gripper

job111a · May 22, 2014 at 8:54 PM

Hello,

Someone could help me to run the gripper key on KR15, KRC1, V4.1.4?
I used to parameter the output of my gripper, but when I press the buttons gripper nothing happens

thank you

M.Ozkan · May 22, 2014 at 11:00 PM

Please check Submit interpreter running correctly.

neranol · May 23, 2014 at 7:53 AM

hi,

please attach your config.dat file or at least the piece of code with gripper configuration.

Regards

job111a · May 23, 2014 at 1:10 PM

hi,

please attach your config.dat file or at least the piece of code with gripper configuration.

Regards

[noae]

Code

&REL 3
DEFDAT  $CONFIG
;FOLD BAS GLOBALS;%{E}%V3.2.0,%MKUKATPBASIS,%CGLOBALS,%VGLOBALS,%P
;==================================
; Default parameters for movement
; These values shouldn't be changed
;==================================
; EDITOR-Modes
;----------------------------------
INT $EDIT_MODE=1
;----------------------------------
; general MOVEMENT - parameters:
;----------------------------------


INT DEF_OV_PRO=100
INT DEF_ADVANCE=3


; PTP - MOVEMENTS
;----------------------------------
INT DEF_VEL_PTP=100
INT DEF_ACC_PTP=50


; CP - MOVEMENTS                                                 
;----------------------------------
DECL CIRC_TYPE DEF_CIRC_TYP=#BASE
REAL DEF_VEL_CP=2.0
REAL DEF_VEL_ORI1=200.0
REAL DEF_VEL_ORI2=200.0
REAL DEF_ACC_CP=2.29999995
REAL DEF_ACC_ORI1=100.0
REAL DEF_ACC_ORI2=100.0
REAL DEF_VEL_FACT=1.0


; APO - parameters
;--------------------------------
INT DEF_APO_CPTP=50
INT DEF_APO_CVEL=100
REAL DEF_APO_CDIS=3.0
REAL DEF_APO_CORI=5.0


;==================================
; Structures:
;==================================
ENUM BAS_COMMAND INITMOV,ACC_CP,ACC_PTP,VEL_CP,VEL_PTP,ACC_GLUE,TOOL,BASE,EX_BASE,PTP_DAT,CP_DAT,OUT_SYNC,OUT_ASYNC,GROUP,FRAMES
ENUM OUT_MODETYPE TRIGGER_,CONT_,STOP_
ENUM IPO_M_T NONE,TCP,BASE
STRUC DIG_OUT_TYPE INT FIRST_BIT,LENGTH,PARITY,CODING
STRUC CTRL_IN_T INT IN_NR,CHAR NAME_NAT[20]
STRUC CTRL_OUT_T INT OUT_NR,BOOL INI,CHAR NAME_NAT[20]
STRUC FCT_OUT_T INT NO,REAL PULS_TIME,BOOL STATE
STRUC FCT_IN_T INT NO,BOOL STATE
STRUC EX_AX_DATA_T FRAME ROOT,ESYS EX_KIN,FRAME OFFSET
STRUC PDAT REAL VEL,ACC,APO_DIST
STRUC LDAT REAL VEL,ACC,APO_DIST,APO_FAC
STRUC FDAT INT TOOL_NO,BASE_NO,IPO_MODE IPO_FRAME
STRUC ODAT INT OUT_NO,BOOL STATE,REAL PULSE_TIME,OUT_MODETYPE OUT_MODE,REAL TIME_DELAY,OFFSET
STRUC BASIS_SUGG_T CHAR POINT1[24],POINT2[24],CP_PARAMS[24],PTP_PARAMS[24],CONT[24],CP_VEL[24],PTP_VEL[24]
STRUC OUT_SUGG_T CHAR PARAMS[24]


;==================================
; External declarations:
;==================================
EXT  BAS (BAS_COMMAND  :IN,REAL  :IN )
EXT  IR_STOPM ( )


;====================
; Signal declarations
; Do not change !!!!!
;====================
SIGNAL CHANNEL_1 $ANOUT[1]
SIGNAL CHANNEL_2 $ANOUT[2]
SIGNAL CHANNEL_3 $ANOUT[3]
SIGNAL CHANNEL_4 $ANOUT[4]
SIGNAL CHANNEL_5 $ANOUT[5]
SIGNAL CHANNEL_6 $ANOUT[6]
SIGNAL CHANNEL_7 $ANOUT[7]
SIGNAL CHANNEL_8 $ANOUT[8]


;==================================
; Variables:
;==================================
DECL PDAT PDEFAULT={VEL 100.0,ACC 100.0,APO_DIST 100.0}
DECL LDAT LDEFAULT={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0}
DECL FDAT FDEFAULT={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE}
DECL FDAT FHOME={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE}
DECL ODAT ODEFAULT={OUT_NO 1,STATE TRUE,PULSE_TIME 0.0,OUT_MODE #STOP_,TIME_DELAY 0.0,OFFSET 0.0}


