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FB38 MAM P01 : Manual operation

Network 1: S210A1 Assembly Robot Axis - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Impulse THEN

        #S210A1.ManualVelocity_1 := "DI OUT P01".S210A1.DRV.Support.SetVelocity; // °/s

    END_IF;

    // MoveJog push-button button

    "DI OUT P01".S210A1.DRV.Support.SetVelocity := #S210A1.ManualVelocity_1;

    #S210A1.Execute_slow_fast_HP := "HMI KEY".P01.S210A1.F4_Jog_slow_HP AND "HMI KEY".P01.S210A1.F11_Enable_HP AND NOT "HMI KEY".P01.S210A1.F21_HALT;

    #S210A1.Execute_slow_fast_WP := "HMI KEY".P01.S210A1.F3_Jog_slow_WP AND "HMI KEY".P01.S210A1.F12_Enable_WP AND NOT "HMI KEY".P01.S210A1.F21_HALT;

END_IF;

// Enable disable HP

"HMI KEY".P01.S210A1.F11_Enable_HP := "DI OUT P01".S210A1.DRV.Support.InOperation AND NOT "DI OUT P01".S210A1.Common_FLT

AND "DI OUT P01".S210A1.DRV.Support.ActualPosition >= "DI OUT P01".S210A1.DRV.Support.SW_EndLim_MinPos;

// Enable disable WP

"HMI KEY".P01.S210A1.F12_Enable_WP := "DI OUT P01".S210A1.DRV.Support.InOperation AND NOT "DI OUT P01".S210A1.Common_FLT

AND "DI OUT P01".S210A1.DRV.Support.ActualPosition <= "DI OUT P01".S210A1.DRV.Support.SW_EndLim_MaxPos;

Network 2: S210A2 Assembly Robot Axis - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Impulse THEN

        #S210A2.ManualVelocity_1 := "DI OUT P01".S210A2.DRV.Support.SetVelocity; // °/s

    END_IF;

    // MoveJog push-button button

    "DI OUT P01".S210A2.DRV.Support.SetVelocity := #S210A2.ManualVelocity_1;

    #S210A2.Execute_slow_fast_HP := "HMI KEY".P01.S210A2.F4_Jog_slow_HP AND "HMI KEY".P01.S210A2.F11_Enable_HP AND NOT "HMI KEY".P01.S210A2.F21_HALT;

    #S210A2.Execute_slow_fast_WP := "HMI KEY".P01.S210A2.F3_Jog_slow_WP AND "HMI KEY".P01.S210A2.F12_Enable_WP AND NOT "HMI KEY".P01.S210A2.F21_HALT;

END_IF;

// Enable disable HP

"HMI KEY".P01.S210A2.F11_Enable_HP := "DI OUT P01".S210A2.DRV.Support.InOperation AND NOT "DI OUT P01".S210A2.Common_FLT

AND "DI OUT P01".S210A2.DRV.Support.ActualPosition >= "DI OUT P01".S210A2.DRV.Support.SW_EndLim_MinPos;

// Enable disable WP

"HMI KEY".P01.S210A2.F12_Enable_WP := "DI OUT P01".S210A2.DRV.Support.InOperation AND NOT "DI OUT P01".S210A2.Common_FLT

AND "DI OUT P01".S210A2.DRV.Support.ActualPosition <= "DI OUT P01".S210A2.DRV.Support.SW_EndLim_MaxPos;

Network 3: S210A3 Assembly Robot Axis - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Impulse THEN

        #S210A3.ManualVelocity_1 := "DI OUT P01".S210A3.DRV.Support.SetVelocity; // °/s

    END_IF;

    // MoveJog push-button button

    "DI OUT P01".S210A3.DRV.Support.SetVelocity := #S210A3.ManualVelocity_1;

    #S210A3.Execute_slow_fast_HP := "HMI KEY".P01.S210A3.F4_Jog_slow_HP AND "HMI KEY".P01.S210A3.F11_Enable_HP AND NOT "HMI KEY".P01.S210A3.F21_HALT;

    #S210A3.Execute_slow_fast_WP := "HMI KEY".P01.S210A3.F3_Jog_slow_WP AND "HMI KEY".P01.S210A3.F12_Enable_WP AND NOT "HMI KEY".P01.S210A3.F21_HALT;

END_IF;

// Enable disable HP

"HMI KEY".P01.S210A3.F11_Enable_HP := "DI OUT P01".S210A3.DRV.Support.InOperation AND NOT "DI OUT P01".S210A3.Common_FLT

