Nome : WP_MOD2_G10_L

[RESET]
(01) Set Bit 01 OFF

(02) Set Bit R 02 OFF

Set output or bit
(03) ORIGIN X: 0 Z: 0
Axes origin search
(04) ORIGIN X: 0 Z: 0
Axes origin search
(05) ORIGIN X: 1 Z: 1

(06) Set Bit 03 ON

(07) Set Bit R 03 OFF

DISABLE IML
(08) Set Bit 01 ON
SET BIT START CONVEYOR
(09) Set Bit 16 ON

[END]

[PROGRAMMA]
(001) MOVE X:01 Z:02 40% 200.0mm

(002) VacuOFF line V1,V2 wait 0.5s blow for 0.2s

(003) IFSignal Bit 14 ON

(004) VacuON line V1,V2 wait 0.0s

(005) END IF Mode: CONTINUAR

(006) WaitIMM Wait FIN APERTURA on reject CONTINUAR

(007) VacuON line V1,V2 wait 0.0s

(008) MOVE X:01 Z:03 100% 700.0mm

(009) CorPul 2 Pos.1 CONTINUAR AUT.+STEP Mode 0

(010) MOVE X:01 Z:03 #100% 200.0mm

(011) MOVE X:03 Z:03 #100% 10.0mm

(012) Pause 0.0 s

(013) CorPul 2 Pos.1 ESPERAR FIN AUT. Mode 0

(014) Grip CERRAR P1 wait 0.1s

(015) CorPul 2 Pos.2 CONTINUAR AUT.+STEP Mode 0

(016) MOVE X:01 Z:03 #100% 130.0mm

(017) MOVE X:01 Z:02 #100% 200.0mm

 (018) CHKpiece ACTIVAR Input 310 ON PARADA INMEDIATA

(019) CorPul 2 Pos.2 ESPERAR FIN AUT.+STEP Mode 0

(020) StartIMM after 0.0s on emergency FIN CICLO

(021) MOVE X:04 Z:01 50% 200.0mm

(022) CHKpiece DESACTIVAR Input 310

(023) Grip CERRAR P2 wait 0.3s

(024) Grip CERRAR P3 wait 0.3s

(025) PASSAGGIO CASSETTA

PASSAGGIO CASSETTA
(026) MOVE X:04 Z:01 40% 20.0mm

(027) MOVE X:02 Z:01 40% 0.0mm

(028) Pause 1.5 s

(029) Set Bit 07 ON

OK TO CLOSE MACHINE
(030) Wait Bit 08 ON AUT.+STEP for 0.0s
CLOSE MACHINE IN PICKED PIECE
(031) Grip ABRIR P1,P2,P3 wait 0.5s

(032) CHKpiece DESACTIVAR Input 310

(033) VacuOFF line V1,V2 wait 0.0s blow for 1.0s

(034) Pause 0.0 s

(035) MOVE X:04 Z:01 # 20% 0.0mm

(036) Set Bit 07 OFF

(037) Wait Bit 08 OFF AUT.+STEP for 0.0s

[END]

[QUOTE]
ID=01 X: 5.0 Z: 36.0 C=""
ID=02 X: 236.0 Z: 1400.0 C=""
ID=03 X: 125.0 Z: 2791.1 C="Toma PRODUCTO"
ID=04 X: 15.0 Z: 0.0 C=""
[END]

[PALLET]

N° 0
ORIGINE X=0.0 Z=0.0 Y=0.0
PEZZI=1,10,1
INTERASSE=0.0,-24.0,0.0
AVVIC=0.0,0.0,0.0
CARTONE=0.0,0.0,0.0
 SCORRIMENTO=0.0,0.0,0.0
ORDINE=1,2,3
MAXPEZZI=10
[END]

[PLC]
(001) LD NOT Bit 01

(002) AND Bit S 12

(003) SET Step 00

RESTART FROM 0 IF ROBOT IN RES
(004) SET Step1 00
RESTART FROM 0 IF PLC AX NOT RE
(005) STACK MACHINE
STACK MACHINE
(006) LOAD Step1 00
TURN ON MACHINE
(007) RESET Bit R 11
RESET STACK MACHINE ENDED
(008) RESET Bit 20
START EXPULSOR CYCLE
(009) RESET Bit R 22
STACK OK TO EXPULSOR MACHINE
(010) AND Bit 01
WAIT START FROM ROBOT
(011) AND Bit 02
FC VERTICAL ROTATION
(012) AND Input 706
FC FORWARD TRASLATION
(013) SET Bit R 00