DECL PDAT PDAT_ACT
DECL LDAT LDAT_ACT
DECL FDAT FDAT_ACT
DECL ODAT ODAT_ACT
DECL INT ACT_DELAY
DECL INT ACT_DISTANCE


;GROUP-Definitions
;----------------------------------
INT COMPL_GROUP='B0001'


INT DEF_GROUP[10]
DEF_GROUP[1]='B1111' ; complete
DEF_GROUP[2]='B0001' ; robot only
DEF_GROUP[3]='B0011' ; robot and track
DEF_GROUP[4]='B0111' ; robot, track and ext. axis2
DEF_GROUP[5]='B1011' ; robot, track and ext. axis3
DEF_GROUP[6]='B1111' ; robot, track and ext. axis2+3
DEF_GROUP[7]='B1111' ; complete
DEF_GROUP[8]='B1111' ; complete
DEF_GROUP[9]='B1111' ; complete
DEF_GROUP[10]='B1111' ; complete


INT $ACT_GROUP='B0001'


; HOME POSITION
;----------------------------------
E6AXIS XHOME={a1 -10.6309299,a2 -89.0041504,a3 90.676178,a4 3.760741,a5 89.0900497,a6 -234.162994,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
E6AXIS XHOME1={a1 0.0,a2 -90.0,a3 90.0,a4 0.0,a5 0.0,a6 0.0,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
E6AXIS XHOME2={a1 0.0,a2 -90.0,a3 90.0,a4 0.0,a5 0.0,a6 0.0,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
E6AXIS XHOME3={a1 0.0,a2 -90.0,a3 90.0,a4 0.0,a5 0.0,a6 0.0,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
E6AXIS XHOME4={a1 0.0,a2 -90.0,a3 90.0,a4 0.0,a5 0.0,a6 0.0,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
E6AXIS XHOME5={a1 0.0,a2 -90.0,a3 90.0,a4 0.0,a5 0.0,a6 0.0,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
E6AXIS XHOME6={a1 0.0,a2 -90.0,a3 90.0,a4 0.0,a5 0.0,a6 0.0,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}


; REFERENCE POINTS
;----------------------------------
DECL FRAME REF_PT[16]
REF_PT[1]={x 910.206909,y 165.001358,z 514.170837,a 49.3186951,b 3.91517019,c 93.2118225}
REF_PT[2]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[3]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[4]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[5]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[6]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[7]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[8]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[9]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[10]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[12]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[13]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[14]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[15]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
REF_PT[16]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}


FRAME REF_TOOL={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}


; TOOL and BASE data
;----------------------------------
BOOL AUTO_IPO_M=FALSE
BOOL STOPM_FLAG=TRUE
BOOL TOOL_CORR_ON=FALSE
BOOL BASE_CORR_ON=FALSE
FRAME TOOL_CORR={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
FRAME BASE_CORR={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
INT COR_TOOL_NO=0


INT MAX_TOOL=16
DECL FRAME TOOL_DATA[16]
TOOL_DATA[1]={x -18.7721291,y -17.8448238,z 62.0485382,a 0.0,b 0.0,c 0.0}
TOOL_DATA[2]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[3]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[4]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[5]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[6]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[7]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[8]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[9]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[10]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[11]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[12]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[13]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[14]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[15]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
TOOL_DATA[16]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}


DECL CHAR TOOL_NAME[16,24]
TOOL_NAME[1,]="Pince"
TOOL_NAME[2,]=" "
TOOL_NAME[3,]=" "
TOOL_NAME[4,]=" "
TOOL_NAME[5,]=" "
TOOL_NAME[6,]=" "
TOOL_NAME[7,]=" "
TOOL_NAME[8,]=" "
TOOL_NAME[9,]=" "
TOOL_NAME[10,]=" "
TOOL_NAME[11,]=" "
TOOL_NAME[12,]=" "
TOOL_NAME[13,]=" "
TOOL_NAME[14,]=" "
TOOL_NAME[15,]=" "
TOOL_NAME[16,]=" "


DECL LOAD LOAD_DATA[16]
LOAD_DATA[1]={M 15.0,CM {x 120.0,y 0.0,z 150.0,a 0.0,b 0.0,c 0.0},J {X 0.224999994,Y 0.224999994,Z 0.224999994}}
LOAD_DATA[2]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[3]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[4]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[5]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[6]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[7]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[8]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[9]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[10]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[11]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[12]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[13]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[14]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[15]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
LOAD_DATA[16]={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}


