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OB100 Startup : Default Complete Restart

Network 1: Pre-Setting GLB

"DI MAIN GLB".M00.TON_Login.PT := "DI MAIN GLB".M00.TON_Login.PT := t#300s; // 5min

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

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

"DI MAIN P02".SEQ1.RunTimeSetValue := 1500;

"HMI SYS".Support.CEA_code := 16#20251102;

Network 2: P01 Delta Picker 3D Robot default

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.CoordSystem :=

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.CoordSystem :=

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.CoordSystem :=

"DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.CoordSystem := 0;

// MC_MoveLinarAbsolute

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Position[1] := 1121.08;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Position[2] := 946.93;

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Position[3] := 400.00;

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

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.BufferMode := 2;

// 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 := 2;

// MC_MoveCircularAbsolute

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.EndPoint[1] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.EndPoint[2] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.EndPoint[3] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.EndPoint[4] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.AuxPoint[1] := 331.97;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.AuxPoint[2] := 130.61;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.AuxPoint[3] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.CircMode := 1;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.PathChoice := 0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.CirclePlane := 2;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.Radius := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.Arc := 240.0;

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

// MC_MoveCirculaRelative

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.EndPoint[1] := -332.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.EndPoint[2] := 283.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.EndPoint[3] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.EndPoint[4] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.AuxPoint[1] := -261.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.AuxPoint[2] := 32.65;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.AuxPoint[3] := 0.0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.CircMode := 0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.PathChoice := 0;

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.CirclePlane := 2;

// Velocity default value -1.0

"DI OUT P01".ROBOT.DRV.MC_MoveLinearAbsolute.Velocity :=

"DI OUT P01".ROBOT.DRV.MC_MoveLinearRelative.Velocity :=

"DI OUT P01".ROBOT.DRV.MC_MoveCircularAbsolute.Velocity :=

"DI OUT P01".ROBOT.DRV.MC_MoveCircularRelative.Velocity := -1.0; //=100.0

Network 3: P01 Pre-Setting

"DI OUT P01".S200A1.DRV.Support.SW_EndLim_MaxPos := "+1-S200A1".PositionLimits_SW.MaxPosition - 2.0;

"DI OUT P01".S200A1.DRV.Support.SW_EndLim_MinPos := "+1-S200A1".PositionLimits_SW.MinPosition + 2.0;

"DI OUT P01".Manual.S200A1.Positive_Scaled_Value := 120.0;

"DI OUT P01".Manual.S200A1.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.S200A1.Negative_Scaled_Value := -120.0;

"DI OUT P01".S200A2.DRV.Support.SW_EndLim_MaxPos := "+1-S200A2".PositionLimits_SW.MaxPosition - 2.0;

"DI OUT P01".S200A2.DRV.Support.SW_EndLim_MinPos := "+1-S200A2".PositionLimits_SW.MinPosition + 2.0;

"DI OUT P01".Manual.S200A2.Positive_Scaled_Value := 120.0;

"DI OUT P01".Manual.S200A2.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.S200A2.Negative_Scaled_Value := -120.0;

"DI OUT P01".S200A3.DRV.Support.SW_EndLim_MaxPos := "+1-S200A3".PositionLimits_SW.MaxPosition - 2.0;

"DI OUT P01".S200A3.DRV.Support.SW_EndLim_MinPos := "+1-S200A3".PositionLimits_SW.MinPosition + 2.0;

"DI OUT P01".Manual.S200A3.Positive_Scaled_Value := 120.0;

"DI OUT P01".Manual.S200A3.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.S200A3.Negative_Scaled_Value := -120.0;

"DI OUT P01".S200A4.DRV.Support.SW_EndLim_MaxPos := "+1-S200A4".PositionLimits_SW.MaxPosition;

"DI OUT P01".S200A4.DRV.Support.SW_EndLim_MinPos := "+1-S200A4".PositionLimits_SW.MinPosition;

"DI OUT P01".Manual.S200A4.Positive_Scaled_Value := 179.999;

"DI OUT P01".Manual.S200A4.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.S200A4.Negative_Scaled_Value := -180.0;

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

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

Network 4: P01 Plant Info SCADA

"HMI KEY".Plantinfo_P01.KcsFrame.x := "+1-DELTA_ROBOT".KcsFrame.x;

"HMI KEY".Plantinfo_P01.KcsFrame.y := "+1-DELTA_ROBOT".KcsFrame.y;

"HMI KEY".Plantinfo_P01.KcsFrame.z := "+1-DELTA_ROBOT".KcsFrame.z;