(014) SET Step1 01

FILLING CYL BACK SIDE BLOCK
(015) LOAD Step1 01
FILLING CYL BACK SIDE BLOCK
(016) TIMER 08 Preset 0.5s
TIMER FILLING CYL IN RESET
(017) AND Timer 08
TIMER FILLING CYL IN RESET
(018) SET Step1 02
OPEN BACK SIDE BLOCK
(019) LOAD Step1 02
OPEN BACK SIDE BLOCK
(020) AND Input 710
FC BACK SIDE BLOCK UP
(021) AND Bit S 24
PLC AX ENABLE
(022) SET Bit R 11
RESET STACK MACHINE ENDED
(023) SET Step1 03
TRASLATOR STACK BACKWARD
(024) LOAD Step1 03
TRASLATOR STACK BACKWARD
(025) AND Input 712

(026) SET Bit 20

(027) SET Step1 04
START CYCLE FROM STACKER
(028) LOAD Step1 04
RESET PLC AX
(029) AND Bit S 24
PLC AX ENABLE
(030) Reset Ax
RESET PLC AX FUNC
(031) AND Bit S 25
RESET PLC AX OK
(032) COUNTER n° 9 ASIGNAR 0
PIECES IN STACK COUNTER
(033) SET Step1 05
BACK SIDE BLOCK CLOSE
(034) LOAD Step1 05
BACK SIDE BLOCK CLOSE
(035) TIMER 07 Preset 0.5s
TIMER BACK SIDE BLOCK
(036) AND Timer 07
TIMER BACK SIDE BLOCK
(037) AND NOT Input 710
FC BACK SIDE BLOCK UP
(038) AND Input 712
EV TRASLATOR STACK BACKWARD
(039) SET Step1 06
MOVE PLC AX TO CONVEYOR POS
(040) LOAD Step1 06
MOVE PLC AX TO CONVEYOR POS
(041) MOVE Ax 8.0mm 70%

(042) AND Bit S 27

PLC AX IN POS
(043) SET Step1 07
TRASLATOR MOVE
(044) LOAD Step1 07
TRASLATOR MOVE
(045) AND NOT Bit 22
STACK ALREADY EXPULSED
(046) AND Bit 21
EXPULSOR BACKWARD
(047) SET Step1 08
START PRINTER AND CONVEYOR
(048) LOAD Step1 08
START PRINTER AND CONVEYOR
(049) AND Input 711
EV STACK TRASLATOR FW
(050) SET Step1 09
TRASLATOR STACK BACKWARD
(051) LOAD Step109
TRASLATOR STACK BACKWARD
(052) TIMER 01 Preset 0.2s
WAIT TIMEOUT FORWARD
(053) AND Timer 01
WAIT STACK FORWARD
(054) SET Step1 10
STACK EJECTOR BACK
(055) LOAD Step1 10
STACK EJECTOR BACK
(056) SET Bit 22
 STACK OK TO EXPULSION MACHINE
(057) SET Step1 11
FILL BACK SIDE BLOCK CYL
(058) LOAD Step1 11
FILL BACK SIDE BLOCK CYL
(059) TIMER 06 Preset 0.0s
WAIT FILLING CYLINDERS
(060) AND Timer 06
WAIT FILLING CYLINDERS
(061) SET Step1 12
OPEN BACK SIDE BLOCK
(062) LOAD Step1 12
OPEN BACK SIDE BLOCK
(063) AND Input 712
FC EJECTOR BACKWARD
(064) AND Input 710
FC BACK SIDE BLOCK OPEN
(065) SET Step1 13
SET PALLET AND PRSET CNT9
(066) LOAD Step1 13
SET PALLET AND PRSET CNT9
(067) Pallet Orig.: 1100.0mm Intereje: 34.0mm Cont.: 9
PRESET PALLET
(068) COUNTER n° 9 TOMA 19
SET MAX PIECES NUMBER
(069) SET Step1 14
MOVE PLC AX TO PALLET POS
(070) LOAD Step1 14
MOVE PLC AX TO PALLET POS
(071) Move PAx Acercam.: + 0.0mm 50%

