Home

Erfahrung

Referenzen

Sondermaschinen

MSR-Maschinen

SPS-Programmierung

Visualisierung HMI

Elektro CAD

Leistungsprofil

Personalia

SW-Development

Dokumentation

Impressum & DSGVO

OB100 Start Up : Original Equipment Manufacturer

Network 1: Pre-Setting

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

"DI MAIN P01".M00.ProductCounter.DlyOnReset.PT := t#1.5s;

"DI MAIN P01".SEQ1.RunTimeSetValue := 2500;

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

Network 2: P01 Delta Picker 3D default

// Global default values

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

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

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

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

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

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

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

"DI OUT P01".DELTA_PICKER.DRV.MC_MoveCircularRelative.Velocity := -1.0;

// MC_MoveLinarAbsolute

"DI OUT P01".DELTA_PICKER.DRV.MC_MoveLinearAbsolute.Position[1] := 756.46;

"DI OUT P01".DELTA_PICKER.DRV.MC_MoveLinearAbsolute.Position[2] := 1039.45;

"DI OUT P01".DELTA_PICKER.DRV.MC_MoveLinearAbsolute.Position[3] := 850.0;

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

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

// MC_MoveLinearRelative

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

"DI OUT P01".DELTA_PICKER.DRV.MC_MoveLinearRelative.Distance[2] := -854.42;

"DI OUT P01".DELTA_PICKER.DRV.MC_MoveLinearRelative.Distance[3] := 0.0;

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

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

Network 3: P01 Pre-Setting

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

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

"DI OUT P01".Manual.S210A1.Positive_Scaled_Value := 120.0;

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

"DI OUT P01".Manual.S210A1.Negative_Scaled_Value := -120.0;

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

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

"DI OUT P01".Manual.S210A2.Positive_Scaled_Value := 120.0;

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

"DI OUT P01".Manual.S210A2.Negative_Scaled_Value := -120.0;

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

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

"DI OUT P01".Manual.S210A3.Positive_Scaled_Value := 120.0;

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

"DI OUT P01".Manual.S210A3.Negative_Scaled_Value := -120.0;

"DI OUT P01".V90A4.DRV.Support.SW_EndLim_MaxPos := "+1-V90A4".PositionLimits_SW.MaxPosition;

"DI OUT P01".V90A4.DRV.Support.SW_EndLim_MinPos := "+1-V90A4".PositionLimits_SW.MinPosition;

"DI OUT P01".Manual.V90A4.Positive_Scaled_Value := 179.999;

"DI OUT P01".Manual.V90A4.Shared_Zero_Scaled_Value := 0.0;

"DI OUT P01".Manual.V90A4.Negative_Scaled_Value := -180.0;

"DI OUT P01".TRACK_CONVEYOR.DRV.Support.Modulo_Length := "DI OUT P01".Manual.G120C.Positive_Scaled_Value := "+1-G120C".Modulo.Length;

"DI OUT P01".Manual.G120C.Shared_Zero_Scaled_Value := "+1-G120C".Modulo.StartValue;

Network 4: P01 Plant Info OEM

"HMI KEY".PlantInfo.KcsFrame.x := "+1-DELTA_PICKER".KcsFrame.x;

"HMI KEY".PlantInfo.KcsFrame.y := "+1-DELTA_PICKER".KcsFrame.y;

"HMI KEY".PlantInfo.KcsFrame.z := "+1-DELTA_PICKER".KcsFrame.z;

"HMI KEY".PlantInfo.DynamicDefaults.Acceleration := "+1-DELTA_PICKER".DynamicDefaults.Path.Acceleration;

"HMI KEY".PlantInfo.DynamicDefaults.Deceleration := "+1-DELTA_PICKER".DynamicDefaults.Path.Deceleration;

"HMI KEY".PlantInfo.DynamicDefaults.Jerk := "+1-DELTA_PICKER".DynamicDefaults.Path.Jerk;

"HMI KEY".PlantInfo.DynamicDefaults.Velocity := "+1-DELTA_PICKER".DynamicDefaults.Path.Velocity;

"HMI KEY".PlantInfo.Orientation.Velocity := "+1-DELTA_PICKER".DynamicDefaults.Orientation.Velocity;

"HMI KEY".PlantInfo.Orientation.Acceleration := "+1-DELTA_PICKER".DynamicDefaults.Orientation.Acceleration;

"HMI KEY".PlantInfo.Orientation.Deceleration := "+1-DELTA_PICKER".DynamicDefaults.Orientation.Deceleration;

"HMI KEY".PlantInfo.Orientation.Jerk := "+1-DELTA_PICKER".DynamicDefaults.Orientation.Jerk;

"HMI KEY".PlantInfo.FactorBlendingLength := "+1-DELTA_PICKER".Transition.FactorBlendingLength;

"HMI KEY".PlantInfo.MaxNumberOfCommands := "+1-DELTA_PICKER".MotionQueue.MaxNumberOfCommands;

// Conveyor at WCS

"DI OUT P01".TRACK_CONVEYOR.DRV.Support.Object_ON_Distance := 642.14;

"DI OUT P01".TRACK_CONVEYOR.DRV.Support.Measuring_Shift_Distance := "HMI KEY".PlantInfo.Object_Shift_Distance := 206.80;

"DI OUT P01".TRACK_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.x := 0.0; // mm at WCS

"DI OUT P01".TRACK_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.y := 451.70; // mm WCS

"DI OUT P01".TRACK_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.z := 700.0; // mm at WCS

"DI OUT P01".TRACK_CONVEYOR.DRV.MC_TrackConveyorBelt.ConveyorBeltOrigin.a := 0.0; // mm at WCS

// Mechanic

"HMI KEY".PlantInfo.Angle_A1_A2 := "+1-DELTA_PICKER".Kinematics.Parameter[5]; // 120.0°

"HMI KEY".PlantInfo.Angle_A2_A3 := "+1-DELTA_PICKER".Kinematics.Parameter[6]; // 120.0°

"HMI KEY".PlantInfo.Distance_D1 := "+1-DELTA_PICKER".Kinematics.Parameter[1]; // 299.31 mm

"HMI KEY".PlantInfo.Distance_D2 := "+1-DELTA_PICKER".Kinematics.Parameter[4]; // 130.61 mm

"HMI KEY".PlantInfo.Length_L1 := "+1-DELTA_PICKER".Kinematics.Parameter[2]; // 348.29 mm

"HMI KEY".PlantInfo.Length_L2 := "+1-DELTA_PICKER".Kinematics.Parameter[3]; // 522.44 mm

"HMI KEY".PlantInfo.Flange_length_LF := "+1-DELTA_PICKER".Kinematics.Parameter[7]; // 174.15

// OCS1 in the WCS only on HMI

"HMI KEY".PlantInfo.Object_Offset :=

"HMI KEY".PlantInfo.OCS1_in_WCS.x := "+1-DELTA_PICKER".OcsFrame[1].x; // 130.61

"HMI KEY".PlantInfo.OCS1_in_WCS.y := "+1-DELTA_PICKER".OcsFrame[1].y; // 451.70

"HMI KEY".PlantInfo.OCS1_in_WCS.z := "+1-DELTA_PICKER".OcsFrame[1].z; // 700.00

"HMI KEY".PlantInfo.OCS1_in_WCS.a := "+1-DELTA_PICKER".OcsFrame[1].a; // 0.0