"HMI KEY".Plantinfo_P01.DynamicDefaults.Acceleration := "+1-DELTA_ROBOT".DynamicDefaults.Path.Acceleration;

"HMI KEY".Plantinfo_P01.DynamicDefaults.Deceleration := "+1-DELTA_ROBOT".DynamicDefaults.Path.Deceleration;

"HMI KEY".Plantinfo_P01.DynamicDefaults.Jerk := "+1-DELTA_ROBOT".DynamicDefaults.Path.Jerk;

"HMI KEY".Plantinfo_P01.DynamicDefaults.Velocity := "+1-DELTA_ROBOT".DynamicDefaults.Path.Velocity;

"HMI KEY".Plantinfo_P01.Orientation.Velocity := "+1-DELTA_ROBOT".DynamicDefaults.Orientation.Velocity;

"HMI KEY".Plantinfo_P01.Orientation.Acceleration := "+1-DELTA_ROBOT".DynamicDefaults.Orientation.Acceleration;

"HMI KEY".Plantinfo_P01.Orientation.Deceleration := "+1-DELTA_ROBOT".DynamicDefaults.Orientation.Deceleration;

"HMI KEY".Plantinfo_P01.Orientation.Jerk := "+1-DELTA_ROBOT".DynamicDefaults.Orientation.Jerk;

"HMI KEY".Plantinfo_P01.FactorBlendingLength := "+1-DELTA_ROBOT".Transition.FactorBlendingLength;

"HMI KEY".Plantinfo_P01.MaxNumberOfCommands := "+1-DELTA_ROBOT".MotionQueue.MaxNumberOfCommands;

// SET Base Positions in (WCS)

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[0].Axis[1] := 767.34;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[0].Axis[2] := 582.31;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[0].Axis[3] := 500.0;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[0].Axis[4] := 0.0;

"HMI KEY".Plantinfo_P01.Pick_Distan_to_ConveyorBelt := 100.0;

// SEQ1 Delta Picker 3D MoveLinearAbsolute OCS1 DOWN

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[1].Axis[1] := 0.0;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[1].Axis[2] := 0.0;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[1].Axis[3] := 2.13;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[1].Axis[4] := 0.0;

// SEQ1 Delta Picker 3D MoveLinearAbsolute OCS1 PICK UP

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[2].Axis[1] := 120.0;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[2].Axis[2] := 0.0;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[2].Axis[3] := 0.0;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[2].Axis[4] := 0.0;

// SEQ1 Delta Picker 3D MoveLinearAbsolute WCS Place DOWN

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[3].Axis[1] := 767.34;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[3].Axis[2] := 282.99;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[3].Axis[3] := 300.0;

"HMI KEY".Plantinfo_P01.MoveLinear_Pos[3].Axis[4] := 0.0;

// Velocity

"HMI KEY".Plantinfo_P01.Slow_Velocity := 30.0;

"HMI KEY".Plantinfo_P01.Work_Velocity := 100.0;

"HMI KEY".Plantinfo_P01.Window := 5.0;

Network 5: P02 Pre-Setting

// S210A1 Packaging Articulated Axis Min/Max Axial deflection

"DI OUT P02".S210A1.DRV.Support.SW_EndLim_MinPos := "+2-S210A1".PositionLimits_SW.MinPosition + 5.0;

"DI OUT P02".S210A1.DRV.Support.SW_EndLim_MaxPos :="+2-S210A1".PositionLimits_SW.MaxPosition - 5.0;

"DI OUT P02".Manual.S210A1.Positive_Scaled_Value := 180.0;

"DI OUT P02".Manual.S210A1.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P02".Manual.S210A1.Negative_Scaled_Value := -180.0;

// S210A2 Packaging Articulated Axis Min/Max Axial deflection

"DI OUT P02".S210A2.DRV.Support.SW_EndLim_MinPos := "+2-S210A2".PositionLimits_SW.MinPosition + 5.0;

"DI OUT P02".S210A2.DRV.Support.SW_EndLim_MaxPos := "+2-S210A2".PositionLimits_SW.MaxPosition - 5.0;

"DI OUT P02".Manual.S210A2.Positive_Scaled_Value := 80.0;

"DI OUT P02".Manual.S210A2.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P02".Manual.S210A2.Negative_Scaled_Value := -80.0;

// S210J3 Packaging Articulated Axis Min/Max Axial deflection

"DI OUT P02".S210A3.DRV.Support.SW_EndLim_MinPos := "+2-S210A3".PositionLimits_SW.MinPosition + 5.0;