DECL IPO_M_T TOOL_TYPE[16]
TOOL_TYPE[1]=#BASE
TOOL_TYPE[2]=#NONE
TOOL_TYPE[3]=#NONE
TOOL_TYPE[4]=#NONE
TOOL_TYPE[5]=#NONE
TOOL_TYPE[6]=#NONE
TOOL_TYPE[7]=#NONE
TOOL_TYPE[8]=#NONE
TOOL_TYPE[9]=#NONE
TOOL_TYPE[10]=#NONE
TOOL_TYPE[11]=#NONE
TOOL_TYPE[12]=#NONE
TOOL_TYPE[13]=#NONE
TOOL_TYPE[14]=#NONE
TOOL_TYPE[15]=#NONE
TOOL_TYPE[16]=#NONE


DECL LOAD LOAD_A1_DATA={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
DECL LOAD LOAD_A2_DATA={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}
DECL LOAD LOAD_A3_DATA={M -1.0,CM {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},J {X 0.0,Y 0.0,Z 0.0}}


INT MAX_BASE=16
DECL FRAME BASE_DATA[16]
BASE_DATA[1]={x 908.897278,y 156.833099,z 602.352173,a -84.8961258,b -0.466028988,c -1.845034}
BASE_DATA[2]={x 328.906708,y -949.030579,z -179.274094,a -168.465363,b -1.40468299,c 0.0341640003}
BASE_DATA[3]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[4]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[5]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[6]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[7]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[8]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[9]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[10]={x 328.906708,y -949.030579,z -179.274094,a -168.465363,b -1.40468299,c 0.0341640003}
BASE_DATA[11]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[12]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[13]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[14]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[15]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}
BASE_DATA[16]={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}


DECL CHAR BASE_NAME[16,24]
BASE_NAME[1,]="Prise boite"
BASE_NAME[2,]="Roller 1"
BASE_NAME[3,]=" "
BASE_NAME[4,]=" "
BASE_NAME[5,]=" "
BASE_NAME[6,]=" "
BASE_NAME[7,]=" "
BASE_NAME[8,]=" "
BASE_NAME[9,]=" "
BASE_NAME[10,]="Offset_Z Roller_1"
BASE_NAME[11,]=" "
BASE_NAME[12,]=" "
BASE_NAME[13,]=" "
BASE_NAME[14,]=" "
BASE_NAME[15,]=" "
BASE_NAME[16,]=" "


DECL IPO_M_T BASE_TYPE[16]
BASE_TYPE[1]=#BASE
BASE_TYPE[2]=#BASE
BASE_TYPE[3]=#NONE
BASE_TYPE[4]=#NONE
BASE_TYPE[5]=#NONE
BASE_TYPE[6]=#NONE
BASE_TYPE[7]=#NONE
BASE_TYPE[8]=#NONE
BASE_TYPE[9]=#NONE
BASE_TYPE[10]=#NONE
BASE_TYPE[11]=#NONE
BASE_TYPE[12]=#NONE
BASE_TYPE[13]=#NONE
BASE_TYPE[14]=#NONE
BASE_TYPE[15]=#NONE
BASE_TYPE[16]=#NONE


;External AXIS data
;----------------------------------
INT MAX_EX_BASE=6
DECL EX_AX_DATA_T EX_AX_DATA[6]
EX_AX_DATA[1]={ROOT {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},EX_KIN #EASYS,OFFSET {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}}
EX_AX_DATA[2]={ROOT {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},EX_KIN #EBSYS,OFFSET {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}}
EX_AX_DATA[3]={ROOT {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},EX_KIN #ECSYS,OFFSET {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}}
EX_AX_DATA[4]={ROOT {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},EX_KIN #EDSYS,OFFSET {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}}
EX_AX_DATA[5]={ROOT {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},EX_KIN #EESYS,OFFSET {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}}
EX_AX_DATA[6]={ROOT {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0},EX_KIN #EFSYS,OFFSET {x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0}}


DECL CHAR EX_AX_NAME[6,24]
EX_AX_NAME[1,]=" "
EX_AX_NAME[2,]=" "
EX_AX_NAME[3,]=" "
EX_AX_NAME[4,]=" "
EX_AX_NAME[5,]=" "
EX_AX_NAME[6,]=" "


DECL IPO_M_T EX_AX_TYPE[6]
EX_AX_TYPE[1]=#NONE
EX_AX_TYPE[2]=#NONE
EX_AX_TYPE[3]=#NONE
EX_AX_TYPE[4]=#NONE
EX_AX_TYPE[5]=#NONE
EX_AX_TYPE[6]=#NONE


;******************************************
; Variables for axis CALIBRATING
;******************************************
DECL INT CAL_AXIS
BOOL CONST_SPEED


;******************************************
; Variables for added TechPackages
;******************************************
ENUM A_BOOL_T ACTIVE,IDLE
ENUM A_FG_TYPE FG_MECHANIC,FG_THERMAL