(072) AND Bit S 27

PLC AX IN POS
(073) SET Step1 15
VERIFY PALLET END
(074) LOAD Step1 15
VERIFY PALLET END
(075) AND NOT Contad. 09

(076) AND NOT Bit 10

NO START FROM CLOSE MACHINE
(077) SET Step1 16
OK TO CLOSE MACHINE
(078) LOAD Step1 15
VERIFY PALLET END
(079) AND Contad. 09
END PALLET
(080) AND NOT Bit 10
NO START FROM CLOSE MACHINE
(081) COUNTER n° 9 ASIGNAR 0
PIECES IN STACK COUNTER
(082) SET Bit R 00

(083) SET Step1 05

BACK SIDE BLOCK CLOSE
(084) LOAD Step1 16
OK TO CLOSE MACHINE
(085) AND Bit 10
START FROM CLOSE CYCLE
(086) AND NOT Bit R 00

(087) COUNTER n° 9 INCREMENTA 1

INCREASE CNT9
(088) SET Step1 13
SET PALLET AND PRSET CNT9
(089) LOAD Step1 16
OK TO CLOSE MACHINE
(090) AND Bit 10
START FROM CLOSE CYCLE
(091) AND Bit R 00

(092) RESET Bit R 00

(093) SET Step1 13

SET PALLET AND PRSET CNT9
(094) OUT MANAGER OF STACK MACHINE
OUT MANAGER OF STACK MACHINE
(095) LOAD Step1 01
FILLING CYL BACK SIDE BLOCK
(096) OR Step1 05
FILL BACK SIDE BLOCK CYL
(097) OR Step1 06
MOVE PLC AX TO CONVEYOR POS
(098) OR Step1 07
TRASLATOR MOVE
(099) OR Step1 08
START PRINTER AND CONVEYOR
(100) OR Step1 09
TRASLATOR STACK BACKWARD
(101) OR Step1 10
FILL BACK SIDE BLOCK CYL
(102) OR Step1 11
OPEN BACK SIDE BLOCK
(103) OUT Output 811
EV BACK SIDE BLOCK DOWN
(104) LOAD Step1 01
FILLING CYL BACK SIDE BLOCK
(105) OR Step1 02
OPEN BACK SIDE BLOCK
(106) OR Step1 03
TRASLATOR STACK BACKWARD
(107) OR Step1 04
RESET PLC AX
(108) OR Step1 11
OPEN BACK SIDE BLOCK
(109) OR Step1 12
OPEN BACK SIDE BLOCK
(110) OR Step1 13
SET PALLET AND PRSET CNT9
(111) OR Step1 14
MOVE PLC AX TO PALLET POS
(112) OR Step1 15
VERIFY PALLET END
(113) OR Step1 16
OK TO CLOSE MACHINE
(114) OUT Output 812
EV BACK SIDE BLOCK UP
(115) LOAD Step1 08
 TRASLATOR MOVE
(116) OR Step1 09
WAIT EJECTOR FORWARD
(117) OUT Output 814
TRASLATOR STACK FORWARD
(118) LD NOT Output 814
TRASLATOR STACK FORWARD
(119) AND Bit R 11

(120) OUT Output 813

TRASLATOR STACK BACKWARD
(121) BIT MANAGER OF STACK MACHINE
BIT MANAGER OF STACK MACHINE
(122) LOAD Step1 16
OK TO CLOSE MACHINE
(123) OUT Bit 09

(124) EXPULSOR MANAGER

EXPULSOR MANAGER
(125) LOAD Step 00

(126) SET Bit 15

NO LABEL AND NO COLD FIRST CYCL
(127) AND Bit 20
START CYCLE FROM STACKER
(128) AND Input 716
BLOCK STACK UP
(129) AND Input 220
FREE DEPOSIT AREA
(130) AND Input 712
FC STACK EJECTOR FORWARD
(131) SET Step 01
EXPULSOR FORWARD
(132) LOAD Step 00

