Stare Iniial

LoadPOST_PalletSensor = FALSE
LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE
COMMANDS_CLOSE_LoadCLAMPS = FALSE

R1_FIXTURE_Sensor = FALSE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior OFF
R1 @ HOME
R2 @ HOME
Robot Cart. @ HOME
Imprimant OFF
0 Paleti iesiti din BUFFER
nclzire ON
Pori nchise

START sistem

Stare 1
LoadPOST_PalletSensor = FALSE
LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE
COMMANDS_CLOSE_LoadCLAMPS = FALSE

R1_FIXTURE_Sensor = FALSE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior ON
R1 @ WAIT
R2 @ WAIT
Robot Cart. @ WAIT_1
Imprimant ON
1 Paleti iesiti din BUFFER
PALLET_1 -> LOAD
nclzire ON
Pori nchise

PALET_1@LOAD

STARE 2_1

Stare 2
LoadPOST_PalletSensor = TRUE
LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE
COMMANDS_CLOSE_LoadCLAMPS = FALSE

R1_FIXTURE_Sensor = FALSE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior OFF
R1 @ WAIT
R2 @ WAIT
Robot Cart. @ WAIT_1
Imprimant ON
1 Paleti iesiti din BUFFER
PALLET_1 @ LOAD
nclzire ON
Pori nchise

LOAD_OK = TRUE
LOAD_OK = FALSE
Stare 3
EROARE LoadPOST_PalletSensor = FALSE
!! LoadPOST_PartSensor = FALSE
!! LoadPOST_SafetyMat = FALSE

R1_FIXTURE_Sensor = FALSE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior ON
R1 @ WAIT
R2 @ WAIT
Robot Cart. @ WAIT_1
Imprimant ON
2 Paleti iesiti din BUFFER
PALLET_1 -> R1, PALLET_2 -> LOAD
nclzire ON
Pori nchise

T > X sec AND PALLET_1@R1 & PALLET_2@R2

(NOT PALLET_1@R1 OR NOT PALLET_2@R2)
Stare 4 PALLET_1@R1 & PALLET_2@R2
EROARE
!! LoadPOST_PalletSensor = TRUE STARE 2_1
!! LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE

R1_FIXTURE_Sensor = TRUE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior OFF
R1 ON GLUE_PROGRAM
R2 @ WAIT
Robot Cart. @ WAIT_1
Imprimant ON
2 Paleti iesiti din BUFFER
PALLET_1 @ R1, PALLET_2 @ LOAD
nclzire ON
Pori nchise

LOAD_OK = TRUE &

R1_Program_END = TRUE &
T>9s & R1_Program_END = FALSE
OR
LOAD_OK = FALSE Stare 5
LoadPOST_PalletSensor = FALSE
LoadPOST_PartSensor = FALSE
EROARE LoadPOST_SafetyMat = FALSE
!!
R1_FIXTURE_Sensor = TRUE
!!
R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior ON
R1 @ WAIT
R2 @ WAIT
Robot Cart. @ WAIT_1
Imprimant ON
3 Paleti iesiti din BUFFER
PALLET_1 -> R_CART, PALLET_2 -> R1,
PALLET_3 -> LOAD
nclzire ON
Pori nchise

R_CART@WAIT_1
OR (NOT R_CART@WAIT_2 AND NOT R_CART@WAIT_1) PALLET_1@R_CART, PALLET_2@R1, PALLET_3@LOAD,
R_CART@WAIT_2
PALLET_1@R_CART, PALLET_2@R1, PALLET_3@LOAD
EROARE
!! Stare 6 STARE 2_1
!!
LoadPOST_PalletSensor = TRUE
LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE

R1_FIXTURE_Sensor = TRUE

R_CART_FIXTURE_Sensor = TRUE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior OFF
R1 ON GLUE_PROGRAM
R2 @ WAIT
Robot Cart. ON PR_DEPUNERE
Imprimant ON
3 Paleti iesiti din BUFFER
PALLET_1@R_CART, PALLET_2@R1, PALLET_3@LOAD
nclzire ON
Pori nchise

