FB39 OUT P01 : P01 output stage

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Network 1: Pre-Setting

#Support.Estop_TOF(IN := "M00 GLB Estop", PT := t#1s);

Network 2: Call manual operation

#MANUAL(ST_MANU:="M00 ManuCmpltMa run",

        MODULE_HP:="HMI KEY".P01.GLB.F20_HomPos,

        SUPPORT_SEQ:="M01 HomPosRun");

Network 3: MD_12 Gripper fingers 1+2 axis

// Execute reference point

#MD_12.DRV.MC_Home.Execute := #MD_12.DRV.Support.LampOFF AND "HMI KEY".P01.MD_12.F5_Set_Ref_Point AND ("DI MAIN GLB".SET.SSM.S.steps OR "M00 ManuCmpltMa run");

#MD_12.DRV.MC_Power.StartMode := #MD_12.DRV.MC_MoveAbsolute.Direction := 1;

#MD_12.DRV.MC_MoveJog.PosCntrl := TRUE;

// Halt impulse

#tmp_enable_axis := "HMI KEY".P01.MD_12.F11_Enable_HP AND "HMI KEY".P01.MD_12.F12_Enable_WP;

#Support.MD_12_FEg_Halt_Imp := #Support.MD_12_FEg_Halt AND NOT #tmp_enable_axis;

#Support.MD_12_FEg_Halt := #tmp_enable_axis;

// Execute output stage

#MD_12(ENABLE := #Support.Estop_TOF.Q,

       HALT_01 := "HMI KEY".P01.MD_12.F21_HALT_GoToPos OR "DI MAIN GLB".TOF_CmpltMaOFF_Pulse.Q OR #Support.MD_12_FEg_Halt_Imp,

       MCB := "E00 MD12 MCB",

       START_ABSO := #tmp_enable_axis AND (#MD_12.DRV.Support.Cmd_MovAbso AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.MD_12.F17_GoToAbsoPos),

       START_RELA := #tmp_enable_axis AND (#MD_12.DRV.Support.Cmd_MovRela AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.MD_12.F18_GoToRelaPos),

       JOG_WP := #MD_12.DRV.Support.Cmd_MovJogWP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.MD12.CmdExe_slow_fast_WP,

       JOG_HP := #MD_12.DRV.Support.Cmd_MovJogHP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.MD12.CmdExe_slow_fast_HP,

       ACK_FLT := "M00 FLT CmpltMaACK REg",

       HOM_MODE := 6, // Encoder type = absolute

       AXIS := "+1-MD_12");

Network 4: MD_34 Gripper fingers 3+4 axis

// Execute reference point

#MD_34.DRV.MC_Home.Execute := #MD_34.DRV.Support.LampOFF AND "HMI KEY".P01.MD_34.F5_Set_Ref_Point AND ("DI MAIN GLB".SET.SSM.S.steps OR "M00 ManuCmpltMa run");

#MD_34.DRV.MC_Power.StartMode := #MD_34.DRV.MC_MoveAbsolute.Direction := 1;

#MD_34.DRV.MC_MoveJog.PosCntrl := TRUE;

// Halt impulse

#tmp_enable_axis := "HMI KEY".P01.MD_34.F11_Enable_HP AND "HMI KEY".P01.MD_34.F12_Enable_WP;

#Support.MD_34_FEg_Halt_Imp := #Support.MD_34_FEg_Halt AND NOT #tmp_enable_axis;

#Support.MD_34_FEg_Halt := #tmp_enable_axis;

// Execute output stage

#MD_34(ENABLE := #Support.Estop_TOF.Q,

       HALT_01 := "HMI KEY".P01.MD_34.F21_HALT_GoToPos OR "DI MAIN GLB".TOF_CmpltMaOFF_Pulse.Q OR #Support.MD_34_FEg_Halt_Imp,

