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OB100 Startup :  Two Aisle Automated Small Parts Storage

Netzwerk 1: Pre-Setting during Complete Restart

// Log-In run-time

"DI MAIN GLB".M00.TON_Login.PT := t#120s;

"DI MAIN GLB".#M00.ProductCounter.DlyOnReset.PT := t#2s;

// Fixed Parameters HBS1/HBS2

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[0].X := 0.0; // Homing point (5.Ref.point)

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[0].Y := 0.0; // Homing point

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[0].Z := 0.0; // Homing point

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[1].X := 0.0; // Loading position HSB1

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[1].Y := 940.0; // Loading position HSB1

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[1].Z := 0.0; // Loading position HSB1

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[2].X := 0.0; // Discharging position HSB2

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[2].Y := 940.0; // Discharging position HSB2

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[2].Z := 0.0; // Discharging position HSB2

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[3].X := 830.0; // Maintenance position

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[3].Y := 1170.0; // Maintenance position

"DI OUT P03".Manual.Axis_XYZ.TrgtFixPos[3].Z := 720.50; // Maintenance position

"DI OUT P03".Manual.G120C_X.TchInVelo_0 := 0.1; // Homing velocity

"DI OUT P03".Manual.G120C_Y.TchInVelo_0 := 0.1; // Homing velocity

"DI OUT P03".Manual.G120C_Z.TchInVelo_0 := 0.1; // Homing velocity

"DI OUT P03".Manual.G120C_X.TchInVelo_1 := 330.0; // Work velocity

"DI OUT P03".Manual.G120C_Y.TchInVelo_1 := 300.0; // Work velocity

"DI OUT P03".Manual.G120C_Z.TchInVelo_1 := 200.0; // Work velocity

// MaPa HBS1

"ModulDa".MaPa.HBS1.RefPos.X := 1690.0;

"ModulDa".MaPa.HBS1.RefPos.Y := 540.0;

"ModulDa".MaPa.HBS1.RefPos.Z := 0.0;

"ModulDa".MaPa.HBS1.Gap.X := 720.5;

"ModulDa".MaPa.HBS1.Gap.Y := 400.0;

"ModulDa".MaPa.HBS1.Gap.Z := 270.5;

"ModulDa".MaPa.HBS1.NoOf_Places_X := 9;

"ModulDa".MaPa.HBS1.NoOf_Places_Y := 8;

"ModulDa".MaPa.HBS1.MaxNoPlaces := "ModulDa".MaPa.HBS1.NoOf_Places_X * "ModulDa".MaPa.HBS1.NoOf_Places_Y;

// MaPa HBS2

"ModulDa".MaPa.HBS2.RefPos.X := 1690.0;

"ModulDa".MaPa.HBS2.RefPos.Y := 540.0;

"ModulDa".MaPa.HBS2.RefPos.Z := 0.0;

"ModulDa".MaPa.HBS2.Gap.X := 720.5;

"ModulDa".MaPa.HBS2.Gap.Y := 400.0;

"ModulDa".MaPa.HBS2.Gap.Z := 270.5;

"ModulDa".MaPa.HBS2.NoOf_Places_X := 9;

"ModulDa".MaPa.HBS2.NoOf_Places_Y := 8;

"ModulDa".MaPa.HBS2.MaxNoPlaces := "ModulDa".MaPa.HBS2.NoOf_Places_X * "ModulDa".MaPa.HBS2.NoOf_Places_Y;

// G120C_X

"DI OUT P03".G120C_X.DRV.Support.SW_EndLim_MinPos := -750.2;

"DI OUT P03".G120C_X.DRV.Support.SW_EndLim_MaxPos := 8900;

// G120C_Y

"DI OUT P03".G120C_Y.DRV.Support.SW_EndLim_MinPos := -94.7;

"DI OUT P03".G120C_Y.DRV.Support.SW_EndLim_MaxPos := 3900.6;

// G120C_Z

"DI OUT P03".G120C_Z.DRV.Support.SW_EndLim_MinPos := -1600;

"DI OUT P03".G120C_Z.DRV.Support.SW_EndLim_MaxPos := 1600;