LOAD_OK = TRUE &

T>9s & (R1_Program_END = FALSE | R1_Program_END = TRUE &
R_CART_PR_DEPUNERE_END = FALSE) R_CART_PR_DEPUNENERE_END = TRUE &
OR
LOAD_OK = FALSE
Stare 7

EROARE LoadPOST_PalletSensor = FALSE

LoadPOST_PartSensor = FALSE
!! LoadPOST_SafetyMat = FALSE
!!
R1_FIXTURE_Sensor = FALSE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior ON
R1 @ WAIT
R2 @ WAIT
Robot Cart. @ WAIT
Imprimant ON
4 Paleti iesiti din BUFFER
PALLET_1 -> R2, PALLET_2 -> R_CART, PALLET_3 -> R1
PALLET_4 -> LOAD
nclzire ON
Pori nchise

PALLET_1@R2 & PALLET_2@R_CART & PALLET_3@R1 & PALLET_4@LOAD

AND
R_CART@WAIT_2 & R1@WAIT & R2&WAIT
R_CART@WAIT_1 PALLET_1@R2 & PALLET_2@R_CART & PALLET_3@R1 & PALLET_4@LOAD
OR (NOT R_CART@WAIT_2 AND NOT R_CART@WAIT_1)
Stare 8
STARE 2_1
LoadPOST_PalletSensor = TRUE
LoadPOST_PartSensor = FALSE
EROARE LoadPOST_SafetyMat = FALSE
!!
R1_FIXTURE_Sensor = TRUE
!!
R_CART_FIXTURE_Sensor = TRUE

R2_FIXTURE_Sensor = TRUE
R2_PART_Sensor = TRUE

PRINT_FIXTURE_Sensor = FALSE
Conveior OFF
R1 ON GLUE_PROGRAM
R2 ON GLUE_PROGRAM
Robot Cart. ON PR_DEPUNERE
Imprimant ON
4 Paleti iesiti din BUFFER
PALLET_1 @ R2, PALLET_2 @ R_CART, PALLET_3 @ R1
PALLET_4 @ LOAD
nclzire ON
Pori nchise

LOAD_OK = TRUE &

R1_Program_END = TRUE &
T>9s & (R1/2_Program_END = FALSE OR R_CART_PR_DEPUNERE_END = FALSE) R_CART_PR_DEPUNENERE_END = TRUE &
OR R2_PROGRAM_END = TRUE &
LOAD_OK = FALSE

Stare 9
EROARE LoadPOST_PalletSensor = FALSE
!! LoadPOST_PartSensor = FALSE
!! LoadPOST_SafetyMat = FALSE

R1_FIXTURE_Sensor = FALSE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior ON
R1 @ WAIT
R2 @ WAIT
Robot Cart. @ WAIT
Imprimant ON
5 Paleti iesiti din BUFFER
PALLET_1 -> PRINT, PALLET_2 -> R2, PALLET_3 -> R_CART
PALLET_4 -> R1, PALLET_5 -> LOAD
nclzire ON
Pori nchise

R_CART@WAIT_1 PALLET_1 @ PRINT, PALLET_2 @ R2, PALLET_3 @ R_CART,

OR (NOT R_CART@WAIT_2 AND NOT R_CART@WAIT_1) PALLET_4 @ R1, PALLET_5 @ LOAD
AND
R_CART @ WAIT_2, R1 @ WAIT, R2 & WAIT PALLET_1 @ PRINT, PALLET_2 @ R2, PALLET_3 @ R_CART,
EROARE PALLET_4 @ R1, PALLET_5 @ LOAD
!!
!! STARE 2_1
Stare 10
LoadPOST_PalletSensor = TRUE
LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE

