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FactoryIO_Template_S7-1200_V15_assembler / PLC_1 [CPU 1211C DC/DC/DC] / Program blocks

PICK AND PLACE XYZ [OB1]
PICK AND PLACE XYZ Properties
General
Name PICK AND PLACE XYZ Number 1 Type OB Language LAD
Numbering Automatic
Information
Title "Main Program Sweep (Cy‐ Author mituki Comment THE LADDER DIAGRAM IS Family
cle)" USED TO EXECUTE AND
COMPLETE PICK AND PLACE
SCENE OF FACTORY IO
Version 0.1 User-defined ID

PICK AND PLACE XYZ

Name Data type Default value Comment
Input
Initial_Call Bool Initial call of this OB
Remanence Bool =True, if remanent data are available
Temp
Constant

Network 1:

%FC9000
"MHJ-PLC-Lab-Function-S71200"
EN ENO

Network 2:
START SEQUENCE

%I10.1
"EMERGENCY %I10.0 %I10.2 %Q0.0
STOP" "AUTO/MANUAL" "START BUTTON" "START LIGHT"
S

%Q0.2
"BOX EMITTER"
S

%Q0.4
"BOX CONVEYOR"
S

%Q0.1
"STOP LIGHT"
R

Network 3:
START SEQUENCE

%I10.1
"EMERGENCY %I10.0 %I10.2 %Q0.3
STOP" "AUTO/MANUAL" "START BUTTON" "PART EMITTER"
S

%Q0.5
"PART CONVEYOR"
S

Network 4:
BOX AT PLACE

%I10.1
"EMERGENCY %I10.0 %Q0.0 %I10.3 %Q0.2
STOP" "AUTO/MANUAL" "START LIGHT" "BOX AT PLACE" "BOX EMITTER"
N R
%M0.0
"NEG TRIG COIL
ONE" %Q0.4
"BOX CONVEYOR"
R

Network 5:
PICK AND PLACE STEP ONE (GENERAL)
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%I10.1
"EMERGENCY %I10.0 %Q0.0 %I10.4
STOP" "AUTO/MANUAL" "START LIGHT" "PART AT PLACE" MOVE
N EN ENO
%M0.1 8.3 IN %QD30
"NEG TRIG COIL "SPX"
OUT1
TWO"

MOVE
EN ENO
5.8 IN %QD34
OUT1 "SPY"
%Q0.3
"PART EMITTER"
R

%Q0.5
"PART CONVEYOR"
R

%DB2
"IEC_Counter_
0_DB_1"
CTU
Int
CU Q

%M1.0 %QD42
"COUNTER CV "PARTS COUNT"
RESETCOIL" R
20 PV

%MD42 %MD46
%I10.4
"PART AT PLACE" "NEW X" "NEW Y"
MOVE
== ==
Real Real EN ENO
83.0 58.0 5.5 IN %QD38
OUT1 "SPZ"

%MD42 %MD46 %MD62 %Q0.6

"NEW X" "NEW Y" "NEW Z" "GRAB"
== >= >=
S
Real Real Real
83.0 55.0 52.0

%Q0.6
"GRAB" MOVE
EN ENO
0.0 IN %QD38
OUT1 "SPZ"

Network 6:
STEP ONE PART COUNT = 1
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%I10.1
"EMERGENCY %I10.0 %Q0.0 %QD42 %Q0.6 %MD62
STOP" "AUTO/MANUAL" "START LIGHT" "PARTS COUNT" "GRAB" "NEW Z"
MOVE
== ==
EN ENO
DInt Real
1 0.0 3.0 IN %QD30
OUT1 "SPX"

MOVE
EN ENO
3.5 IN %QD34
OUT1 "SPY"

%MD42 %MD46
"NEW X" "NEW Y"
MOVE
<= <=
Real Real EN ENO
30.0 35.0 10.0 IN %QD38
OUT1 "SPZ"

%MD42 %MD46 %MD62 %Q0.6

"NEW X" "NEW Y" "NEW Z" "GRAB"
<= <= >=
R
Real Real Real
30.0 35.0 76.0
MOVE
EN ENO
0.0 IN %QD30
OUT1 "SPX"

MOVE
EN ENO
0.0 IN %QD34
OUT1 "SPY"

