Transition Programming

At a Glance

The transitions associated with steps 2, 3, 5 and 8 are different depending on whether the SMOVE (for independent axes) or XMOVE (for interpolated axes) command is used.

Step 0 -> 1

! (*Channel X not faulty, open grab, Auto_man switch set to Auto, start cycle, channel Y not faulty and automatic mode active*)

NOT Error AND NOT Capteur_3 AND NOT Auto_man AND Cycle AND NOT Error_y AND Mode_Auto

Step 1 -> 2

! (*Test: X axis done and calibrated*)

Done AND Calib

Step 2 -> 3

For 2 independent axes

! (*Moving part in waiting position and part detected on conveyor A*)

Capteur_1 AND Cycle AND Axe_x.Next AND Axe_y.Next

For 2 interpolated axes

! (*Moving part in waiting position and part detected on conveyor A*)

Capteur_1 AND Cycle AND Next_INT

Step 3 -> 4

For 2 independent axes

! (*Moving part in detected part retrieval position on conveyor A*)

Axe_x.At_point AND Axe_x.Next AND Axe_y.Next AND Axe_y.At_point

For 2 interpolated axes

! (*Moving part in detected part retrieval position on conveyor A*)

interpo.At_point AND interpo.Next

Step 4 -> 5

! (*Type 1 part and closed grab*)

Capteur_2 AND Capteur_3

Step 4 -> 8

! (*Type 2 part and closed grab*)

NOT Capteur_2 AND Capteur_3

Step 5 -> 6

For 2 independent axes

! (*Moving part in position on conveyor B*)

Axe_x.At_point AND Axe_x.Next AND Axe_y.Next AND Axe_y.At_point

For 2 interpolated axes

! (*Moving part in position on conveyor B*)

interpo.At_point AND interpo.Next

Step 8 -> 6

For 2 independent axes

! (*Moving part in position on conveyor C*)

Axe_x.At_point AND Axe_x.Next AND Axe_y.Next AND Axe_y.At_point

For 2 interpolated axes

! (*Moving part in position on conveyor C*)

interpo.At_point AND interpo.Next

Step 6 -> 2

! (*Grabber open*)

NOT Capteur_3 AND Cycle