Information This project is a OFFLINE project. That means the whole application is only for use in SIMULATION mode There is also a Microsoft Word file, that contains the differences between PL7/Concept to Unity and more information for this application.. Please read the "welcome file" at the process overview before starting this simulation. Developed by Stefan Probst 07.05.2003 Model for diagnostics user DFB in ST language (*Activation of the diagnostic *) Start command Stop command Selection left direction Selection right direction Feedback simulated (if no fdbk signal or for test) Feedback information (*Error bit*) (*Machine zone monitored by the DFB (0 to 15)*) (*If TRUE, operator acknowledgment is required*) Feedback simulated preset time (if Simul_preset > fdbk_preset error will be set to 1) Feedback preset time 5s by default (*Error Identifier*) (*Nature of fault*) (*Indicator of a write operation on a full diagnostics buffer*) (*Number of monitored input pin in error*) (*Expected value for the pin in error*) Timer simulation feedback Timer feedback Diagnostic control validated by ED input (* Initialization of PIN_VAL and PIN_NB *) IF (fdbk_info = TRUE) THEN (* error on 1st monitored input pin *) PIN_NB := 5; PIN_VAL := TRUE; ELSE (* error not linked with a monitored input pin *) PIN_NB := 0; PIN_VAL := FALSE; END_IF; (* DFB not active *) IF (NOT ED) THEN (* current error *) IF ERROR THEN (* deregistration *) %SW77:=DEREG(ERROR_ID); (* reset Error and Status *) RESET( ERROR); STATUS:=0; END_IF; (* Initialization of the full diagnostics buffer write indicator *) RESET (BUFFULL); RETURN; END_IF; (* Disappearance of the error *) (* -------------------------- *) (* Condition monitored correct *) IF (NOT fdbk_info) THEN (* current error *) IF ERROR THEN (* deregistration *) %SW77:=DEREG(ERROR_ID); (* reset Error *) RESET( ERROR); END_IF; (* Initialization of the full diagnostics buffer write indicator *) RESET (BUFFULL); (* Appearance of the error *) (* ----------------------- *) ELSE (* Condition monitored incorrect *) (* no current error *) IF NOT ERROR THEN (* registration *) REGDFB(AREA :=AREA_NR, (* Machine zone monitored by the DFB *) CLAS :=16#0062, (* Error class *) SLEN :=0, (* Status length : 0, 2 or 4 bytes *) CTRL :=OP_CTRL, (* Operator acknowledgment *) PIN :=PIN_NB, (* error Pin Number *) VALPIN := PIN_VAL, (* Expected Value *) ESTS => STATUS, (* Status : not used in this DFB *) ERID =>ERROR_ID, (* Error identifier *) STAT => %SW76); (* Error registration report *) (* updating Error *) SET (ERROR); (* Processing of %SW76 report *) IF (%SW76 <> 0) THEN (* Error not saved but memorized *) SET( BUFFULL); END_IF; ELSE (* There is still an error *) (* Has there been an attempt to write on the full diagnostics buffer? *) IF (BUFFULL) THEN (* Retry saving *) REGDFB(AREA :=AREA_NR, (* Machine zone monitored by the DFB *) CLAS :=16#0062, (* Error class *) SLEN :=0, (* Status length : 0, 2 or 4 bytes *) CTRL :=OP_CTRL, (* Operator acknowledgment *) PIN :=PIN_NB, (* error Pin Number *) VALPIN := PIN_VAL, (* Expected Value *) ESTS => STATUS, (* Status : not used in this DFB *) ERID =>ERROR_ID, (* Error identifier *) STAT => %SW76); (* Error registration report *) (* Processing of %SW76 report *) IF (%SW76 = 0 ) THEN (* OK it was possible to save the error reset everything or do nothing *) RESET (BUFFULL); END_IF; END_IF; END_IF; END_IF; Motor