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OB100 Startup : Complete Restart

Network 1: Pre-Setting GLB

"DI MAIN GLB".M00.TON_Login.PT := t#300s;

"DI MAIN GLB".M00.ProductCounter.DlyOnReset.PT := t#1.5s;

"DI MAIN P01".SEQ1.RunTimeSetValue := 2000;

"DI MAIN P02".SEQ1.RunTimeSetValue := 9000;

"HMI SYS".Support.CEA_code := 16#0;

Network 2: P01 Pre-Setting Min Max Positions

"DI OUT P01".S210A1.DRV.Support.SW_EndLim_MinPos := "+1-S210A1".PositionLimits_SW.MinPosition + 2.0;

"DI OUT P01".S210A1.DRV.Support.SW_EndLim_MaxPos := "+1-S210A1".PositionLimits_SW.MaxPosition - 2.0;

"DI OUT P01".S210A2.DRV.Support.SW_EndLim_MinPos := "+1-S210A2".PositionLimits_SW.MinPosition + 2.0;

"DI OUT P01".S210A2.DRV.Support.SW_EndLim_MaxPos := "+1-S210A2".PositionLimits_SW.MaxPosition - 2.0;

"DI OUT P01".S210A3.DRV.Support.SW_EndLim_MinPos := "+1-S210A3".PositionLimits_SW.MinPosition + 2.0;

"DI OUT P01".S210A3.DRV.Support.SW_EndLim_MaxPos := "+1-S210A3".PositionLimits_SW.MaxPosition - 2.0;

Network 3: P01 Pre-Setting Scaled Values

"DI OUT P01".Manual.S210A1.Positive_Scaled_Value := "+1-S210A1".PositionLimits_SW.MaxPosition;

"DI OUT P01".Manual.S210A1.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.S210A1.Negative_Scaled_Value := "+1-S210A1".PositionLimits_SW.MinPosition;

"DI OUT P01".Manual.S210A2.Positive_Scaled_Value := "+1-S210A2".PositionLimits_SW.MaxPosition;

"DI OUT P01".Manual.S210A2.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.S210A2.Negative_Scaled_Value := "+1-S210A2".PositionLimits_SW.MinPosition;

"DI OUT P01".Manual.S210A3.Positive_Scaled_Value := "+1-S210A3".PositionLimits_SW.MaxPosition;

"DI OUT P01".Manual.S210A3.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.S210A3.Negative_Scaled_Value := "+1-S210A3".PositionLimits_SW.MinPosition;

"DI OUT P01".Manual.S200A4.Shared_Zero_Scaled_Value := "+1-S200A4".PositionLimits_SW.MinPosition;

"DI OUT P01".Manual.S200A4.Positive_Scaled_Value := "+1-S200A4".PositionLimits_SW.MaxPosition;

"DI OUT P01".Manual.G120.Shared_Zero_Scaled_Value := "+1-G120".Modulo.StartValue;

"DI OUT P01".Manual.G120.Positive_Scaled_Value := "DI OUT P01".TRACK_CONVEYOR.DRV.Support.Modulo_Length := "+1-G120".Modulo.Length;

"DI OUT P01".TRACK_CONVEYOR.DRV.Support.Object_ON_Distance := 631.29; // Option - measuring output

Network 4: P01 Pre-Setting MoveLinear Default

// MC_MoveLinarAbsolute

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Position[1] := 1872.10;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Position[2] := 892.51;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Position[3] := 863.26;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Position[4] := 90.0;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.BufferMode := 1;

// MC_MoveLinearRelative

"DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.Distance[1] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.Distance[2] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.Distance[3] := -100.0;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.Distance[4] := -90.0;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.BufferMode := 1;

Network 5: P01 Fixed Values

"HMI KEY".Plantinfo_P01.Articulated_Arm.Velocity_Slow := 30.0;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Velocity_Middle := 70.0;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Velocity_Fast := 100.0;

"HMI KEY".Plantinfo_P01.Object_Offset := 136.05;

"HMI KEY".Plantinfo_P01.Measuring_Shift_Distance := 1192.0;

"HMI KEY".Plantinfo_P01.Window := 5; // mm

// ConveyorBeltOrigin in WCS

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.x := 0.0;

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.y := 848.97;

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z := 700.0;

// Picture_Frame

"HMI KEY".Plantinfo_P01.Picture_Frame.X := 206.80;

"HMI KEY".Plantinfo_P01.Picture_Frame.Y := 424.48;

"HMI KEY".Plantinfo_P01.Picture_Frame.Z := 473.46;

"HMI KEY".Plantinfo_P01.Picture_Frame.A := 300.0;

Network 6: FollowToPickUp.Down

// FollowToPickUp Coordinate System = 1

"HMI KEY".Plantinfo_P01.FollowToPickUp.Bottom_Level := 60.0; // Gearwheel thickness + gripper nose

"HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt := 163.26;

"HMI KEY".Plantinfo_P01.FollowToPickUp.Upper_Level :=

"HMI KEY".Plantinfo_P01.FollowToPickUp.Bottom_Level + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.FollowToPickUp.Gearwheel := 150.0; // Follow

