_WP := "HMI KEY".P01.V90_Y.F12_Enable_WP

AND NOT "HMI KEY".P01.V90_Y.F21_HALT_GoToPos

AND #V90_Y.CmdExe_slow_WP;

#V90_Y.CmdExe_slow_fast_HP := "HMI KEY".P01.V90_Y.F11_Enable_HP

AND NOT "HMI KEY".P01.V90_Y.F21_HALT_GoToPos

AND #V90_Y.CmdExe_slow_HP;

Netzwerk 12: V90_Z Gripper linear Xaxis - execute

#V90_Z.CmdExe_slow_fast_WP := "HMI KEY".P01.V90_Z.F12_Enable_WP

AND NOT "HMI KEY".P01.V90_Z.F21_HALT_GoToPos

AND #V90_Z.CmdExe_slow_WP;

#V90_Z.CmdExe_slow_fast_HP := "HMI KEY".P01.V90_Z.F11_Enable_HP

AND NOT "HMI KEY".P01.V90_Z.F21_HALT_GoToPos

AND #V90_Z.CmdExe_slow_HP;

Netzwerk 13: C01 Lifting gate - execute

"DI OUT P01".C01.VLV_O.CmdExe_WP := "HMI KEY".P01.C01.F12_Enable_WP

AND NOT "HMI KEY".P01.C01.F1_HP AND ("HMI KEY".P01.C01.F2_WP OR "DI OUT P01".C01.FB_WP);

"DI OUT P01".C01.VLV_O.CmdExe_HP := "HMI KEY".P01.C01.F11_Enable_HP

AND NOT "HMI KEY".P01.C01.F2_WP AND ("HMI KEY".P01.C01.F1_HP OR "DI OUT P01".C01.FB_HP);