MOVE
EN ENO
0.0 IN %QD38
OUT1 "SPZ"

MOVE
EN ENO
1 IN %QD42
OUT1 "PARTS COUNT"
%Q0.5
"PART CONVEYOR"
S

%Q0.3
"PART EMITTER"
S

Network 7:
STEP ONE PART COUNT = 2
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%I10.1
"EMERGENCY %I10.0 %Q0.0 %QD42 %Q0.6 %MD62
STOP" "AUTO/MANUAL" "START LIGHT" "PARTS COUNT" "GRAB" "NEW Z"
MOVE
== ==
EN ENO
DInt Real
2 0.0 3.0 IN %QD30
OUT1 "SPX"

MOVE
EN ENO
7.0 IN %QD34
OUT1 "SPY"

%MD42 %MD46
"NEW X" "NEW Y"
MOVE
<= <=
Real Real EN ENO
30.0 70.0 10.0 IN %QD38
OUT1 "SPZ"

%MD42 %MD46 %MD62 %Q0.6

"NEW X" "NEW Y" "NEW Z" "GRAB"
<= <= >=
R
Real Real Real
30.0 70.0 76.0
MOVE
EN ENO
0.0 IN %QD30
OUT1 "SPX"

MOVE
EN ENO
0.0 IN %QD34
OUT1 "SPY"

MOVE
EN ENO
0.0 IN %QD38
OUT1 "SPZ"

MOVE
EN ENO
1 IN %QD42
OUT1 "PARTS COUNT"
%Q0.5
"PART CONVEYOR"
S

%Q0.3
"PART EMITTER"
S

Network 8:
STEP ONE PART COUNT = 3
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%I10.1
"EMERGENCY %I10.0 %Q0.0 %QD42 %Q0.6 %MD62
STOP" "AUTO/MANUAL" "START LIGHT" "PARTS COUNT" "GRAB" "NEW Z"
MOVE
== ==
EN ENO
DInt Real
3 0.0 2.8 IN %QD30
OUT1 "SPX"

MOVE
EN ENO
5.0 IN %QD34
OUT1 "SPY"
%Q1.0
"C"
S

%MD42 %MD46
"NEW X" "NEW Y"
MOVE
<= <=
Real Real EN ENO
28.0 50.0 5.0 IN %QD38
OUT1 "SPZ"

%MD42 %MD46 %MD62

%Q0.6
"NEW X" "NEW Y" "NEW Z" "GRAB"
<= <= >=
R
Real Real Real
28.0 50.0 45.0
MOVE
EN ENO
0.0 IN %QD30
OUT1 "SPX"

MOVE
EN ENO
0.0 IN %QD34
OUT1 "SPY"

MOVE
EN ENO
0.0 IN %QD38
OUT1 "SPZ"
%Q0.5
"PART CONVEYOR"
S

%Q0.3
"PART EMITTER"
S

%Q1.0
"C"
R

%Q0.4
"BOX CONVEYOR"
S

%Q0.2
"BOX EMITTER"
S

Network 9:
CONVERSIONS
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%I10.1
"EMERGENCY %I10.0 %Q0.0 MUL
STOP" "AUTO/MANUAL" "START LIGHT" Auto (Real)
EN ENO
%ID30 %MD50
"X" IN1 OUT "INTERMEDIARY X"
10.0 IN2

MUL
Auto (Real)
EN ENO
%ID34 %MD54
"Y" IN1 OUT "INTERMEDIARY Y"
10.0 IN2

MUL
Auto (Real)
EN ENO
%ID38 %MD58
"Z" IN1 OUT "INTERMEDIARY Z"
10.0 IN2

ROUND
Real to Real
EN ENO
%MD50 %MD42
"INTERMEDIARY X" IN OUT "NEW X"

ROUND
Real to Real
EN ENO
%MD54 %MD46
"INTERMEDIARY Y" IN OUT "NEW Y"

ROUND
Real to Real
EN ENO
%MD58 %MD62
"INTERMEDIARY Z" IN OUT "NEW Z"

Network 10:
SET BOX CONVEYOR AND RESET COUNTER

%M1.0
%I10.2 "COUNTER
"START BUTTON" RESETCOIL"

%I10.5
"RESET BUTTON"

%Q1.0
"C"
N
%M1.4
"NEG TRIG COIL
THREE"