DECL A_BOOL_T A_HOT_WELD=#IDLE ; Status of HPU Weld key
DECL A_BOOL_T A_HPU_DRY_RN=#IDLE ; DRY_RUN functionality
INT A_HPU_WFD=0


DECL A_BOOL_T A_OLD_WELD=#ACTIVE ; PLC control  status of change
DECL A_BOOL_T A_ISR_ACTION=#ACTIVE ; PLC control  like a busy flag 


BOOL ANA_CLC_ON=TRUE
BOOL PROC_IN_T1=FALSE
BOOL PROC_ENABLE=TRUE
BOOL TECH_MOTION=FALSE ; flag for technology motions


REAL A_AP_DIS_TCH=5.0 ; ARCTECH specified rough positioning parameter
REAL DRY_RN_VEL=0.150000006


INT MAX_RETRY=3
INT MAX_ERROR=5
INT RETRY_COUNT=0
INT ERROR_COUNT=0
INT POWER
;******************************************
; Variables Tool Correction
;******************************************
BOOL FLAG=FALSE
INT MAX_CRASH=5


;External for weaving-generator
EXT  WEAV_DEF (A_FG_TYPE  :IN,INT  :IN,INT  :IN,INT  :IN,INT  :IN )


;******************************************
; Variables for Displaying and Konfiguring
;******************************************
DECL INT I[10]


I[1]=0
I[2]=0
I[3]=0
I[4]=0
I[5]=0
I[6]=0
I[7]=0
I[8]=0
I[9]=0
I[10]=0


;******************************************
; all for UserStatKeys
;******************************************
ENUM COMMAND OPN,CLO
INT ZANGEN_FUNKT=1
INT AKT_ZANGE=1


;******************************************
; all for InterBus Mapping on optional segments
;******************************************


DECL INT IBUS_SEGMENT[16]
IBUS_SEGMENT[1]=0
IBUS_SEGMENT[2]=0
IBUS_SEGMENT[3]=0
IBUS_SEGMENT[4]=0
IBUS_SEGMENT[5]=0
IBUS_SEGMENT[6]=0
IBUS_SEGMENT[7]=0
IBUS_SEGMENT[8]=0
IBUS_SEGMENT[9]=0
IBUS_SEGMENT[10]=0
IBUS_SEGMENT[11]=0
IBUS_SEGMENT[12]=0
IBUS_SEGMENT[13]=0
IBUS_SEGMENT[14]=0
IBUS_SEGMENT[15]=0
IBUS_SEGMENT[16]=0
;ENDFOLD
;FOLD AUTOEXT GLOBALS;%{E}%V3.2.0,%MKUKATPBASIS,%CGLOBALS,%VAUTOEXT,%P
;==================================
; Structures:
;==================================
ENUM FUNCT_TYPE PGNO_GET,PGNO_ACKN,PGNO_FAULT
ENUM P00_COMMAND INIT_EXT,EXT_PGNO,CHK_HOME,EXT_ERR


STRUC SPS_PROG_TYPE INT PROG_NR,CHAR PROG_NAME[12]
;==================================
; External declarations:
;==================================
EXT  P00 (P00_COMMAND  :IN,FUNCT_TYPE  :IN,CHAR [],INT  :IN )
;External declaration  for  Submit controlled AutoExt
EXT  P00_SUBM (P00_COMMAND  :IN,FUNCT_TYPE  :IN )


;==================================
; Variables:
;==================================
; Variables for internal
; Communication:
;----------------------------------
BOOL ERROR_FLAG
BOOL CHECK_HOME=TRUE
BOOL PROG_CONTROL=FALSE
DECL CHAR PRO_NAME1_L[8]
PRO_NAME1_L[]="        "
DECL CHAR PRO_NAME1_A[8]
PRO_NAME1_A[]="        "


INT PGNO=0 ;copy of ext. pgno
INT PGNO_ERROR=0 ;transmission error
INT PGNO_TYPE=1 ;coding type of ext. pgno
INT REFLECT_PROG_NR=0 ; enable mirroring of program number inputs (1=enabled, 0=disabled)


; Variables for External 
; Communication: I/O-Interface
;----------------------------------
INT PGNO_FBIT=33 ;first bit of ext. pgno input $IN[]
INT PGNO_FBIT_REFL=999 ;first bit of ext. pgno reflection output $OUT[]
INT PGNO_LENGTH=8 ;length of ext. pgno (max. 16)
INT PGNO_PARITY=41 ;parity bit of ext. pgno
INT PGNO_REQ=33 ;request ext. pgno input
INT PGNO_VALID=42 ;validate ext. pgno input
INT APPL_RUN=34 ;application program is running output
INT ERR_TO_PLC=35 ;error output to PLC
INT P01_STEP
INT CHK_STEP
INT PGNO_FLAG