AND "DI OUT P01".S210A3.DRV.Support.ActualPosition >= "DI OUT P01".S210A3.DRV.Support.SW_EndLim_MinPos;

// Enable disable WP

"HMI KEY".P01.S210A3.F12_Enable_WP := "DI OUT P01".S210A3.DRV.Support.InOperation AND NOT "DI OUT P01".S210A3.Common_FLT

AND "DI OUT P01".S210A3.DRV.Support.ActualPosition <= "DI OUT P01".S210A3.DRV.Support.SW_EndLim_MaxPos;

Network 4: S200A4 Assembly Robot Orientation Axis - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Impulse THEN

        #S200A4.ManualVelocity_1 := "DI OUT P01".S200A4.DRV.Support.SetVelocity; // °/s

    END_IF;

    // MoveJog push-button button

    "DI OUT P01".S200A4.DRV.Support.SetVelocity := #S200A4.ManualVelocity_1;

    #S200A4.Execute_slow_fast_HP := "HMI KEY".P01.S200A4.F4_Jog_slow_HP AND "HMI KEY".P01.S200A4.F11_Enable_HP AND NOT "HMI KEY".P01.S200A4.F21_HALT;

    #S200A4.Execute_slow_fast_WP := "HMI KEY".P01.S200A4.F3_Jog_slow_WP AND "HMI KEY".P01.S200A4.F12_Enable_WP AND NOT "HMI KEY".P01.S200A4.F21_HALT;

END_IF;

// Enable disable WP (Modulo active)

"HMI KEY".P01.S200A4.F11_Enable_HP :=

"HMI KEY".P01.S200A4.F12_Enable_WP := "DI OUT P01".S200A4.DRV.Support.InOperation AND NOT "DI OUT P01".S200A4.Common_FLT;

Network 5: G120 Gearwheel Control Conveyor - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Impulse THEN

        #G120.ManualVelocity_1 := "DI OUT P01".G120.DRV.Support.SetVelocity; // mm/sec

    END_IF;

    "DI OUT P01".G120.DRV.Support.SetVelocity := #G120.ManualVelocity_1;

    // MoveJog switch function (Modulo active)

    IF "HMI KEY".P01.G120.F20_Jog_fast_HP AND NOT #G120.Jog_fast_HP_REg THEN

        #G120.Execute_slow_fast_HP := NOT #G120.Execute_slow_fast_HP AND "HMI KEY".P01.G120.F11_Enable_HP;

        #G120.Execute_slow_fast_WP := FALSE;

    ELSIF "HMI KEY".P01.G120.F19_Jog_fast_WP AND NOT #G120.Jog_fast_WP_REg THEN

        #G120.Execute_slow_fast_WP := NOT #G120.Execute_slow_fast_WP AND "HMI KEY".P01.G120.F12_Enable_WP;

        #G120.Execute_slow_fast_HP := FALSE;

    ELSIF "HMI KEY".P01.G120.F17_GoToAbsolutePosition OR "HMI KEY".P01.G120.F18_GoToRelativePosition THEN

        #G120.Execute_slow_fast_HP := #G120.Execute_slow_fast_WP := FALSE;

    END_IF;

    #G120.Jog_fast_HP_REg := "HMI KEY".P01.G120.F20_Jog_fast_HP;

    #G120.Jog_fast_WP_REg := "HMI KEY".P01.G120.F19_Jog_fast_WP;

END_IF;

// Enable disable operation 1RD (Modulo active)

"HMI KEY".P01.G120.F11_Enable_HP :=

"HMI KEY".P01.G120.F12_Enable_WP := "DI OUT P01".G120.DRV.Support.InOperation AND NOT ("DI OUT P01".G120.Common_FLT OR "DI MAIN P01".M00.FLT_ModuleFault_SR);

// HALT moving operation

IF "DI OUT P01".G120.HALT_01 OR #G120.ManualVelocity_1 = 0.0 THEN

    #G120.Execute_slow_fast_HP := #G120.Execute_slow_fast_WP := FALSE;

END_IF;

Network 6: ROBOT Assembly Robot - enable

"HMI KEY".P01.ROBOT.F8_Enabled := "DI OUT P01".ROBOT.DRV.Support.InOperation

AND "DI OUT P01".ROBOT.DRV.Support.KINEMATICS_Enabled AND NOT ("DI OUT P01".ROBOT.Common_FLT OR "HMI KEY".P01.ROBOT.F5_GroupStop);

// Cancel GroupInerrupt and GroupContinue

IF NOT ("DI OUT P01".ROBOT.DRV.Support.X17_GroupInterrupt AND "HMI KEY".P01.ROBOT.F8_Enabled) THEN

