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FB38 MAM P01 : Manual Operation

Network 1: S210A1 Sorting Delta Picker 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.SetVelo; // °/s

    END_IF;

    // MoveJog

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

    #S210A1.Cmd_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.Cmd_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 Operation

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

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

Network 2: S200A2 Pick & Place Delta Robot - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Imp THEN

        #S200A2.ManualVelocity_1 := "DI OUT P01".S200A2.DRV.Support.SetVelo; // m/min

    END_IF;

    // MoveJog

    "DI OUT P01".S200A2.DRV.Support.SetVelo := #S200A2.ManualVelocity_1;

    #S200A2.CmdExe_slow_fast_WP := "HMI KEY".P01.S200A2.F3_Jog_slow_WP AND "HMI KEY".P01.S200A2.F12_Enable_WP AND NOT "HMI KEY".P01.S200A2.F21_HALT;

    #S200A2.CmdExe_slow_fast_HP := "HMI KEY".P01.S200A2.F4_Jog_slow_HP AND "HMI KEY".P01.S200A2."F11_Enable_HP" AND NOT "HMI KEY".P01.S200A2.F21_HALT;

END_IF;

// Enable disable operation (Modulo active)

"HMI KEY".P01.S200A2.F11_Enable_HP := "DI OUT P01".S200A2.DRV.Support.InOperation AND NOT "DI OUT P01".S200A2.Common_FLT

AND "DI OUT P01".S200A2.DRV.Support.ActPos >= "DI OUT P01".S200A2.DRV.Support.SW_EndLim_MinPos;

"HMI KEY".P01.S200A2.F12_Enable_WP := "DI OUT P01".S200A2.DRV.Support.InOperation AND NOT "DI OUT P01".S200A2.Common_FLT

AND "DI OUT P01".S200A2.DRV.Support.ActPos <= "DI OUT P01".S200A2.DRV.Support.SW_EndLim_MaxPos;

Network 3: S210A3 Sorting Delta Picker 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.SetVelo; // °/s

    END_IF;

    // MoveJog

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

    #S210A3.Cmd_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.Cmd_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 Operation

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

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

Network 4: V90A4 Sorting Delta Picker Orientation Axis - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Impulse THEN

        #V90A4.ManualVelocity_1 := "DI OUT P01".V90A4.DRV.Support.SetVelo; // °/s

    END_IF;

    // MoveJog

    "DI OUT P01".V90A4.DRV.Support.SetVelo := #V90A4.ManualVelocity_1;

    #V90A4.Cmd_slow_fast_HP := "HMI KEY".P01.V90A4.F4_Jog_slow_HP AND "HMI KEY".P01.V90A4.F11_Enable_HP AND NOT "HMI KEY".P01.V90A4.F21_HALT;

    #V90A4.Cmd_slow_fast_WP := "HMI KEY".P01.V90A4.F3_Jog_slow_WP AND "HMI KEY".P01.V90A4.F12_Enable_WP AND NOT "HMI KEY".P01.V90A4.F21_HALT;

END_IF;

// Enable Disable Operation

"HMI KEY".P01.V90A4.F11_Enable_HP := "DI OUT P01".V90A4.DRV.Support.InOperation AND NOT "DI OUT P01".V90A4.Common_FLT

AND "DI OUT P01".V90A4.DRV.Support.ActPos >= "DI OUT P01".V90A4.DRV.Support.SW_EndLim_MinPos;

"HMI KEY".P01.V90A4.F12_Enable_WP := "DI OUT P01".V90A4.DRV.Support.InOperation AND NOT "DI OUT P01".V90A4.Common_FLT

AND "DI OUT P01".V90A4.DRV.Support.ActPos <= "DI OUT P01".V90A4.DRV.Support.SW_EndLim_MaxPos;

Network 5: G120C Sorting Control Conveyor - enable

IF #PLANT_MANU AND NOT #SUPPORT_SEQ THEN

    IF "DI MAIN GLB".M00.EntirePlant_Run_Impulse THEN

        #G120C.ManualVelocity_1 := "DI OUT P01".G120C.DRV.Support.SetVelo; // mm/sec

    END_IF;

    "DI OUT P01".G120C.DRV.Support.SetVelo := #G120C.ManualVelocity_1;

    // MoveJog (Modulo active)