; Table for assign SPS program number to program name
INT MAX_SPS_PROG=12
DECL SPS_PROG_TYPE SPS_PROG[12]
SPS_PROG[1]={PROG_NR 1,PROG_NAME[] "HP01()    "}
SPS_PROG[2]={PROG_NR 2,PROG_NAME[] "HP02()    "}
SPS_PROG[3]={PROG_NR 3,PROG_NAME[] "HP03()    "}
SPS_PROG[4]={PROG_NR 4,PROG_NAME[] "HP04()    "}
SPS_PROG[5]={PROG_NR 5,PROG_NAME[] "HP05()    "}
SPS_PROG[6]={PROG_NR 6,PROG_NAME[] "HP06()    "}
SPS_PROG[7]={PROG_NR 7,PROG_NAME[] "HP07()    "}
SPS_PROG[8]={PROG_NR 8,PROG_NAME[] "HP08()    "}
SPS_PROG[9]={PROG_NR 9,PROG_NAME[] "HP09()    "}
SPS_PROG[10]={PROG_NR 10,PROG_NAME[] "HP10()    "}
SPS_PROG[11]={PROG_NR 62,PROG_NAME[] "HP62()    "}
SPS_PROG[12]={PROG_NR 63,PROG_NAME[] "HP63()    "}
DECL CHAR TMPNAME[128]
TMPNAME[]="                                "


;ENDFOLD
;FOLD GRIPPER GLOBALS;%{E}%V3.2.0,%MKUKATPGRP,%CGLOBALS,%VGLOBALS,%P
;==================================
; Structures:
;==================================
ENUM ON_OFF_TYP ON,OFF,MID
ENUM APO_TYP YES,NO


STRUC GRP_TYP APO_TYP G_APO,REAL TIME,ON_OFF_TYP CTRL,INT DLY,INT DST
; structure for gripper definition
STRUC GRP_TYPES INT TYPE,OUT1,OUT2,OUT3,OUT4,IN1,IN2,IN3,IN4,GRP_OLD
; structure for last values
STRUC GRP_SUGG_T CHAR NUMBER[24],STATE[24],PARAMS[24]


;==================================
; External declarations:
;==================================
EXT  H50 (INT  :IN,INT  :IN,INT  :IN,GRP_TYP  :IN )
EXT  USER_GRP (INT  :IN,INT  :IN,INT  :IN,GRP_TYP  :IN )
;==================================
; Variables:
;==================================
; instruction codes
INT GRP=1
INT CHK_APO=2
INT GRP_APO=3
INT CHK_APO_UP=4


;==================================
; Variables:
;==================================
DECL GRP_TYP GDEFAULT={G_APO #NO,TIME 0.200000003,CTRL #OFF,DLY 0,DST 1}
INT DUMMY=0


;constant for time out in sec
REAL TIME_OUT=3.0
INT CHK_CODE=0
BOOL APO_CHK_ON=FALSE
BOOL H50_FERTIG=FALSE


;==================================
; Options:
;==================================
BOOL APO_CHK_OPT=TRUE


;==================================
; Definition of grippers
;==================================
INT MAXGRIPPER=16


DECL GRP_TYPES GRIPPER[16]


GRIPPER[1]={TYPE 1,OUT1 17,OUT2 999,OUT3 999,OUT4 999,IN1 14,IN2 15,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[2]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[3]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[4]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[5]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[6]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[7]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[8]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[9]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[10]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[11]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[12]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[13]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[14]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[15]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}
GRIPPER[16]={TYPE 0,OUT1 999,OUT2 999,OUT3 999,OUT4 999,IN1 0,IN2 0,IN3 0,IN4 0,GRP_OLD 1}


REAL GRP_PULSE_TI=0.5 ; pulse time for gripper type 5
;ENDFOLD
;FOLD PERCEP GLOBALS;%{E}%V3.2.0,%MKUKATPBASIS,%CGLOBALS,%VPERCEPT,%P
;==============================
; External declarations:
;==============================
EXT  PERCEPT (INT  :IN,INT  :IN,INT  :IN,INT  :IN,INT  :IN,INT  :OUT )
;==============================
; Variables:
;==============================
INT PERCEPT_32
INT PERCEPT_33
INT PERCEPT_34
REAL PERCEPT_REL
FRAME PERCEPT_KOR
;ENDFOLD
;FOLD SPOT GLOBALS;%{E}%V.2.2,%MKUKATPSPOT,%CGLOBALS,%VGLOBALS,%P
;==================================
; Structures:
;==================================
ENUM S_COMMAND SPOT,RETR,PRESPOT,INIT,ADVSPOT
ENUM S_PAIR_SLCT FIRST,SECOND,BOTH