    #ROBOT.GroupContinue := #ROBOT.GroupInterrupt := FALSE;

END_IF;

// Execute MoveLinearAbsolute

IF "DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Done OR NOT "HMI KEY".P01.ROBOT.F8_Enabled THEN

    #ROBOT.MoveLinearAbsolute := FALSE;

END_IF;

// Stop execute MoveLinearRelative

IF "DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.Done OR NOT "HMI KEY".P01.ROBOT.F8_Enabled THEN

    #ROBOT.MoveLinearRelative := FALSE;

END_IF;

// Stop execute MoveCircularAbsolute

IF "DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.Done OR NOT "HMI KEY".P01.ROBOT.F8_Enabled THEN

 #ROBOT.Cmd_MoveCircularAbsolute := FALSE;

END_IF;

// Stop execute MoveCircularRelative

IF "DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.Done OR NOT "HMI KEY".P01.ROBOT.F8_Enabled THEN

 #ROBOT.Cmd_MoveCircularRelative := FALSE;

END_IF;

Network 7: CAMERA Gearwheel Control Camera - enable

"HMI KEY".P01.CAMERA.F12_Enable_WP := "HMI KEY".P01.G120.F12_Enable_WP AND NOT "DI OUT P01".TRACK_CONVEYOR.Common_FLT;

Network 8: Y100 Assembly Robot Vacuum Gripper - enable

"HMI KEY".P01.Y100.F12_Enable_WP := NOT "DI OUT P01".Y100.Common_FLT AND "DI OUT P01".Y100.RELEASE;

Network 9: Monitoring manual operation ***

IF NOT #PLANT_MANU THEN

    RETURN;

ELSIF #MODULE_HP AND NOT #Support.HomePos_REg THEN

    "DI MAIN P01".M00.Initialization := TRUE;

END_IF;

#Support.HomePos_REg := #MODULE_HP;

"DI MAIN P01".M00.TOF_EntireModule_STOP_Pulse(IN := NOT #SUPPORT_SEQ AND #Support.HomePos_FEg,

                                              PT := t#500ms);

#Support.HomePos_FEg := #SUPPORT_SEQ;

IF #SUPPORT_SEQ THEN

    RETURN;

END_IF;

Network 10: ROBOT Assembly Robot - execute

IF "HMI KEY".P01.#ROBOT.F7_GroupContinue AND "DI OUT P01".#ROBOT.DRV.Support.X17_GroupInterrupt THEN

    #ROBOT.GroupContinue := "HMI KEY".P01.#ROBOT.F8_Enabled;

ELSIF "HMI KEY".P01.#ROBOT.F6_GroupInterrupt THEN

    #ROBOT.GroupInterrupt := "HMI KEY".P01.#ROBOT.F8_Enabled;

ELSIF "HMI KEY".P01.#ROBOT.F1_MoveLinearAbsolute THEN

    #ROBOT.MoveLinearAbsolute := "HMI KEY".P01.#ROBOT.F8_Enabled;

ELSIF "HMI KEY".P01.#ROBOT.F2_MoveLinearRelative THEN

    #ROBOT.MoveLinearRelative := "HMI KEY".P01.#ROBOT.F8_Enabled;

ELSIF "HMI KEY".P01.#ROBOT.F3_MoveCircularAbsolute THEN

    #ROBOT.Cmd_MoveCircularAbsolute := "HMI KEY".P01.#ROBOT.F8_Enabled;

ELSIF "HMI KEY".P01.#ROBOT.F4_MoveCircularRelative THEN

    #ROBOT.Cmd_MoveCircularRelative := "HMI KEY".P01.#ROBOT.F8_Enabled;

END_IF;

Network 11: CAMERA Gearwheel Control Camera - execute

"HMI KEY".P01.CAMERA.F10_Execute := "HMI KEY".P01.CAMERA.F12_Enable_WP AND "HMI KEY".P01.CAMERA.F2_WP AND "E00 CAMERA PartAvailable";

IF "HMI KEY".P01.CAMERA.F10_Execute THEN

    "DI OUT P01".CAMERA.Recording.Done := FALSE;

END_IF;

Network 12: Y100 Assembly Robot Vacuum Gripper - execute

"DI OUT P01".Y100.VLV_O.Execute_WP :=

"HMI KEY".P01.Y100.F12_Enable_WP AND NOT "HMI KEY".P01.Y100.F1_HP AND ("HMI KEY".P01.Y100.F2_WP OR "DI OUT P01".Y100.FEED

BACK_WP);