    IF "HMI KEY".P01.G120C.F20_Jog_fast_HP AND NOT #G120C.Jog_fast_HP_REg THEN

        #G120C.Cmd_slow_fast_HP := NOT #G120C.Cmd_slow_fast_HP AND "HMI KEY".P01.G120C.F11_Enable_HP;

        #G120C.Cmd_slow_fast_WP := FALSE;

    ELSIF "HMI KEY".P01.G120C.F19_Jog_fast_WP AND NOT #G120C.Jog_fast_WP_REg THEN

        #G120C.Cmd_slow_fast_WP := NOT #G120C.Cmd_slow_fast_WP AND "HMI KEY".P01.G120C.F12_Enable_WP;

        #G120C.Cmd_slow_fast_HP := FALSE;

    ELSIF "HMI KEY".P01.G120C.F17_GoToAbsoPos OR "HMI KEY".P01.G120C.F18_GoToRelaPos THEN

        #G120C.Cmd_slow_fast_HP := #G120C.Cmd_slow_fast_WP := FALSE;

    END_IF;

    #G120C.Jog_fast_HP_REg := "HMI KEY".P01.G120C.F20_Jog_fast_HP;

    #G120C.Jog_fast_WP_REg := "HMI KEY".P01.G120C.F19_Jog_fast_WP;

END_IF;

// Enable Disable Operation (Modulo active)

"HMI KEY".P01.G120C.F11_Enable_HP := //"DI OUT P01".G120C.DRV.Support.InOperation AND NOT ("DI OUT P01".G120C.Common_FLT OR "DI MAIN P01".M00.FLT_ModuleFault_SR);

"HMI KEY".P01.G120C.F12_Enable_WP := "DI OUT P01".G120C.DRV.Support.InOperation AND NOT ("DI OUT P01".G120C.Common_FLT OR "DI MAIN P01".M00.FLT_ModuleFault_SR);

// HALT moving

IF "DI OUT P01".G120C.HALT_01 OR #G120C.ManualVelocity_1 = 0.0 THEN

    #G120C.Cmd_slow_fast_HP := #G120C.Cmd_slow_fast_WP := FALSE;

END_IF;

Network 6: DELTA_PICKER Sorting Delta Picker Robot - enable

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

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

// Cancel GroupInerrupt and GroupContinue

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

    #DELTA_PICKER.Cmd_GroupContinue := #DELTA_PICKER.Cmd_GroupInterrupt := FALSE;

END_IF;

// Execute MoveLinearAbsolute

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

    #DELTA_PICKER.Cmd_MoveLinearAbsolute := FALSE;

END_IF;

// Stop execute MoveLinearRelative

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

    #DELTA_PICKER.Cmd_MoveLinearRelative := FALSE;

END_IF;

// Stop execute MoveCircularAbsolute

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

    #DELTA_PICKER.Cmd_MoveCircularAbsolute := FALSE;

END_IF;

// Stop execute MoveCircularRelative

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

    #DELTA_PICKER.Cmd_MoveCircularRelative := FALSE;

END_IF;

Network 7: CAMERA Sorting Control Camera - enable

"HMI KEY".P01.CAMERA.F12_Enable_WP := "HMI KEY".P01.G120C.F12_Enable_WP AND NOT "DI OUT P01".TRACK_CONVEYOR.Common_FLT;

Network 8: Y100 Vacuum Gripper - enable

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

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: DELTA_PICKER Sorting Delta Picker Robot - execute

IF "HMI KEY".P01.#DELTA_PICKER.F7_GroupContinue AND "DI OUT P01".#DELTA_PICKER.DRV.Support.GroupInterrupt THEN

    #DELTA_PICKER.Cmd_GroupContinue := "HMI KEY".P01.#DELTA_PICKER.F8_Enabled;

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

    #DELTA_PICKER.Cmd_GroupInterrupt := "HMI KEY".P01.#DELTA_PICKER.F8_Enabled;

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

    #DELTA_PICKER.Cmd_MoveLinearAbsolute := "HMI KEY".P01.#DELTA_PICKER.F8_Enabled;

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

    #DELTA_PICKER.Cmd_MoveLinearRelative := "HMI KEY".P01.#DELTA_PICKER.F8_Enabled;

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

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

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

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

END_IF;

Network 11: CAMERA Sorting 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 G120C PartAvailable";

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

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

END_IF;

Network 12: Y100 Vacuum Gripper - execute

"DI OUT P01".Y100.VLV_O.CmdExe_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.FEEDBACK_WP);