control On delay On delay Running right Running Left Simul feedback Control FeedBack Robot running Robot rotation left Movement arm one Movement arm two Taking up material Rotation right Rotation right Robot rotation left done Movement arm one done Movement arm two done Packaging 5 pices Packaging 10 pices Rotation right done Rotation right done Material down in package Internal variable robot Internal variable arm one Internal variable arm two Internal variable for movement arm right Internal variable for movement arm right Internal variable for material down done Material down in package done Initialisation 8805EC2001B46DC982446580792A188CEDD124E53D5325799BA82ADC86D1F7427F4C9C83DC50A3DC2EC30F6B8A8B7F2713F53E844F2C39358D9A94F65FAE263C4B45E4902BF65C4E6521E0A9171BEED740BCAD83E9B7646DF5B09005B660894038F8AAAEEBAE8A4120F5B74DF0DBF0561FA548224E229637921C1FB5D9460AC9FC6618DA50FC27586DA88943E7C4756153013C5110CCAF056136EE0E81689CA41DDEAE03DA21ABF77B7E152E6F4E5A69DB6BCE84DD7B614354A5C79C87453BCAE1F4520C83AF44A42B97C97B00D92C0FEBB65199C89FE35EAEED11CE0E54C9538D163B232E0EF85959B7AD6F66D8679AF6160F72E05E3856B6E14FED88A28A62A3B69B27C696C0D37B9D545F3AEC56F7AA56E60B41BC77FC39D663C0CC71475E7A9F02A981E8558BCB3250E49402696F8E78FC8B705D9190AEE8FA5527142A0BB2746DA2A8A7ADFBDAADE1209B351F28C480F26CB9C177DE7112E422C0BA36676E8A022233B4C16D20EBE999D6D378E68D3310C695E7D697D7A030D74647C6D87394DE8001D5697DB09B091824E3EE0D270DD08B0ACCAC7B5497AED828C533E1A74B48129C4DCD142328923FB367D5723EDEB8D9016920E739FC577360419456A63E8190866D1949537D5178C3887B6F279491D3ADF17353F0D7B3D68AAD0E434308D54C915DD17AE0B354B55D6D66AF1BDA967DECE3BD74761367F2E679CE54E2E0BD32B3759966A8CF8B943709F3E74F73A6BA724F2F774E272F3DE24D57D6449EF1A655804DD183CC25310D7247570FF69C2BA0C50F6B88965E74231727421B0E318EA15FC5396C4E3E644CC8C9F54CFD8DEF73F53FC03EBD7B798E68BAF32A5C43E4001234D7A80EA23BA4B661931D1B030935EAB135E7789640384C0F32B7D66F7414D07AECF7434CBF83AD3984DCC22E69ACDED185731CC80A5258D031AA285A804BAD09DAFC15BFA6AE3CEDA29869287222C81058A09A2704CA46ED46C056450B1F7F37D9E1DC867B5E42B7208317BA2D1B2450711E572DDAEFD43656CA868AEE426D676F9BFB827A184F80F96B70629165DCCA1257C9D315B230364F36109B4EFDCAF24EF6D9A1FF8EFA2F70FA362CC08DF08FBF397E7563C60EBA909A6B6F7275F28F420A03C2F01DAB20AD8101F7D5EA25F0D0436D135306126B1BEAB1146A1496FA909507AD7117A67669E706532B2B23B3EB4AB62B9B785D3CB54384E88FC16E4E49E6313C254CF4A9A8B592EBA57E93306404B208C76D58920204924F64E5EE7FFE3F4A76B61983AA586DCEC82A6484CD05BAE45E53C0DE05F843F61B97B54A1B895D3D917D2B655A4729ADC041FBC19C2C194D82D506EB4F5C3F7FC9D6E5B99D074CCE74AAC6DEBF46491217DFABE5A82F0C0FDF5937F7AED81D7AB94C3FAD0E02221F0E08782C21502A7F44E066B3F6B6AAEBA809982D7ABC1825C1AA32F787FB68E60BACF503C678A865AE0DDF3118E6A75884476F34686E2A08C6ADE3A9A4B6D8D76892EECE78EC0B98CF252396771AA3FE27912570FEFECDE40596D81B1F7CDB1A11CAAE8AADCE18268AEADC6DA98C07E0468DACB6A0A9261D41DD11B8A99A80B3B68E1FFCAB958541B390FDD28D56EE3A9642D016DE3B2A8228CE5C219053189E3C3FE4B62BA3E4FBE122F1058CFCA11155AC5E20256A93F096433E93312D8E7AA68BC816343F1BE6649636BA6037B4ED04A026AB29D4E7B0B35AED831687F8B9F0649F99F23ED9EB7CB0FDA5DFC22CD49DEA9CE85EBAD7851F4114A29A94B9C309218CCC358A602DD56DCD08FDF7E0030B7503593897B994FAACA6C74B5C9CE42C2CB1B95D0B3BE5310A8F9D1B2B6B604BE068249E3645EEEACB51A2419CAC8C98EE04F438CF6289B1CE55848597D39A20AE08D3E4A2C99B73A2B131FDAC25AFC860B0079883C5463D086E285344EB78BFEAEC06D27564B9F5269A352FB41