Contents of the transition

! (*dcy and auto mode and no error *)

%I0.2.4 AND NOT %I0.2.3 AND NOT Axis_1.Axis_summary_flt AND NOT Axis_2.Axis_summary_flt

Contents of the transition

! (*%m1 manual control // %mw2.x.3 = 1 -> ERR WRITE_CMD*)

Axis_1.Drive_enable AND Axis_2.Drive_enable

Contents of the transition

! (*verification if drives are referenced and the command made*)

Axis_1.Axis_homed AND Axis_2.Axis_homed

AND (Axis_1.Err_write_cmd = 0) AND (Axis_2.Error_cmd = 0) AND NOT Axis_1.Cmd_err

AND NOT Axis_2.Cmd_err (*check exchanges*)

Contents of the transition

! (*verification => end of instruction and in position*)

Axis_1.Profile_end AND Axis_2.Profile_end AND Axis_1.In_position AND Axis_2.In_position

(*check axes*)

AND %I3.0 (*part present*)

AND (Axis_1.Error_cmd = 0) AND (Axis_2.Error_cmd = 0) AND NOT Axis_1.Cmd_err

AND NOT Axis_2.Cmd_err (*check exchanges*)

Contents of the transition

! (*verification => end of instruction and in position*)

Axis_1.Profile_end AND Axis_2.Profile_end AND Axis_1.In_position AND Axis_2.In_position

(*check axes*)

AND %I3.0 (*part present*)

AND (Axis_1.Error_cmd = 0) AND (Axis_2.Error_cmd = 0) AND NOT Axis_1.Cmd_err

AND NOT Axis_2.Cmd_err (*check exchanges*)

Contents of the transition

! (*machined item identification*)

%I0.2.1 AND %I0.2.2

%X(6) -> %X(7)

! (*verification => end of instruction and in position*)

Axis_1.Profile_end AND Axis_2.Profile_end AND Axis_1.In_position AND Axis_2.In_position

(*check axes*)

AND %I3.0 (*part present*)

AND (Axis_1.Error_cmd = 0) AND (Axis_2.Error_cmd = 0) AND NOT Axis_1.Cmd_err

AND NOT Axis_2.Cmd_err (*check exchanges*)

%X(7) -> %X(3)

! (*open grab ?*)

NOT %I0.2.2

%X(5) -> %X(10)

! (*machined item identification*)

NOT %I0.2.1 AND %I0.2.2

%X(10) -> %X(7)

! (*verification => end of instruction and in position*)

Axis_1.Profile_end AND Axis_2.Profile_end AND Axis_1.In_position AND Axis_2.In_position

(*check axes*)

AND %I3.0 (*part present*)

AND (Axis_1.Error_cmd = 0) AND (Axis_2.Error_cmd = 0) AND NOT Axis_1.Cmd_err

AND NOT Axis_2.Cmd_err (*check exchanges*)