"DI OUT P02".S210A3.DRV.Support.SW_EndLim_MaxPos := "+2-S210A3".PositionLimits_SW.MaxPosition - 5.0;

"DI OUT P02".Manual.S210A3.Positive_Scaled_Value := 110.0;

"DI OUT P02".Manual.S210A3.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P02".Manual.S210A3.Negative_Scaled_Value := -110.0;

// S210A4 Packaging Articulated Axis Min/Max Axial deflection

"DI OUT P02".S210A4.DRV.Support.SW_EndLim_MinPos := "+2-S210A4".PositionLimits_SW.MinPosition;

"DI OUT P02".S210A4.DRV.Support.SW_EndLim_MaxPos := "+2-S210A4".PositionLimits_SW.MaxPosition;

"DI OUT P02".Manual.S210A4.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P02".Manual.S210A4.Positive_Scaled_Value := 360.0;

Network 6: P02 Plant Info SCADA

// Common Pallet Data

"HMI KEY".Plantinfo_P02.Distance_to_ConveyorBelt := 286.44;

"HMI KEY".Plantinfo_P02.Start_Distance_to_LayerTop := 277.53;

// Axis Velocity

"HMI KEY".Plantinfo_P02.Work_Velocity := 100.0;

"HMI KEY".Plantinfo_P02.Slow_Velocity := 10.0;

// Ariculated Arm VelocityFactor

"HMI KEY".Plantinfo_P02.Robot_Arm.VelocityFactor_Slow := 0.02;

"HMI KEY".Plantinfo_P02.Robot_Arm.VelocityFactor_Middle := 0.05;

"HMI KEY".Plantinfo_P02.Robot_Arm.VelocityFactor_Fast := 0.36;

// Position[0] MCS 100

"HMI KEY".Plantinfo_P02.MoveDirect_MCS[0].Axis[1] := 90.0;

"HMI KEY".Plantinfo_P02.MoveDirect_MCS[0].Axis[2] := 70.0;

"HMI KEY".Plantinfo_P02.MoveDirect_MCS[0].Axis[3] := -70.0;

"HMI KEY".Plantinfo_P02.MoveDirect_MCS[0].Axis[4] := 0.0;

// Layer_Data

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Code := 16#CEA_0000;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer := 4;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Distance_to_LayerTop := "HMI KEY".Plantinfo_P02.Start_Distance_to_LayerTop;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Reference_Pos[1] := 402.72;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Reference_Pos[2] := -587.75;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Reference_Pos[3] := 337.39;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Reference_Pos[4] := 0.0;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Gap_X := 174.15;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Gap_Y := 179.59;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Gap_Z := 59.86;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Angle_A := 0.0;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.PlacesOn_X := 3;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.PlacesOn_Y := 2;

"HMI KEY".Plantinfo_P02.Packaging_Pallet.Layer_Data.Places := 6;

// Position[1] WCS PickUp Absolute UP

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[1].Axis[1] := -566.54;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[1].Axis[2] := 419.04;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[1].Axis[3] := 337.39;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[1].Axis[4] := 90.0;

// Position[2] WCS PickUp Relative DOUN

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[2].Axis[1] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[2].Axis[2] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[2].Axis[3] := -"HMI KEY".Plantinfo_P02.Distance_to_ConveyorBelt; // -286.44

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[2].Axis[4] := 0.0;

// Position[3] WCS UickUp Relative UP

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[3].Axis[1] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[3].Axis[2] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[3].Axis[3] := "HMI KEY".Plantinfo_P02.Distance_to_ConveyorBelt; // +286.44

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[3].Axis[4] := 0.0;

// Position[4] WCS Place Absolute UP ***

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[4].Axis[1] := 402.72;   // 2  4  6

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[4].Axis[2] := -582.31;  //[1] 3  5

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[4].Axis[3] := 337.39;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[4].Axis[4] := 0.0;

// Position[5] WCS Place Relative DOUN

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[5].Axis[1] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[5].Axis[2] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[5].Axis[3] := -"HMI KEY".Plantinfo_P02.Packaging_Pallet.Distance_to_LayerTop; //-277.53//-217.67//-157.81//-97.98

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[5].Axis[4] := 0.0;

// Position[6] WCS Up Relative UP

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[6].Axis[1] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[6].Axis[2] := 0.0;

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[6].Axis[3] := "HMI KEY".Plantinfo_P02.Packaging_Pallet.Distance_to_LayerTop; //+277.53//+217.67//+157.81//+97.98

"HMI KEY".Plantinfo_P02.MoveDirect_WCS[6].Axis[4] := 0.0;