R1_FIXTURE_Sensor = TRUE

R_CART_FIXTURE_Sensor = TRUE

R2_FIXTURE_Sensor = TRUE
R2_PART_Sensor = TRUE

PRINT_FIXTURE_Sensor = TRUE
Conveior OFF
R1 ON GLUE_PROGRAM
R2 ON GLUE_PROGRAM
Robot Cart. ON PR_DEPUNERE
Imprimant ON PRINT_PR
4 Paleti iesiti din BUFFER
PALLET_1 @ PRINT, PALLET_2 @ R2, PALLET_3 @ R_CART
PALLET_4 @ R1, PALLET_5 @ LOAD
nclzire ON
Pori nchise

LOAD_OK = TRUE &

R1_Program_END = TRUE &
T>9s & (R1/2_Program_END = FALSE |
R_CART_PR_DEPUNENERE_END = TRUE &
R_CART_PR_DEPUNERE_END = FALSE | PRINT_PR_END = FALSE)
R2_PROGRAM_END = TRUE &
OR
PRINT_PR_END = TRUE &
LOAD_OK = FALSE

EROARE Stare 11
!! LoadPOST_PalletSensor = FALSE
!! LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE

R1_FIXTURE_Sensor = FALSE

R_CART_FIXTURE_Sensor = FALSE

R2_FIXTURE_Sensor = FALSE
R2_PART_Sensor = FALSE

PRINT_FIXTURE_Sensor = FALSE
Conveior ON
R1 @ WAIT
R2 @ WAIT
Robot Cart. @ WAIT
Imprimant ON
6 Paleti iesiti din BUFFER
PALLET_1 -> UNLOAD, PALLET_2 -> PRINT, PALLET_3 -> R2
PALLET_4 -> R_CART, PALLET_5 -> R1, PALLET_6 -> LOAD
nclzire ON
Pori nchise

R_CART@WAIT_1 PALLET_1 @ UNLOAD, PALLET_2 @ PRINT, PALLET_3 @ R2,

OR (NOT R_CART@WAIT_2 AND NOT R_CART@WAIT_1) PALLET_4 @ R_CART, PALLET_5 @ R1, PALLET_6 @ LOAD
AND PALLET_1 @ UNLOAD, PALLET_2 @ PRINT, PALLET_3 @ R2,
EROARE R_CART @ WAIT_2, R1 @ WAIT, R2 & WAIT PALLET_4 @ R_CART, PALLET_5 @ R1, PALLET_6 @ LOAD
!!
!! STARE 2_1

Stare 12
LoadPOST_PalletSensor = TRUE
LoadPOST_PartSensor = FALSE
LoadPOST_SafetyMat = FALSE

R1_FIXTURE_Sensor = TRUE

R_CART_FIXTURE_Sensor = TRUE

R2_FIXTURE_Sensor = TRUE
R2_PART_Sensor = TRUE

PRINT_FIXTURE_Sensor = TRUE
Conveior OFF
R1 ON GLUE_PROGRAM
R2 ON GLUE_PROGRAM
Robot Cart. ON PR_DEPUNERE
Imprimant ON PRINT_PR
6 Paleti iesiti din BUFFER
PALLET_1 @ UNLOAD, PALLET_2 @ PRINT, PALLET_3 @ R2
PALLET_4 @ R_CART, PALLET_5 @ R1, PALLET_6 @ LOAD
nclzire ON
Pori nchise

T>9s & (R1/2_Program_END = FALSE |

R_CART_PR_DEPUNERE_END = FALSE | PRINT_PR_END = FALSE) LOAD_OK = TRUE &
OR R1_Program_END = TRUE &
LOAD_OK = FALSE R_CART_PR_DEPUNENERE_END = TRUE &
OR R2_PROGRAM_END = TRUE &
UNLOAD_OK = FALSE PRINT_PR_END = TRUE &
UNLOAD_OK = TRUE
EROARE
!! STARE 1
!!