[PDF] Application Manual - RobotWare Machine Tending

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TASK PERS projectinfo piProject:=[

Bumper

Producing bumpers ..

1.0

2012-10-22

PGUIF boolnumdnum string boolnumdnumstringCONST infodata MT_InfoView{xx}:=[..];

PERSLOCAL

PERSTASK PERS

TASK PERS num nGoodParts:=673;

TASK PERS num nTolerance:=3;

CONST infodata MT_InfoView{11}:=[

["Good parts","nGoodParts","",""], ["Out of tolerance","nTolerance","",""], ["Insp. parts","nInspectionParts","",""], ["Scrap","nScrapParts","",""], ["Cooling time","ntCoolingTime","",""], ["Insp. time","ntInspectionTime","",""], ["DCM cycle time","ntDCMCycleTime","",""], ["PRE cycle time","ntPressCycleTime","",""], ["MRK cycle time","ntMarkerCycleTime","",""], ["OUF cycle time","ntOutfeederCycleTime","",""], ["INF cycle time","ntInfeederCycleTime","",""]

MT_ShowMessage

MT_ShowText

MT_ClearMessage

MODULE Messages

TASK PERS msgdata msgEnter:=[10,1,0,"Robot inside station xyz","","","","","",1,""];

PROC MessageTest()

!Show message

MT_ShowMessage msgEnter;

!Robot does something inside the machine !Clear message

MT_ClearMessage;

ENDPROC

ENDMODULE

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stationdata stationdata

Definition of a station on page311

TASK PERSLOCAL PERS

LOCAL PERS stationdata IMM_Station:=

["IMM","IMM","Machine to build plastic parts", "station-IMM.png","IMM_sdiEn_OPMode", stationdata.name TASK PERS stationdata IMM_Station:=["IMM1","",...]; const stationsignal IMM1_SIGNALS{2}:=[[...]]; const stationvariable IMM1_Variables{2}:=[[...]];

IMM_StationIMM1

IMM1_Signals

IMM1_Variables

(stationdata.Label :=

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LOCAL PERS stationdata IMM_Station:=["IMM","IMM",

"Machine to build plastic parts", "station-MM.png","IMM_sdiEn_OPMode",

TASK PERS bCNV_Ready:=FALSE;

stationdata.ReadyState:="diCNV_Automatic & *diCNV_Running ! bCNV_Ready" ; diCNV_Automatic=1diCNV_Running=0 bCNV_ReadyTRUE

ALIASIO

stationsignal

VAR signaldi IMM_sdiEn_OPMode;

VAR signaldi IMM_sdiMouldClosed;

LOCAL PERS stationdata IMM_Station:=["IMM","IMM",

"Machine to build plastic parts", "station-MM.png","IMM_sdiEn_OPMode", const stationsignal IMM_SIGNALS{2}:=

IMM in automatic

,"diEn_OPMode","IMM_sdiEn_OPMode"],

IMM closed

,"diMouldClosed","IMM_sdiMouldClosed"]];

AllowDisableExtEnable

stationdata.ExtEnable:= "" stationdata.ExtEnable:= "" stationdata.ExtEnable := "diWithCNV" stationdata.ExtEnable:= "*diWithoutCNV"

MT_StationIsEnabled

PROC ProgFlow()

Unload_IMM;

IF MT_StationIsEnabled(sdFLAMING) THEN

Flame;

Load_Conveyor;

ELSE

Load_Slide;

ENDIF

ENDPROC

AllowDisable

stationdata stationdata.Columnstationdata.Row

PROC/MT_GUI_SETTINGS/RobIconCol

PROC/MT_GUI_SETTINGS/RobIconRow")

boolnumdnum string stationvariablestationvariable - Display the data declarations of a station on page316 stationdata.Name _Variables _Variables1 _Variables2 _Variables3 _Variables4

TASK PERS bool bWithTKS1:=TRUE;

TASK PERS bool bWithTKS2:=TRUE;

TASK PERS bool bWithTKS3:=TRUE;

TASK PERS bool bWithTKS4:=TRUE;

TASK PERS bool bWithTKS5:=TRUE;

TASK PERS bool bWithTKS6:=TRUE;

TASK PERS bool bWithTKS7:=TRUE;

TASK PERS bool bWithTKS8:=TRUE;

TASK PERS bool bWithTKS9:=TRUE;

TASK PERS bool bWithTKS10:=TRUE;

TASK PERS bool bWithTKS11:=TRUE;

TASK PERS bool bWithTKS12:=TRUE;

TASK PERS bool bWithTKS13:=TRUE;

TASK PERS bool bWithTKS14:=TRUE;

TASK PERS bool bWithTKS15:=TRUE;

TASK PERS bool bWithTKS16:=TRUE;

TASK PERS num ntInspectionTime:=3;

TASK PERS stationdata INSP_Station:=["INSP","Inspection","Visual part

LOCAL CONST stationvariable INSP_Variables1{6}:=[

["With sensor 1","bWithTKS1","","",10,99999,FALSE,FALSE,FALSE,0,1], ["With sensor 2","bWithTKS2","","",10,99999,FALSE,FALSE,FALSE,0,1], ["With sensor 3","bWithTKS3","","",10,99999,FALSE,FALSE,FALSE,0,1], ["With sensor 4","bWithTKS4","","",10,99999,FALSE,FALSE,FALSE,0,1], ["With sensor 5","bWithTKS5","","",10,99999,FALSE,FALSE,FALSE,0,1], ["With sensor 6","bWithTKS6","","",10,99999,FALSE,FALSE,FALSE,0,1]];