F7DCAFF228A3416F8DAB1982DE5C3B6254F59BF2D6E94D11448C5DB83963837CBF01F5C2FE19848814F6F08AC6C87E338068581C686306A063C4B1A155FBF989E12B282AE03FDFFBFC22BC9D96E3B6ABFE69B2D3BD4E01B325C56191018CDD10732C723384C06F1F3E2C777B67843C330D122616EEBD4C741650C9A5400F6E5B095A3D8E025F84FBAE8D2094E680184C233E779CF2400A55582D36B3AB59B216FEF1D8B9EBCC83155FD843B517AFF2D8D81F10097BDCC269962CD6DAC62EE030F01134771292DED0CD20F61E351F2ABE2DDF9BAA2FB20F79AAA5DDC1BA77635EDDBB3EC7C64A1F58925775DFA22FA8A7C083D345650F6DEB9628D6652AC5C1D96A611BB76F9739051C398709083AC0E31E5C309CEC46321798F582533591C5B80A583AF5119A4D76E6433A2A5FB4207C0CF77C8DF7C45BBB9470019703CF2419B09302056DBD6DA704B798BF0FB36158E35DD0BAD66E896FABD84FC1D4C72993BBB4A9F0AAA44F6021236065FECA02C4493EF6BAECB588B795409B30BF325BFE7F78D2E4F5FAEE0838651467BC6DED2146C2E87BE06055A9CFE56E9A6E9460615F3C6EC6207A1384E286FC14F00CA3CA8D01031F4745B9D2E03F19419F8039FC00D243152947747A10DA396DDBE983E3CEE7274AC80C44295C735DAF15A6FDCAE16E5E0AECA4BFCF2CBFA42062B54842371186AB7D52AD273621396A70E13095CAE28112F9E377140FCE4FAFF8CB07A4916054B9CE7B8088E50D825125220B6FA23A4F348BC967399B90E2901D25D7F22242EE4F9E8AB342AE8F78AFD17FB6A0EA7CA9816C1C416FD3CD10709887B8F03E4953082BA3533C9A7B10CC449B0F0A75DEBDC109953CC0E3D9E77F5C308FB6B67B62CF91ED731A449B8B6A90A605BF926B3C3A6781FB292FE658A1D6E77B2EFBCC20862D8CB93BA5BDC29F4537E7955E6CDC4816A0C5ADB8DDC823B17D4D41E1515CB0ADB2DB31FF6D553B05B9C6BBAACFB36E90BF65AD3ADF4C21ED7D57D77A914107A102A36E4D3922E4B73AF77DC7CA1FA79F8F19932B869207496E030573B9F7D661CF2FF7C23A4A2E0076A8E458C36A0B0539E34876D78A4F60BA86F7CD2ADC83FD934F23CEB301E00AF19595DC07BEF797F191E9836CEB74F819666DDCEFD471CD33107430BD15B335E7FEA4DCFE8441926E9B7F30A4449B87618B125B399DA2466EC14501ACB2F133D08C1CEE0DA43974C322D82D560A8EC806D3B80DF6AE6D2AA106673034E2E2460FEE1A86F816F012534B207D81CB32334BDE022E7F9D73C1B1A10FD376CEF3FD20D2EEE7B9B5104E9BDBF036B40EF774A839288C5DD6278A1C4C173AFC5B19E428162F7F934696119292D86C192E66E3E27F118F5B8567E63E7E7822F8621E894BB5CD178310BC75BA5111BE7303B37CF9A2C8E0DA9378341BB7636956AF493ED8F3E3B2D49325C087C840E5DAE57868DEB83262AF2437A3D8C28A72096384FEF4CA996DA2DEC93773EB9FA4A8367723B3998E390FDA174B89C9A96AB85E074112B2536B61F7628EBC67CF1DA7F930671AA5F14014E7A316A174020429A52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(*Input monitored for 1*) (*Input monitored for 0*) (*Error bit*) (*Machine zone monitored by the DFB (0 to 15)*) (*If TRUE, operator acknowledgment is required*) Heating control DFB Setpoint of Temperature Measurement of Temperature Start Temperature control + 10% power + 5% power + 1% power - 1% power - 5% power - 10% power internal calculating Variable internal calculating Variable 2 calculating Variable 1 calculating Variable 2 calculating Variable 3 calculating Variable 4 calculating Variable 5 calculating Variable 6 if start then ctemp:=setpoint_temp; end_if; temp_1:=ctemp-10.0; temp_2:=ctemp-50.0; temp_3:=ctemp-100.0; temp_4:=ctemp+10.0; temp_5:=ctemp+50.0; temp_6:=ctemp+100.0; ctemp2:= int_to_real (Measured_temp); if ctemp2<ctemp and ctemp>=temp_1 and not (ctemp2=ctemp) and not (plus_5_percent) and not (plus_10_percent) then set (plus_1_percent); else reset (plus_1_percent); end_if; if ctemp2<ctemp and ctemp>=temp_2 and ctemp2<temp_1 and not (ctemp2=temp_1) and not (plus_10_percent) then set (plus_5_percent); else reset (plus_5_percent); end_if; if ctemp2<ctemp and ctemp>=temp_3 and