       MCB := "E00 MD34 MCB",

       START_ABSO := #tmp_enable_axis AND (#MD_34.DRV.Support.Cmd_MovAbso AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.MD_34.F17_GoToAbsoPos),

       START_RELA := #tmp_enable_axis AND (#MD_34.DRV.Support.Cmd_MovRela AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.MD_34.F18_GoToRelaPos),

       JOG_WP := #MD_34.DRV.Support.Cmd_MovJogWP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.MD34.CmdExe_slow_fast_WP,

       JOG_HP := #MD_34.DRV.Support.Cmd_MovJogHP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.MD34.CmdExe_slow_fast_HP,

       ACK_FLT := "M00 FLT CmpltMaACK REg",

       HOM_MODE := 6, // Encoder type = absolute

       AXIS := "+1-MD_34");

Network 5: V90_X Gripper Xaxis

// Execute reference point

#V90_X.DRV.MC_Home.Execute := #V90_X.DRV.Support.LampOFF AND "HMI KEY".P01.V90_X.F5_Set_Ref_Point AND ("DI MAIN GLB".SET.SSM.S.steps OR "M00 ManuCmpltMa run");

#V90_X.DRV.MC_Power.StartMode := #V90_X.DRV.MC_MoveAbsolute.Direction := 1;

#V90_X.DRV.MC_MoveJog.PosCntrl := TRUE;

// Halt impulse

#tmp_enable_axis := "HMI KEY".P01.V90_X.F11_Enable_HP AND "HMI KEY".P01.V90_X.F12_Enable_WP;

#Support.V90_X_FEg_Halt_Imp := #Support.V90_X_FEg_Halt AND NOT #tmp_enable_axis;

#Support.V90_X_FEg_Halt := #tmp_enable_axis;

// Execute output stage

#V90_X(ENABLE := #Support.Estop_TOF.Q,

       HALT_01 := "HMI KEY".P01.V90_X.F21_HALT_GoToPos OR "DI MAIN GLB".TOF_CmpltMaOFF_Pulse.Q OR #Support.V90_X_FEg_Halt_Imp,

       MCB := "E00 V90_X MCB",

       START_ABSO := #tmp_enable_axis AND (#V90_X.DRV.Support.Cmd_MovAbso AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.V90_X.F17_GoToAbsoPos),

       START_RELA := #tmp_enable_axis AND (#V90_X.DRV.Support.Cmd_MovRela AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.V90_X.F18_GoToRelaPos),

       JOG_WP := #V90_X.DRV.Support.Cmd_MovJogWP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.V90_X.CmdExe_slow_fast_WP,

       JOG_HP := #V90_X.DRV.Support.Cmd_MovJogHP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.V90_X.CmdExe_slow_fast_HP,

       ACK_FLT := "M00 FLT CmpltMaACK REg",

       HOM_MODE := 6, // Encoder type = absolute

       AXIS := "+1-V90_X");

Network 6: V90_Y Gripper Yaxis

// Execute reference point

#V90_Y.DRV.MC_Home.Execute := #V90_Y.DRV.Support.LampOFF AND "HMI KEY".P01.V90_Y.F5_Set_Ref_Point AND ("DI MAIN GLB".SET.SSM.S.steps OR "M00 ManuCmpltMa run");

#V90_Y.DRV.MC_Power.StartMode := #V90_Y.DRV.MC_MoveAbsolute.Direction := 1;

#V90_Y.DRV.MC_MoveJog.PosCntrl := TRUE;

// Halt impulse

#tmp_enable_axis := "HMI KEY".P01.V90_Y.F11_Enable_HP AND "HMI KEY".P01.V90_Y.F12_Enable_WP;

#Support.V90_Y_FEg_Halt_Imp := #Support.V90_Y_FEg_Halt AND NOT #tmp_enable_axis;

#Support.V90_Y_FEg_Halt := #tmp_enable_axis;