STRUC SPOT_SUGG_T CHAR GUN[24],RETR_CMD[24],CHOISE[24],CLO_TM[24],PGNO1[24],PRESS1[24],PGNO2[24],PRESS2[24],SPOT_PARAMS[24]
STRUC SPOT_TYPE INT GUN,S_PAIR_SLCT PAIR,COMMAND RETR,INT CLO_TM,INT PGNO1,REAL PRESS1,INT PGNO2,REAL PRESS2


;==============================
; External declarations:
;==============================
EXT  USERSPOT (S_COMMAND  :IN,SPOT_TYPE  :IN )


;==============================
; Variables:
;==============================
DECL SPOT_TYPE SDEFAULT={GUN 1,PAIR #FIRST,RETR #OPN,CLO_TM 0,PGNO1 1,PRESS1 0.0,PGNO2 0,PRESS2 0.0}
DECL SPOT_TYPE S_ACT
DECL INT S_ACT_DELAY
DECL BOOL S_READY


INT BOSCHCMD_OK=534
INT BOSCHSTAT_OK=528


;==============================
; all for Bosch-Serial-Interface
;==============================
EXT  BOSCH (INT  :IN,INT  :IN,INT  :OUT )
; BOSCH-OUTWORD 1 (513-528) param
SIGNAL BOSCHPAR $OUT[513]  TO $OUT[528]
; BOSCH-OUTWORD 2 (529-544) command
SIGNAL BOSCHCMD $OUT[529]  TO $OUT[533]
; BOSCH-INWORD 1 (513-528) status+validbit
SIGNAL BOSCHSTAT $IN[513]  TO $IN[527]
;ENDFOLD
;FOLD A10 GLOBALS;%{E}%V3.2.0,%MKUKATPARC,%CGLOBALS,%VGLOBALS,%P
;===========
; Structures
;===========
STRUC A_STRT_T REAL GAS_PRE_T,START_T,ANA1,ANA2,ANA3,ANA4,ANA5,ANA6,ANA7,ANA8
STRUC A_WELD_T REAL VEL,ANA1,ANA2,ANA3,ANA4,ANA5,ANA6,ANA7,ANA8,INT WEAVFIG_MECH,REAL WEAVLEN_MECH,WEAVAMP_MECH,WEAVANG_MECH,INT WEAVFIG_THER,REAL ANA1_THERM,ANA2_THERM,WEAVLEN_THER,BURNBACK_T,ANA1_BB,ANA2_BB,ANA3_BB,ANA4_BB,ANA5_BB,ANA6_BB,ANA7_BB,ANA8_BB
STRUC A_END_T REAL END_TI,BURNBACK_T,GAS_POST_T,ANA1_E,ANA2_E,ANA3_E,ANA4_E,ANA5_E,ANA6_E,ANA7_E,ANA8_E,ANA1_BB,ANA2_BB,ANA3_BB,ANA4_BB,ANA5_BB,ANA6_BB,ANA7_BB,ANA8_BB
STRUC A_ANA_DEF_T REAL PARA,VAL
STRUC A_ANA_VAL_T REAL M,N
STRUC USR_MSG_T CHAR MSG[7],INT S_LENGTH
STRUC ARC_SUGG_T CHAR WELD_MODE[24],CHAR WELD_SET[24],CHAR START_SET[24],CHAR END_SET[24],CHAR COMMENT[24],CHAR VEL[24]


