Contenu de l'action à la désactivation de l'étape

! (*validation des axes voies 1 et 2*)

SET Axis_1.Control_enable; SET Axis_1.Control_acquire; SET Axis_1.Control_enable; SET Axis_1.Control_acquire;

Contenu de l'action à l'activation de l'étape

! (*initialisation des valeurs*)

RESET Axis_1.Control_enable; RESET Axis_1.Control_acquire; RESET Axis_1.Control_enable; RESET Axis_1.Control_acquire;

Contenu de l'action à l'activation de l'étape

! (*prise d'origine voie 2*)

Axis_2.Action_cmd := 6034; (***Prise d'origine***)

Axis_2.Param_cmd_1 := 0; (***Param 1***)

Axis_2.Param_cmd_2 := 0; (***Param 2***)

Axis_2.Param_cmd_3 := 1.0; (***1 => positive direction, -1 negative direction***)

Axis_2.Param_cmd_4 := %MF106; (***speed***)

WRITE_CMD(Axis_2);

! (*prise d'origine voie 1*)

Axis_1.Action_cmd := 6034; (***Prise d'origine***)

Axis_1.Param_cmd_1 := 0; (***Param 1***)

Axis_1.Param_cmd_2 := 0; (***Param 2***)

Axis_1.Param_cmd_3 := 1.0; (***1 => positive direction, -1 => negative direction***)

Axis_1.Param_cmd_4 := %MF106; (***speed***)

WRITE_CMD(Axis_1);

Contenu de l'action à l'activation de l'étape

! (*voie 2 déplacement absolu*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := %MF50; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_2);

! (*voie 1 déplacement absolu*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := %MF52; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_1);

Contenu de l'action à l'activation de l'étape

! (*voie 1 déplacement absolu*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := 0.0; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_1);

! (*voie 2 déplacement absolu*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := 1000.0; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_2);

Contenu de l'action à l'activation de l'étape

! (*fermeture de la pince*)

SET %Q0.3.0;

Contenu de l'action à l'activation de l'étape

! (*voie 1 déplacement absolu*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := %MF54; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_1);

! (*voie 2 déplacement absolu*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := %MF56; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)

WRITE_CMD(Axis_2);

Contenu de l'action à l'activation de l'étape

(*ouverture de la pince*)

RESET %Q0.3.0;

Contenu de l'action à l'activation de l'étape

! (*voie 1 déplacement absolu*)

Axis_1.Action_cmd := 513; (***Move Immed***)

Axis_1.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_1.Param_cmd_2 := 0; (***Param_2***)

Axis_1.Param_cmd_3 := %MF58; (Direction / Cont 1.0, Position / abs***)

Axis_1.Param_cmd_4 := %MF102; (***Speed***)

! (*voie 2 déplacement absolu*)

Axis_2.Action_cmd := 513; (***Move Immed***)

Axis_2.Param_cmd_1 := 0; (***Move type: -1 defaut, 0 ABS_MOVE, 1 INCR_MOVE, 2 CONT_MOVE, 3 ABS_MOVE_POS, 4 ABS_MOVE_NEG***)

Axis_2.Param_cmd_2 := 0; (***Param_2***)

Axis_2.Param_cmd_3 := %MF60; (Direction / Cont 1.0, Position / abs***)

Axis_2.Param_cmd_4 := %MF102; (***Speed***)