"HMI KEY".Plantinfo_P01.FollowToPickUp.Shortest_StartPos := 1420.0;

"HMI KEY".Plantinfo_P01.FollowToPickUp.Longest_EndPos := 1906.0;

// Gearbox_A

"HMI KEY".Plantinfo_P01.Gearbox_A.TotalGearwheel := 5;

"HMI KEY".Plantinfo_P01.Gearbox_A.Gearwheel_Code := 16#FFFF_FFFF;

"HMI KEY".Plantinfo_P01.Gearbox_A.Distance_to_Belt := 200.0;

// Gearbox_B

"HMI KEY".Plantinfo_P01.Gearbox_B.TotalGearwheel := 5;

"HMI KEY".Plantinfo_P01.Gearbox_B.Gearwheel_Code := 16#FFFF_FFFF;

"HMI KEY".Plantinfo_P01.Gearbox_B.Distance_to_Belt := 250.0;

// Gearbox_C

"HMI KEY".Plantinfo_P01.Gearbox_C.TotalGearwheel := 3;

"HMI KEY".Plantinfo_P01.Gearbox_C.Gearwheel_Code := 16#FFFF_FFFF;

"HMI KEY".Plantinfo_P01.Gearbox_C.Distance_to_Belt := 200.0;

Network 7: P01 HomePos - Coordinate System = 0

// Axis MoveAbsolut default Position

"HMI KEY".Plantinfo_P01.HomePos_MCS.Axis[1] := 0.0; // °

"HMI KEY".Plantinfo_P01.HomePos_MCS.Axis[2] := 33.0; // °

"HMI KEY".Plantinfo_P01.HomePos_MCS.Axis[3] := -49.0; // °

"HMI KEY".Plantinfo_P01.HomePos_MCS.Axis[4] := 90.0; // °

// Articulated Arm HomePosition

"HMI KEY".Plantinfo_P01.Articulated_Arm.HomePos_WCS.Axis[1] := 1872.10;

"HMI KEY".Plantinfo_P01.Articulated_Arm.HomePos_WCS.Axis[2] := 892.51;

"HMI KEY".Plantinfo_P01.Articulated_Arm.HomePos_WCS.Axis[3] := 963.26;

"HMI KEY".Plantinfo_P01.Articulated_Arm.HomePos_WCS.Axis[4] := 0.0;

Network 8: P01 Positions on Gearbox A

// Gearbox A Gearwheel No[1]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[1].Axis[1] := 1795.91;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[1].Axis[2] := 1518.36;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[1].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[1].Axis[4] := 80.0;

// Gearbox A Gearwheel No[2]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[2].Axis[1] := 1779.59;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[2].Axis[2] := 1670.74;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[2].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[2].Axis[4] := 240.0;

// Gearbox A Gearwheel No[3]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[3].Axis[1] := 1551.02;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[3].Axis[2] := 1518.36;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[3].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[3].Axis[4] := 110.0;

// Gearbox A Gearwheel No[4]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[4].Axis[1] := 1572.78;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[4].Axis[2] := 1659.86;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[4].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[4].Axis[4] := 300.0;

// Gearbox A Gearwheel No[5]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[5].Axis[1] := 1447.61;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[5].Axis[2] := 1687.07;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[5].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_A_WCS[5].Axis[4] := 200.0;

Network 9: P01 Positions on Gearbox B

// Gearbox B Gearwheel No[1]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[1].Axis[1] := 1795.91;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[1].Axis[2] := 723.80;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[1].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[1].Axis[4] := 300.0;

// Gearbox B Gearwheel No[2]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[2].Axis[1] := 1844.89;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[2].Axis[2] := 604.08;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[2].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[2].Axis[4] := 110.0;

// Gearbox B Gearwheel No[3]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[3].Axis[1] := 1627.21;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[3].Axis[2] := 571.42;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[3].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[3].Axis[4] := 120.0;

// Gearbox B Gearwheel No[4]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[4].Axis[1] := 1540.13;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[4].Axis[2] := 723.80;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[4].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[4].Axis[4] := 280.0;

// Gearbox B Gearwheel No[5]

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[5].Axis[1] := 1442.17;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[5].Axis[2] := 642.17;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[5].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.Gearbox_B_WCS[5].Axis[4] := 45.0;

Network 10: P01 Positions on Gearbox C

// Gearbox C Gearwheel No[1]

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[1].Axis[1] := 1790.47;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[1].Axis[2] := 272.10;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[1].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[1].Axis[4] := 200.0;

// Gearbox C Gearwheel No[2]

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[2].Axis[1] := 1610.88;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[2].Axis[2] := 234.01;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[2].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[2].Axis[4] := 20.0;

// Gearbox C Gearwheel No[3]

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[3].Axis[1] := 1665.30;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[3].Axis[2] := 119.72;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[3].Axis[3] :=

"HMI KEY".Plantinfo_P01.ConveyorBeltOrigin.z + "HMI KEY".Plantinfo_P01.FollowToPickUp.Distance_to_Belt;

"HMI KEY".Plantinfo_P01.Articulated_Arm.GearBox_C_WCS[3].Axis[4] := 120.0;