Symbolization of variables in the example
(Original Document)
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Entering variables
Access to symbols entry is by means of a double-click in the Application browser, then on the icons Variables and Elementary variables for example to obtain the following screen which permits the input of all the variables described in the following paragraphs.
Variables entry screen
Internal variables symbols
The following internal variables are symbolized:
Address
Symbol
Comment
%M0
CYCLE
Condition of the machine in work mode
%MD50
X_STAND-BY
Stand-by position (X axis)
%MD52
Y_STAND-BY
Stand-by position (Y axis)
%MD54
X_B
Position of belt B (X axis)
%MD56
Y_B
Position of belt B (Y axis)
%MD58
X_C
Position of belt C (X axis)
%MD60
Y_C
Position of belt C (Y axis)
Symbols for the discrete inputs module
The discrete inputs module is positioned in slot 3 in rack 0. Its symbols are as follows:
Address
Symbol
Comment
%I0.3.0
SENSOR_1
Detector to detect presence of machined part
%I0.3.1
SENSOR_2
Sensor to identify the part type (0 = type 2, 1 = type 1)
%I0.3.2
SENSOR_3
Sensor to detect claw open / claw closed
%I0.3.3
AUTO_MAN
Switch to select mode (0 = Auto, 1 = Manual)
%I0.3.4
START_CYCLE
Push button to execute automatic cycle
%I0.3.5
STOP_CYCLE
Push button to stop automatic cycle
I%I0.3.6
SELECTION_X_Y
Select axis to drive in Manual mode (1 = X, 0 = Y)
%I0.3.7
PO_MAN
Manual reference point
%I0.3.8
Forward
Move the moving part in the positive direction
%I0.3.9
BACK
Move the moving part in the negative direction
%I0.3.10
ACK_ERROR
Fault acknowledgment
%I0.3.12
EMERGENCY_STOP
Emergency stop
%I0.3.13
OPEN_CLAW
Push button to open claw
%I0.3.14
CLOSE_CLAW
Push button to close claw
Symbols for the discrete outputs module
The discrete outputs module is positioned in slot 4 in rack 0. Its symbols are as follows:
Address
Symbol
Comment
%Q0.40.0
CLAW
Command to open or close the claw (0 = Open, 1 = Close)
%Q0.4.1
Error
Signals an error
Internal constants
The speed of the moving part along the different axes is contained in the internal constants. In the case of 2 independent axes, the symbols and the values of these constants are as follows:
Address
Symbol
Value
Comment
%KD0
SPEED_O_C
5000
Speed from the reference point along the axis of the X and Y axes
%KD4
SPEED_X_WAIT
10000
Speed towards the X axis stand-by position
%KD6
SPEED_Y_WAIT
10000
Speed towards the Y axis stand-by position
%KD8
SPEED_POS_A_X
15000
Speed towards the X axis belt A position
%KD10
SPEED_POS_A_Y
15000
Speed towards the Y axis belt A position
%KD12
SPEED_POS_B_X
15000
Speed towards the X axis belt B position
%KD14
SPEED_POS_B_Y
15000
Speed towards the Y axis belt B position
%KD16
SPEED_POS_C_X
12000
Speed towards the X axis belt C position
%KD18
SPEED_POS_C_Y
12000
Speed towards the Y axis belt C position
Symbols for the axes control module
The axes control module is positioned in slot 3 in rack 1. Its symbols are as follows:
Address
Symbol
Address
Symbol
%CH1.3.0
AXIS_X
%CH1.3.1
AXIS_Y
%I1.3.0.9
AT_POINT
%I103.1.9
AT_POINT_Y
Symbols of the axes control module linked to IODDT de type T_STEPPER_STD
The table below shows the T_STEPPER_STD type IODDT objects which are used for the two channels in the programming example:
Address
Standard symbol
%Ir.m.c.0
NEXT
%Ir.m.c.1
DONE
%Ir.m.c.2
AX_FLT
%Ir.m.c.3
AX_OK
%Ir.m.c.4
HD_ERR
%Ir.m.c.5
AX_ERR
%Ir.m.c.6
CMD_NOK
%Ir.m.c.11
CONF_OK
%Ir.m.c.12
REF_OK
%Ir.m.c.16
IN_DROFF
%Ir.m.c.17
IN_DIRDR
%Ir.m.c.18
IN_MANU
%Ir.m.c.19
IN_AUTO
%Ir.m.c.35
ST_DRIVE
%Qr.m.c.0
DIRDRV
%Qr.m.c.1
JOG_P
%Qr.m.c.2
JOG_M
%Qr.m.c.3
INC_P
%Qr.m.c.4
INC_M
%Qr.m.c.5
SET_RP
%Qr.m.c.6
RP_HERE
%Qr.m.c.9
ACK_FLT
%Qr.m.c.10
ENABLE
%Qr.m.c.11
EXT_EVT
%MDr.m.c.22
RP_POS