// Execute output stage

#V90_Y(ENABLE := #Support.Estop_TOF.Q,

       HALT_01 := "HMI KEY".P01.V90_Y.F21_HALT_GoToPos OR "DI MAIN GLB".TOF_CmpltMaOFF_Pulse.Q OR #Support.V90_Y_FEg_Halt_Imp,

       MCB := "E00 V90_Y MCB",

       START_ABSO := #tmp_enable_axis AND (#V90_Y.DRV.Support.Cmd_MovAbso AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.V90_Y.F17_GoToAbsoPos),

       START_RELA := #tmp_enable_axis AND (#V90_Y.DRV.Support.Cmd_MovRela AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.V90_Y.F18_GoToRelaPos),

       JOG_WP := #V90_Y.DRV.Support.Cmd_MovJogWP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.V90_Y.CmdExe_slow_fast_WP,

       JOG_HP := #V90_Y.DRV.Support.Cmd_MovJogHP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.V90_Y.CmdExe_slow_fast_HP,

       ACK_FLT := "M00 FLT CmpltMaACK REg",

       HOM_MODE := 6, // Encoder type = absolute

       AXIS := "+1-V90_Y");

Network 7: V90_Z Gripper Zaxis

// Execute reference point

#V90_Z.DRV.MC_Home.Execute := #V90_Z.DRV.Support.LampOFF AND "HMI KEY".P01.V90_Z.F5_Set_Ref_Point AND ("DI MAIN GLB".SET.SSM.S.steps OR "M00 ManuCmpltMa run");

#V90_Z.DRV.MC_Power.StartMode := #V90_Z.DRV.MC_MoveAbsolute.Direction := 1;

#V90_Z.DRV.MC_MoveJog.PosCntrl := TRUE;

// Halt impulse

#tmp_enable_axis := "HMI KEY".P01.V90_Z.F11_Enable_HP AND "HMI KEY".P01.V90_Z.F12_Enable_WP;

#Support.V90_Z_FEg_Halt_Imp := #Support.V90_Z_FEg_Halt AND NOT #tmp_enable_axis;

#Support.V90_Z_FEg_Halt := #tmp_enable_axis;

// Execute output stage

#V90_Z(ENABLE := #Support.Estop_TOF.Q,

       HALT_01 := "HMI KEY".P01.V90_Z.F21_HALT_GoToPos OR "DI MAIN GLB".TOF_CmpltMaOFF_Pulse.Q OR #Support.V90_Z_FEg_Halt_Imp,

       MCB := "E00 V90_Z MCB",

       START_ABSO := #tmp_enable_axis AND (#V90_Z.DRV.Support.Cmd_MovAbso AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.V90_Z.F17_GoToAbsoPos),

       START_RELA := #tmp_enable_axis AND (#V90_Z.DRV.Support.Cmd_MovRela AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR "HMI KEY".P01.V90_Z.F18_GoToRelaPos),

       JOG_WP := #V90_Z.DRV.Support.Cmd_MovJogWP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.V90_Z.CmdExe_slow_fast_WP,

       JOG_HP := #V90_Z.DRV.Support.Cmd_MovJogHP AND ("M00 AutoCmpltMa run" OR "M01 HomPosRun" OR "DI MAIN P01".SEQ1.SSM.S.stepin) OR #MANUAL.V90_Z.CmdExe_slow_fast_HP,

       ACK_FLT := "M00 FLT CmpltMaACK REg",

       HOM_MODE := 6, // Encoder type = absolute

       AXIS := "+1-V90_Z");

Network 8: C01 Lifting safety gate (WP closed)

#C01(CMD_WP := FALSE,

     FB_HP := "E00 B31 LiftGatCyl HP" AND "E00 B32 LiftGatVlv HP",

     FB_WP := "E00 B33 LiftGatCyl WP",

     RLS := TRUE,

     ACK_FLT := "M00 FLT CmpltMaACK Imp",

     VALV_WP => "A00 Y10 LiftGatVlv WP");