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FB32 SEQ1 P01: Pick and Place and Batching sequencer

 

 

 

Netzwerk 3: Step jump distributor

 

30: // XYZRaxis MovAbso towards Pos.3 TopView camera 1 (up)

#PosIndex := 3;

"DI MAIN GLB".Interface.FilterPicked_Conv1Ack := "E01 C01 FltrAvailable" AND #NextConveyor = 1;

"DI MAIN GLB".Interface.FilterPicked_Conv2Ack := "E01 C01 FltrAvailable" AND #NextConveyor = 2;

"FC POS REACHED P01"(START := #SSM1.S.stepfc,

TARGET_POS := "DI OUT P01".MANUAL.XYZR_TrgtPos[#PosIndex],

SET_VELO_Z := "DI OUT P01".MANUAL.XYZRaxisVelo_1,

SET_VELO_XYR := "DI OUT P01".MANUAL.XYZRaxisVelo_2,

POS_WINDOW := TRUE,

PRECISION := 9.0,

TARGET_REACHED => #SSM1.S.stepd);

"M01 V90_Z MovAbso" := NOT "DI OUT P01".V90_Z.HALT_01;

"M01 V90_X MovAbso" := NOT "DI OUT P01".V90_X.HALT_01;

"M01 V90_Y MovAbso" := NOT "DI OUT P01".V90_Y.HALT_01;

"M01 V90_R MovAbso" := NOT "DI OUT P01".V90_R.HALT_01;