ENUM A_CMD_T GAS_PRE,PRE_ARC_ON,ARC_STRT,PRE_ARC_OFF,ARC_SEAM,ARC_OFF,PRE_ARC_SWI,IR_ERROR,APPL_ERROR,I_PRET_STP,HPU_ARC,CLEAN_OFF,IR_RESTART
ENUM A_BB_TYPE SSDV8_MODE,ACT_PAR,REDUCE
ENUM A_RESTART_T COLD_SEAM,RESTART,LIM_RESTART,USR_SEAM,USR_START
ENUM A_START_T RESTART,USR_START ;Restart on start error
ENUM A_TECH_STS_T ACTIVE,DISABLED
ENUM A_APPL_T THIN,THICK
ENUM MSG_CALL_T SAF_CYCFLAG,GIVE_USR_MSG,DEF_USR_MSG
;==========
; Variables
;==========
DECL A_BOOL_T A_F_WLD_COND=#ACTIVE ; Flag for check WELDER Ready
DECL A_BOOL_T A_STRT_BRAKE=#ACTIVE ; BRAKE-Option at ARC_START (HPU control) 
DECL A_BOOL_T A_END_BRAKE=#ACTIVE ; BRAKE-Option at ARC_OFF      (HPU control) 
DECL A_BOOL_T A_WLD_ACTIV=#IDLE ; Status of running ARC application 
DECL A_BOOL_T A_GAS_FLOW=#IDLE ; Flag for Gas Flow
DECL A_BOOL_T A_CLD_TSTP=#IDLE ; Flag to compute the TECHSTOP_SUB subroutine
DECL A_BOOL_T A_COLD_SEAM=#IDLE ; #IDLE -->  HOT, #ACTIVE --> #COLD
DECL A_BOOL_T A_ISR4_FLAG=#ACTIVE ; Flag for seam control interrupt 
DECL A_BOOL_T A_SV_WLD_STS=#IDLE ; Status of WLD_ACTIV in TECH_STP_SUB
DECL A_BOOL_T A_TCHSTP_STS=#IDLE ; Trigger ARCSPS-TECHSTOP-OFF
DECL A_BOOL_T A_BRN_FR_OPT=#IDLE ; Burnfree Option
DECL A_BOOL_T A_FLY_ARC_ON=#IDLE ; Trigger OUTPUT( Signal Declaration )
DECL A_BOOL_T A_SAFE_ISR4=#IDLE ; Flag for ISR condition for seam control
DECL A_BOOL_T A_WELD_MEM=#IDLE ; Flag for  WELD_STS in TECHSTP
DECL A_BOOL_T A_SPS_ACTION ; Flag for SUBMIT control-ISR
DECL A_BOOL_T A_TSTOP_CONT ; Trigger ARCSPS-TECHSTOP-ON
DECL A_BOOL_T A_HOT_T_STOP=#IDLE ; Flag for RESTART from TECHSTOP
DECL A_BOOL_T A_HPU_CMD=#IDLE ; Flag for marking HPU task
DECL A_BOOL_T A_ARC_SWI=#IDLE ; Flag for ARC_SWITCH command
DECL A_BOOL_T A_ANA_CLC_ON=#IDLE ; Flag for calculating controller lines
DECL A_BOOL_T A_INTR_MODE=#IDLE ; Flag of interrupt event
DECL A_BOOL_T A_SWINDL_OPT=#ACTIVE ;Seam control interrupt in rough process
DECL A_BOOL_T A_PRE_WR_OPT=#IDLE ;Option for reduction WFD in start process
DECL A_BOOL_T A_HOT_SELECT=#IDLE ; block select with start possibility
DECL A_BOOL_T A_CLEANER=#IDLE ; cleaner procedure state


BOOL A_ISR_SELECT
BOOL A_RAMP_OPTION=FALSE ; Ramp functionality at chane of parameters
BOOL A_PR_GAS_OPT=TRUE ; Enable for flying gas flow
BOOL A_TH_WEAVE_OPT=FALSE ;Thermal weaving 
BOOL A_SYNERG_OPT=FALSE ; Synergetic welder
BOOL A_DEF_USRMSG=FALSE ;define user defined text


INT A_FLT_SV_FCT=0 ; Number of user defined FLT_SERV-Subroutine
INT A_ARC_INSTR=0
INT A_ARC_IDLE=0
INT A_ARC_ON=1
INT A_ARC_SEAM=2
INT A_ARC_OFF=3
INT A_TECH_STOP=4
INT A_SEAM_RDY=5


INT A_ACT_W_MODE=1 ; Actual Weld Mode [PS/MM]
INT A_BB_CHANNEL=0
INT A_WF_CHANNEL=0 ; WireFeed Channel in case of a seperate Channel


INT A_WEAV_GEN[6]
A_WEAV_GEN[1]=1 ; A_FG_MECH1
A_WEAV_GEN[2]=2 ; A_FG_MECH2
A_WEAV_GEN[3]=3 ; A_FG_THERM
A_WEAV_GEN[4]=4 ; A_FG_SENSOR


INT A_FG_MECH1=1 ; Mechanical function generator 1
INT A_FG_MECH2=2 ; Mechanical function generator 2
INT A_FG_THERM=3 ; Thermal function generator


INT A_LST_M1_FIG=0
INT A_LST_M2_FIG=0
INT A_LST_TH_FIG=0


INT A_FIFO_READ=1
INT A_FIFO_WRITE=1
INT A_FIFO_MAX=6 ; FIFO CONTROL size
INT A_SEAM_CTRL=0 ; setinfo production screen


INT A_FILTER_OLD=96 ; Filter value as save value
INT A_WEAVE_FILT=108 ; Filter for mechanical weaving 


INT A_ACT_AN_MAX=2 ; Maximum number of analog channels enfluence to user interface also
INT A_PR_GAS_TIM ; Pre gas flow time [msec]
INT A_PRE_WIRE=16 ; PRE WIRE Value in per cent of reduction of WFD Channel
INT A_CTRL_DELAY=1200 ;[ms] 


INT SAVE_OVR=-1 ; prepared to online optimizing
REAL A_TH1_ACT_O,A_TH2_ACT_O,A_TH1_ACT_G,A_TH2_ACT_G ; actual value of cycling ANOUTS