(133) SET Bit 15

NO LABEL AND NO COLD FIRST CYCL
(134) AND Bit 20
START CYCLE FROM STACKER
(135) AND Input 716
BLOCK STACK UP
(136) AND NOT Input 220
FREE DEPOSIT AREA
(137) AND Input 712
FC STACK EJECTOR FORWARD
(138) SET Step 10
WAIT DEPOSIT AREA FREE
(139) LOAD Step 10
WAIT DEPOSIT AREA FREE
(140) AND Input 220
FREE DEPOSIT AREA
(141) SET Step 01
EXPULSOR FORWARD
(142) LOAD Step 01
EXPULSOR FORWARD
(143) AND Input 708
FC EXPULSOR FORWARD
(144) TIMER 04 Preset 3.5s
(145) AND Timer 04
WAIT FORWARD
(146) SET Step 02
EXPULSOR BACKWARD
(147) LOAD Step 02
EXPULSOR BACKWARD
(148) AND Input 716
FC STACK HIGHT
(149) AND Input 709
FC EXPULSOR BACK
(150) SET Step 03
WAIT STACK OK FROM PALLET MACH
(151) LOAD Step 03
WAIT STACK OK FROM PALLET MACH
(152) AND Bit 22
STACK OK FROM PALLET MACHINE
(153) RESET Bit 22
RESET STACK OK
(154) SET Step 04
WAIT STACK COLD
(155) LOAD Step04
WAIT STACK COLD
(156) TIMER 02 Preset 99.0s
TIMER TO COLD STACK
(157) AND Timer 02

(158) TIMER 10 Preset 35.0s

Timer 2 STACK COLD
(159) LOAD Bit 15
NO COLD FIRST CYCLE
(160) OR Timer 10
Timer 2 STACK COLD
(161) AND Step 04
WAIT STACK COLD
(162) AND Input 220
DEPOSIT AREA FREE
(163) SET Step 05
EXPULSOR FORWARD AND BLOCK DOWN
(164) LOAD Step 05
EXPULSOR FORWARD AND BLOCK DOWN
(165) AND Input 708
FC EXPULSOR FORWARD
(166) TIMER 03 Preset 0.8s
TIMER EXPULSOR FORWAR
(167) AND Timer 03

(168) SET Step 06

START PRINTER
(169) SET Bit 12
START PRINTER
(170) LOAD Step 06
START PRINTER
(171) AND NOT Bit 12
PRINT ENDED
(172) SET Step 07
STACK BLOCK HIGHT
(173) LOAD Step 07
STACK BLOCK HIGHT
(174) AND Input 716
 FC STACK BLOCK HIGHT
(175) AND Input 712
FC EJECTOR BACK
(176) AND Input 709
FC EXPULSOR BACK
(177) SET Step 03

(178) OUT MANAGER OF EXPULSOR MANAGER

OUT MANAGER OF EXPULSOR MANAGER
(179) LOAD Step 05
EXPULSOR FORWARD AND BLOCK DOWN
(180) OR Step 06
START PRINTER
(181) OUT Output 815
EV STACK BLOCK
(182) LOAD Step 02
EXPULSOR BACKWARD
(183) OR Step 00

(184) OR Step 03
WAIT STACK OK FROM PALLET MACH
(185) OR Step 04
WAIT STACK COLD
(186) OR Step 06
START PRINTER
(187) OR Step 07
STACK BLOCK HIGHT
(188) OUT Output 810
EV EXPULSOR BACK
(189) LOAD Step 01
EXPULSOR FORWARD
(190) OR Step 00

(191) OR Step 05
EXPULSOR FORWARD AND BLOCK DOWN
(192) OUT Output 809
EV EXPULSOR FOR
(193) LOAD Step 03
WAIT STACK OK FROM PALLET MACH
(194) OR Step 04
WAIT STACK COLD
(195) OR Step 10
WAIT DEPOSIT AREA FREE
(196) OR Bit 23

(197) OUT Output 204

CONVEYOR SWITCH
(198) BIT MANAGER OF CLOSE MACHINE
BIT MANAGER OF CLOSE MACHINE
(199) LOAD Step 03

(200) OUT Bit 21

EXPULSOR BACK TO PALLET MACHINE
(201) LOAD Bit 12
START PRINTER
(202) DIFU Bit 13

(203) LOAD Bit 13

DIFU TO START PRINTER
 (204) AND NOT Bit 15
NO LABEL AT FIRST CYCLE
(205) AND NOT Bit R 05

(206) Print ID: 3

(207) LOAD Bit 12

START PRINTER
(208) AND Bit 15
NO LABEL AT FIRST CYCLE
(209) OR Bit R 05

(210) RESET Bit 12

START PRINTER
(211) RESET Bit 15
NO LABEL AT FIRST CYCLE
(212) ECHO INTO BIT 14
ECHO INTO BIT 14
(213) LOAD Bit S 06

(214) OUT Bit 14

AUTOMATIC STATE
(215) LOAD Tecla U 01

(216) OUT Bit 23

(217) OUT Led U 01

[END]