ctemp2<temp_2 and not (ctemp2=temp_2) then set (plus_10_percent); else reset (plus_10_percent); end_if; if ctemp2>ctemp and ctemp<=temp_4 and not (ctemp2=ctemp) and not (minus_5_percent) and not (minus_10_percent) then set (minus_1_percent); else reset (minus_1_percent); end_if; if ctemp2>ctemp and ctemp<=temp_5 and ctemp2>temp_4 and not (ctemp2=temp_4) and not (minus_10_percent) then set (minus_5_percent); else reset (minus_5_percent); end_if; if ctemp2>ctemp and ctemp<=temp_6 and ctemp2>temp_5 and not (ctemp2=temp_5) then set (minus_10_percent); else reset (minus_10_percent); end_if; if not start then reset (minus_10_percent); reset (minus_5_percent); reset (minus_1_percent); reset (plus_10_percent); reset (plus_5_percent); reset (plus_1_percent); end_if; Internal variable for Material B Timer for movement arm 2 Timer for packaging Internal bit packaging Fill feeder Temp. high => Decrease Temp. Setpoit True Timer for movement arm 1 Internal bit robot rotation right Timer for rotation right Material picked up from robot Pulse for mixing motor Internal Bit for ten pieces Temp. low => Increase Temp. Setpoint True Internal variable for process start Value material A Value material B Material valve A open Material valve A closed Material valve B open Material valve B closed Variable with 1sec. timebase Transportation belt motor Weight empty Weighing material A in progress Weighing material B in progress Flapp open Flapp closed Internal variable for temperature setpoint Start process Stop process Pulse for flapp Internal bit for weighing Material B done Internal variable mixer 1 2 3 4 5 6 7 8 9 10 11 Forming material in progress Setpoint for temperature Calculating variable for measured temperature Temperature ok Material feeder full Material feeder empty Material value ok Internal variable for Material A Internal bit for material B in feeder Internal bit for material A in feeder Pulse for mixing done Mixing done Feeder state New material for feeder demandet Internal bit for weighing material A done Timer for refill feeder Mixing in progress Transportation belt running Mixer ready Internal variable mixer Forming motor Heating input power +10% Timer for movement arm right Measurement of temperature Heating control Heating input power +1% Heating input power +5% Heating input power -1% Heating input power -5% Heating input power -10% Conveying screw Variable with 100ms timebase Variable with 10ms timbase Conveying screw motor No material in feeder/refilling...... Alert for temperature to low Starting value for weighing material B Alert for temperature to high Alert for feeder empty Output for Machine running Result of conditions; must be true Internal bit for material in feeder Packaging 5 pices t#2s t#10s t#1s t#5s Internal Bit for five pieces Timer for robot rotation Fault for temperature to low Internal variable (Flapp Material B) Fault for temperature to high Internal bit for conveying screw Robot one Timer for material down Internal variable (Flapp Material A) Packaging 10 pices Valves selection fault Value material A Internal variable for Material A Internal variable for Material B cv_Material_A:=1000; cv_Material_B:=1000; material_a_value:=50; material_b_value:=20; Start Process setting Material value to 1000 setting weighing value A to 50, setting material value B to 20 (* start weighing process for material A *) if re (Start_process) or