Programming transitions

At a Glance

Transitions drawn in the Grafcet are programmed in the following way:

Step 0 -> 1

! (*X channel not in error, claw open, Auto_man switch set to Auto, Y channel not in error and automatic mode activated*)

NOT Axis_ch0.Ax_flt AND NOT Capteur_3 AND NOT Auto_man AND Cycle AND NOT Axis_ch1.Ax_flt AND Mode_Auto

Step 1 -> 2

! (*Test: axes ready and referenced*)

Axis_ch0.Done AND Axis_ch0.Ref_OK AND Axis_ch1.Done AND Axis_ch1.Ref_OK

Step 2 -> 3

! (*Moving part in stand-by position and part detected on belt A*)

Capteur_1 AND Cycle AND Axis_ch0.Next AND Axis_ch1.Next

Step 3 -> 4

! (*Moving part in position to take part detected on belt A*)

Axis_ch0.At_point AND Axis_ch0.Next AND Axis_ch1.Next AND Axis_ch1.At_point

Step 4 -> 5

! (*Type 1 part and claw closed*)

Capteur_2 AND Capteur_3

Step 4 -> 8

! (*Type 2 part and claw closed*)

NOT Capteur_2 AND Capteur_3

Step 5 -> 6

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

Axis_ch0.At_point AND Axis_ch0.Next AND Axis_ch1.Next AND Axis_ch1.At_point

Step 8 -> 6

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

Axis_ch0.At_point AND Axis_ch0.Next AND Axis_ch1.Next AND Axis_ch1.At_point

Step 6 -> 2

! (*Claw open*)

NOT Capteur_3 AND Cycle