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OB100 Startup : Default Complete Restart

Network 1: P01 Plant Info OEM

"DI OUT P01".TRACT_CONVEYOR.DRV.Support.Object_ON_Distance := 631.29;

"DI OUT P01".TRACT_CONVEYOR.DRV.Support.Measuring_Shift_Distance := "HMI KEY".Plantinfo_P01.Object_Shift_Distance := 351.70;

"DI OUT P01".TRACT_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.x := 0.0;

"DI OUT P01".TRACT_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.y := 772.79;

"DI OUT P01".TRACT_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.z := 400.0;

"DI OUT P01".TRACT_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.a := 0.0;

// Mechanic

"HMI KEY".Plantinfo_P01.Angle_A1_A2 := "+1-DELTA_ROBOT".Kinematics.Parameter[5]; // 120.0 °

"HMI KEY".Plantinfo_P01.Angle_A2_A3 := "+1-DELTA_ROBOT".Kinematics.Parameter[6]; // 120.0 °

"HMI KEY".Plantinfo_P01.Distance_D1 := "+1-DELTA_ROBOT".Kinematics.Parameter[1]; // 304.76 mm

"HMI KEY".Plantinfo_P01.Distance_D2 := "+1-DELTA_ROBOT".Kinematics.Parameter[4]; // 168.7 mm

"HMI KEY".Plantinfo_P01.Length_L1 := "+1-DELTA_ROBOT".Kinematics.Parameter[2]; // 326.53 mm

"HMI KEY".Plantinfo_P01.Length_L2 := "+1-DELTA_ROBOT".Kinematics.Parameter[3]; // 489.79 mm

"HMI KEY".Plantinfo_P01.Flange_length_LF := "+1-DELTA_ROBOT".Kinematics.Parameter[7]; // 130.61 mm

// OCS1 in the WCS only on HMI

"HMI KEY".Plantinfo_P01.Object_Offset :=

"HMI KEY".Plantinfo_P01.OCS1_In_WCS.x := "+1-DELTA_ROBOT".OcsFrame[1].x; // 172.10

"HMI KEY".Plantinfo_P01.OCS1_In_WCS.y := "+1-DELTA_ROBOT".OcsFrame[1].y; // 772.79

"HMI KEY".Plantinfo_P01.OCS1_In_WCS.z := "+1-DELTA_ROBOT".OcsFrame[1].z; // 400.00

"HMI KEY".Plantinfo_P01.OCS1_In_WCS.a := "+1-DELTA_ROBOT".OcsFrame[1].a; // 0.0

Network 2: P02 Plant Info OEM

"HMI KEY".Plantinfo_P02.Robot_Arm.Length_L1 := "+2-ROBOT_ARM".Kinematics.Parameter[1];

"HMI KEY".Plantinfo_P02.Robot_Arm.Length_L2 := "+2-ROBOT_ARM".Kinematics.Parameter[2];

"HMI KEY".Plantinfo_P02.Robot_Arm.Length_L3 := "+2-ROBOT_ARM".Kinematics.Parameter[3];

"HMI KEY".Plantinfo_P02.Robot_Arm.Length_L4 := "+2-ROBOT_ARM".Kinematics.Parameter[6];

"HMI KEY".Plantinfo_P02.Robot_Arm.Length_LF := "+2-ROBOT_ARM".Kinematics.Parameter[7];

"HMI KEY".Plantinfo_P02.DynamicDefaults.Velocity := "+2-ROBOT_ARM".DynamicDefaults.Path.Velocity;

"HMI KEY".Plantinfo_P02.DynamicDefaults.Acceleration := "+2-ROBOT_ARM".DynamicDefaults.Path.Acceleration;

"HMI KEY".Plantinfo_P02.DynamicDefaults.Deceleration := "+2-ROBOT_ARM".DynamicDefaults.Path.Deceleration;

"HMI KEY".Plantinfo_P02.DynamicDefaults.Jerk := "+2-ROBOT_ARM".DynamicDefaults.Path.Jerk;

"HMI KEY".Plantinfo_P02.FactorBlendingLength := "+2-ROBOT_ARM".Transition.FactorBlendingLength;

"HMI KEY".Plantinfo_P02.MaxNumberOfCommands := "+2-ROBOT_ARM".MotionQueue.MaxNumberOfCommands;

"HMI KEY".Plantinfo_P02.Workspace_Zones.Length_Z := "+2-ROBOT_ARM".WorkspaceZone[1].Geometry.Parameter[2];

"HMI KEY".Plantinfo_P02.Workspace_Zones.Radius := "+2-ROBOT_ARM".WorkspaceZone[1].Geometry.Parameter[1];

"HMI KEY".Plantinfo_P02.Kinematics_Zones.FCS_Length_Z := "+2-ROBOT_ARM".KinematicsZone[2].Geometry.Parameter[2];

"HMI KEY".Plantinfo_P02.Kinematics_Zones.FCS_Radius := "+2-ROBOT_ARM".KinematicsZone[2].Geometry.Parameter[1];

"HMI KEY".Plantinfo_P02.Kinematics_Zones.TCS_Length_Z := "+2-ROBOT_ARM".KinematicsZone[3].Geometry.Parameter[2];

"HMI KEY".Plantinfo_P02.Kinematics_Zones.TCS_Radius := "+2-ROBOT_ARM".KinematicsZone[3].Geometry.Parameter[1];

"HMI KEY".Plantinfo_P02.OCS1.Position_X := "+2-ROBOT_ARM".OcsFrame[1].x;

"HMI KEY".Plantinfo_P02.OCS1.Position_Y := "+2-ROBOT_ARM".OcsFrame[1].y;

"HMI KEY".Plantinfo_P02.OCS1.Position_Z := "+2-ROBOT_ARM".OcsFrame[1].z;

"HMI KEY".Plantinfo_P02.OCS1.Position_A := "+2-ROBOT_ARM".OcsFrame[1].a;