re (new_material_demand) then set (weight_empty); set (valve_a_closed); set (valve_b_closed); reset (valve_b_open); end_if; (* creating internal pulse *) sec:=%S6; ms_100:=%s5; ms_10:=%s4; (* opening valve A *) if re (weight_empty) then set(valve_a_open); reset (valve_a_closed); reset (ready_to_mix); reset (weighing_a_done); end_if; (* filling weight till demandet value *) if valve_a_open and re (sec)and Weighing_material_A<=material_a_value then inc_int (Weighing_Material_A); reset (weight_empty); end_if; (* close valve A if demandet value reached *) (* set internal bit flapp A => for operator screen *) if weighing_material_a=material_a_value then reset (valve_a_open); set (valve_a_closed); set (weighing_a_done); Flapp_a:=true; if flapp_a then weighing_material_a:=0; set (material_a_in); end_if; end_if; if fe (mixing_done) then reset (material_a_in); reset (Material_b_in); end_if; (* delay time for flapp open *) Flapp (IN := Flapp_A or Flapp_b, PT := t#5s, Q => Flapp_open); (* start weighing process for material B*) (* opening valve B *) if Flapp.et = t#5s and not Flapp_b then Flapp_closed:=true; Flapp_a:=false; set (valve_b_open); reset (Weighing_B_done); reset (valve_b_closed); end_if; (* filling weight till demandet value *) if valve_b_open and re (sec) and Weighing_material_b<=material_b_value then inc_int (Weighing_material_b); end_if; (* close valve B if demandet value reached *) (* set internal bit flapp B => for operator screen *) if weighing_material_b=material_b_value then reset (valve_b_open); valve_b_closed:=true; set (Weighing_B_done); Flapp_b:=true; if flapp_b then weighing_material_b:=0; set (Material_b_in); end_if; end_if; (* start process mixing *) if Flapp.et = t#5s and not Flapp_open then flapp_b:=false; set (ready_to_mix); end_if; (* calculating material values vor operator screen *) Material_A:=cv_material_a_2; if cv_material_b_2=0 then material_b:=1000; cv_material_b:=1000; else Material_B:=cv_material_b_2; end_if; if valve_a_open then cv_material_a_2:=cv_material_a-weighing_material_a; end_if; if valve_a_closed then cv_material_a:=Cv_material_a_2; end_if; if valve_b_open then cv_material_b_2:=cv_material_b-weighing_material_b; end_if; if valve_b_closed then cv_material_b:=cv_material_b_2; end_if; On delay AND function AND function Pulse Pulse AND function startin process mixing Setpoint_temp:=int_to_real (cv_setpoint); Heating Control inc (Measured_temp); dec (Measured_temp); Measured_temp<=200 Measured_temp>=400 starting process heating. simulation of process loop for heating with DFB comparing Temperature for alarm displaying (* initialisation of feeder *) if fe (Mixing_done) then feeder_state:=material_a_value+material_b_value; reset (new_material_demand); end_if; (* calculating value feeder state *) if re (forming) then dec (feeder_state); end_if; if feeder_state=2 then set (new_material_demand); end_if; if feeder_state>2 then set (feeder_full); else reset (feeder_full); end_if; if feeder_state<=2 then set (feeder_empty); else reset (feeder_empty); end_if; (* initialisation of variables for forming process *) CMeasured_temp:=int_to_real (Measured_temp); if cmeasured_temp=setpoint_temp then Temp_ok:=true; else Temp_ok:=false; end_if; if feeder_full and not feeder_empty then Material_ok:=true; else Material_ok:=false; end_if; if not forming and not feeder_empty and re (sec) then inc_int (material_in); end_if; if