LOCAL CONST stationvariable INSP_Variables2{3}:=[

["With sensor 7","bWithTKS7","","",10,99999,FALSE,FALSE,FALSE,0,1], ["With sensor 8","bWithTKS8","","",10,99999,FALSE,FALSE,FALSE,0,1], ["Inspection time","ntInspectionTime","","",0,500,FALSE,FALSE,

FALSE,1,1]];

LOCAL CONST stationvariable INSP_Variables3{6}:=[

["With Sensor 9","bWithTKS9","","",10,99999,FALSE,FALSE,FALSE,0,1], ["With sensor ["With sensor ["With sensor ["With sensor ["With sensor

LOCAL CONST stationvariable INSP_Variables4{2}:=[

["With Sensor 15","bWithTKS15","","",10,99999,

FALSE,FALSE,FALSE,0,1],

["With sensor 16","bWithTKS16","","",10,99999,

FALSE,FALSE,FALSE,0,1]];

stationdatastationvariable - Display the data declarations of a station on page316

Robot_

TASK PERS num nDataReq:=1;

TASK PERS num nTypeReq:=5;

TASK PERS num nCntPartsReq:=7;

TASK PERS num nDistPartsReq:=9;

LOCAL CONST stationvariable Robot_Variables1{4}:=[ ["Data","nDataReq","","T_ROB1",

0,99999,TRUE,FALSE,FALSE,0,1],

["Type","nTypeReq","","T_ROB1",

0,99999,TRUE,FALSE,FALSE,0,1],

["Count","nCntPartsReq","","T_ROB1",

0,99999,TRUE,FALSE,FALSE,0,1],

["Distance","nDistPartsReq","","T_ROB1",

0,99999,TRUE,FALSE,FALSE,0,1]];

TASK PERS bool bWithTKS1:=TRUE;

TASK PERS bool bWithTKS2:=TRUE;

TASK PERS bool bWithTKS3:=TRUE;

TASK PERS bool bWithTKS4:=TRUE;

TASK PERS bool bWithTKS5:=TRUE;

TASK PERS bool bWithTKS6:=TRUE;

TASK PERS bool bWithTKS7:=TRUE;

TASK PERS bool bWithTKS8:=TRUE;

TASK PERS bool bWithTKS9:=TRUE;

TASK PERS bool bWithTKS10:=TRUE;

TASK PERS bool bWithTKS11:=TRUE;

TASK PERS bool bWithTKS12:=TRUE;

TASK PERS bool bWithTKS13:=TRUE;

TASK PERS bool bWithTKS14:=TRUE;

TASK PERS bool bWithTKS15:=TRUE;

TASK PERS bool bWithTKS16:=TRUE;

TASK PERS num ntInspectionTime:=3;

TASK PERS stationdata INSP_Station:=["INSP","Inspection","Visual part

LOCAL CONST stationvariable INSP_Variables1{6}:=[

["With sensor 1","bWithTKS1","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 2","bWithTKS2","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 3","bWithTKS3","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 4","bWithTKS4","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 5","bWithTKS5","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 6","bWithTKS6","","",10,99999,TRUE,TRUE,FALSE,0,1]];

LOCAL CONST stationvariable INSP_Variables2{3}:=[

["With sensor 7","bWithTKS7","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 8","bWithTKS8","","",10,99999,TRUE,TRUE,FALSE,0,1], ["Inspection

LOCAL CONST stationvariable INSP_Variables3{6}:=[

["With Sensor 9","bWithTKS9","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 10","bWithTKS10","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 11","bWithTKS11","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 12","bWithTKS12","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 13","bWithTKS13","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 14","bWithTKS14","","",10,99999,TRUE,TRUE,FALSE,0,1]];

LOCAL CONST stationvariable INSP_Variables4{2}:=[

["With Sensor 15","bWithTKS15","","",10,99999,TRUE,TRUE,FALSE,0,1], ["With sensor 16","bWithTKS16","","",10,99999,TRUE,TRUE,FALSE,0,1]]; YY stationsignalstationsignal - Allocation of station signals to alias names on page314 stationdata.Namestationdata - Definition of a station on page311 _Signals

TASK PERS stationdata IMM_Station:=["IMM",

LOCAL CONST stationsignal IMM_Signals{5}:=

IMM in automatic mode

"diAutomatic",""], ["IMM mould is open","diMouldOpen",""], ["IMM mould is closed","diMouldClosed",""], ["Start IMM cyclce","doStart",""], ["Forward IMM pusher","doFwdPusher",""] stationsignal

Robot_

LOCAL CONST stationsignal Robot_Signals{4}:=

["Request motors on","diHR_MotorOn",""], ["Request start main","diHR_StartMain",""], ["Status program running","doHR_CycleOn",""], ["Status motors are switched on","doHR_MotorOn",""]

SignalLabel

EIO_SIGNAL:

-Name "diMouldClosed" -SignalType "DI" -Unit "IMM"\ -SignalLabel "Mould is closed" -UnitMap "0"

ALIASIO

MODULE IMM

!Digital signals

LOCAL VAR signaldi adiIMM_AutoMode;

LOCAL VAR signaldi adiIMM_MoldOpen;

LOCAL VAR signaldi adiIMM_MoldClosed;

LOCAL VAR signaldo adoIMM_Start;

TASK PERS stationdata IMM_Station:=["IMM",

LOCAL CONST stationsignal IMM_Signals{5}:=

["IMM in Automatic",diAutomatic","adiIMMAutoMode"], ["IMM mould is open","diMouldOpenPos","adiIMM_MouldOpen"], ["IMM mould is closed","diMouldClosed","adiIMM_MouldClsd"], ["Start IMM","doStart","adoIMM_Start"],quotesdbs_dbs6.pdfusesText_11

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