forming then material_in:=0; end_if; AND function Pulse Model for diagnostics user DFB in ST language AND function AND function OR function AND function Model for diagnostics user DFB in ST language OR function Pulse starting forming starting conveying screw Bistable function block, reset dominant AND function OR function starting transportation Belt Left_Rotation step for rotation left Material_packaging step for packaging and movement right Packaging_10_0 step for packaging ten pieces Packaging_5_0 step for packaging five pieces Arm1 step for movement arm 1 Init_Robot initialisation of packaging robot Arm2 step for movement arm 2 Robot_one.robot_running Robot_one.rotation_right_ten_done Robot_one.rotation_right_five_done Robot_one.packaging_5 Robot_one.Arm_one_done Robot_one.packaging_10 Robot_one.Rotation_left_done Robot_one.material_down_done step for packaging five pieces step for movement arm 1 step for rotation left step for packaging and movement right step for movement arm 2 initialisation of packaging robot step for packaging ten pieces (* initialisation of packaging robot *) if Start_process then Robot_one.robot_running:=true; else Robot_one.robot_running:=false; end_if; (* resetting last step *) If Start_Robot.x then reset (Robot_one.material_down_done); end_if; (* rotation left after initialisation *) if Robot_one.robot_running and re (Belt_running) then set (Robot_one.Rotation_left); end_if; if robot_one.robot_running and not Robot_one.Rotation_left and rotation.t >= t#300ms then set (Robot_one.init); else reset (Robot_one.init); end_if; (* delay time for left rotation *) Robot_rotation (IN := Robot_one.Rotation_left, PT := t#1s, Q => Robot_one.cvRobot_one); (* rotation left done *) if Robot_one.cvRobot_one then set (Robot_one.Rotation_left_done); reset (Robot_one.Rotation_left); else reset (Robot_one.Rotation_left_done); end_if; (* packaging *) if Robot_one.rotation_right_five_done or Robot_one.rotation_right_ten_done and Packaging.t>t#200ms then set (Robot_one.arm_right); end_if; (* delay time for rotation right *) Arm_right_Timer (IN := robot_one.arm_right, PT := t#1s, Q => robot_one.cv_arm_right); (* material down in box *) if robot_one.cv_arm_right then reset (Material_picked_off); set (Robot_one.material_down); reset (Robot_one.rotation_right_five_done); reset (Robot_one.rotation_right_ten_done); set (Robot_one.cv_material_down_done); reset (Robot_one.arm_right); end_if; (* delay time for material down in box *) Material_down_Timer (IN := Robot_one.material_down, PT := t#1s, Q => Robot_one.cv_material_down_done); (* material down done *) if Robot_one.cv_material_down_done then reset (Robot_one.material_down); set (Robot_one.material_down_done); end_if; (* movement of arm one if rotation left done *) if Robot_one.Rotation_left_done and Arm_1.t>t#100ms then set (Robot_one.Arm_one); end_if; (* delay time for movement arm one *) Arm_1_Timer (IN := Robot_one.Arm_one, PT := t#1s, Q => Robot_one.cvArm_one); (* movement arm one doen *) if Robot_one.cvArm_one then set (Robot_one.Arm_one_done); reset (Robot_one.Arm_one); reset (robot_one.cvArm_one); reset (Robot_one.Rotation_left_done); else reset (Robot_one.Arm_one_done); end_if; (* movement of arm two if movement arm one done *) if Robot_one.Arm_one_done and arm_2.t>t#100ms then set (Robot_one.Arm_two); end_if; (* delay time for movement arm two *) Arm_2_Timer (IN := Robot_one.Arm_two, PT := t#1s, Q => Robot_one.cvArm_two); (* movement arm two done *) if Robot_one.cvArm_two then set (Robot_one.Arm_two_done); reset (Robot_one.Arm_two); reset (Robot_one.cvArm_two); reset (Robot_one.Arm_one_done); else reset (Robot_one.Arm_two_done); end_if; (* decide between step five and step ten *) if Robot_one.Arm_two_done and five_pices then set (Robot_one.packaging_5); reset (Robot_one.packaging_10); else reset (Robot_one.packaging_5); end_if; If Robot_one.Arm_two_done and ten_pices then reset (Robot_one.packaging_5); set (Robot_one.packaging_10); else reset (Robot_one.packaging_10); end_if; (* if five coosen initialisation fo step five *) if Robot_one.Arm_two_done and five.t>t#200ms then set (Robot_one.Taking_Material); set (Material_picked_off); end_if; (* delay time for taking material *) PACKAGING_TIMER (IN := Robot_one.Taking_Material, PT := t#1s, Q => hb_Packaging); (* movement arm two done rotating right to packageing *) if hb_Packaging then reset (Robot_one.Arm_two_done); set (Robot_one.Rotation_right_five); reset (Robot_one.Taking_Material); end_if; (* delay time for rotation right *) ROTATION_RIGHT_TIMER (IN := Robot_one.Rotation_right_five, PT := t#1s, Q => hb_rotation_right); (* rotation right done *) if hb_rotation_right then set (Robot_one.rotation_right_five_done); reset (Robot_one.Rotation_right_five); end_if; (* if ten coosen initialisation fo step five *) if Robot_one.Arm_two_done and ten.t>t#200ms then set (Robot_one.Taking_Material); set (Material_picked_off); end_if; (* delay time for taking material *) PACKAGING_TIMER (IN := Robot_one.Taking_Material, PT := t#1s, Q => hb_Packaging); (* movement arm two done rotating right to packageing *) if hb_Packaging then reset (Robot_one.Arm_two_done); set (Robot_one.Rotation_right_ten); reset (Robot_one.Taking_Material); end_if; (* delay time for rotation right *) ROTATION_RIGHT_TIMER (IN := Robot_one.Rotation_right_ten, PT := t#1s, Q => hb_rotation_right); (* rotation right done *) if hb_rotation_right then set (Robot_one.rotation_right_ten_done); reset (Robot_one.Rotation_right_ten); end_if; (* Alert for temperature to low *) CAL Temperature_monitoring_1 ( COND1 := 1, COND0 := Temp_fault_1, ERROR => Alert_1 ) (* Alert for temperature to high *) CAL Temperature_monitoring_2 ( COND1 := 1, COND0 := Temp_fault_2, ERROR => Alert_2 ) (* Warning for feeder empty *) CAL Feeder_monitoring ( COND1 := 1, COND0 := new_material_demand, ERROR => Alert_3 ) (* test index overflow : set index value to 11 to générate a fault*) diag_int := table[index]; (* test variable overflow : set the value var_overflow to 30000 *) Diag_overflow:=var_overflow+30000; (* init values for the watch point *) diag_in_wp_1 := true; diag_in_wp_2 := true; diag_in_wp_3 := true; diag_in_wp_4 := false; diag_in_wp_5 := true; AND function Assignment Diagnostics Buffer interface DFB init values for watch point Type conversion Type conversion Type conversion Type conversion Type conversion Type conversion Step duration adjustment: cooling; can be done through a cursor in the operator screen called "diagnostic monitoring" Cooling step Heating step Step duration adjustment: heating; can be done through a cursor in the operator screen called "diagnostic monitoring" Adjustment of duration of steps (minimum and maximum). It can be done through cursors in an operator screen called "diagnostic monitoring"