REAL A_SWINDL_TIM=0.0500000007 ; Time to ignore a seam error [sec]
REAL A_TIME_OUT1=200.0 ; TIMEOUT for digital input [10 ms * 200 -> 2.0 sec]
REAL A_BB_VAL=1.0 ; Burnback value for own controlled Burnback at own Channel
REAL A_WF_VALUE=0.0 ; Wirefeed value for own Channel
REAL A_REDUCE=0.200000003 ; 20 percent reduction of voltage
REAL A_BBT_MAX=0.5 ; Burnback time for 10V analog voltage Specials for  SSDV8
REAL A_BRN_FREE_T=0.200000003 ; BurnFree Time [sec]
REAL A_E_PR_GAS_T=0.150000006 ; Constant of delay from gas valves


DECL A_STRT_T A_S_PARA_ACT={GAS_PRE_T 0.100000001,START_T 0.100000001,ANA1 100.0,ANA2 1000.0,ANA3 0.0,ANA4 0.0,ANA5 0.0,ANA6 0.0,ANA7 0.0,ANA8 0.0}
DECL A_END_T A_E_PARA_ACT={END_TI 0.100000001,BURNBACK_T 0.100000001,GAS_POST_T 0.200000003,ANA1_E 70.0,ANA2_E 600.0,ANA3_E 0.0,ANA4_E 0.0,ANA5_E 0.0,ANA6_E 0.0,ANA7_E 0.0,ANA8_E 0.0,ANA1_BB 25.0,ANA2_BB 350.0,ANA3_BB 0.0,ANA4_BB 0.0,ANA5_BB 0.0,ANA6_BB 0.0,ANA7_BB 0.0,ANA8_BB 0.0}
DECL A_WELD_T A_W_PARA_ACT={VEL 1.04999995,ANA1 10.1999998,ANA2 120.0,ANA3 0.0,ANA4 0.0,ANA5 0.0,ANA6 0.0,ANA7 0.0,ANA8 5.0,WEAVFIG_MECH 0,WEAVLEN_MECH 11.0,WEAVAMP_MECH 2.0,WEAVANG_MECH 0.0,WEAVFIG_THER 0,ANA1_THERM 10.0,ANA2_THERM 100.0,WEAVLEN_THER 11.3999996,BURNBACK_T 0.0,ANA1_BB 35.0,ANA2_BB 250.0,ANA3_BB 0.0,ANA4_BB 0.0,ANA5_BB 0.0,ANA6_BB 0.0,ANA7_BB 0.0,ANA8_BB 0.0}


DECL A_STRT_T BDEFAULT={GAS_PRE_T 0.100000001,START_T 0.200000003,ANA1 24.0,ANA2 450.0,ANA3 0.0,ANA4 0.0,ANA5 0.0,ANA6 0.0,ANA7 0.0,ANA8 0.0}
DECL A_END_T EDEFAULT={END_TI 0.100000001,BURNBACK_T 0.0500000007,GAS_POST_T 0.200000003,ANA1_E 22.0,ANA2_E 400.0,ANA3_E 0.0,ANA4_E 0.0,ANA5_E 0.0,ANA6_E 0.0,ANA7_E 0.0,ANA8_E 0.0,ANA1_BB 0.0,ANA2_BB 0.0,ANA3_BB 0.0,ANA4_BB 0.0,ANA5_BB 0.0,ANA6_BB 0.0,ANA7_BB 0.0,ANA8_BB 0.0}
DECL A_WELD_T WDEFAULT={VEL 0.5,ANA1 22.5,ANA2 430.0,ANA3 0.0,ANA4 0.0,ANA5 0.0,ANA6 0.0,ANA7 0.0,ANA8 5.0,WEAVFIG_MECH 'H0',WEAVLEN_MECH 14.0,WEAVAMP_MECH 2.0,WEAVANG_MECH 0.0,WEAVFIG_THER 'H0',ANA1_THERM 0.0,ANA2_THERM 0.0,WEAVLEN_THER 4.0,BURNBACK_T 0.300000012,ANA1_BB 24.0,ANA2_BB 400.0,ANA3_BB 0.0,ANA4_BB 0.0,ANA5_BB 0.0,ANA6_BB 0.0,ANA7_BB 0.0,ANA8_BB 0.0}




;Restart Mode at seam error
DECL A_RESTART_T A_RESTRT_OPT=#LIM_RESTART ;COLD_SEAM,RESTART,LIM_RESTART,USR_SEAM


;Restart Mode at start error
DECL A_START_T A_S_ERR_OPT=#RESTART ;#RESTART,#USR_START


;Burnback Mode operation
DECL A_BB_TYPE A_BB_MODE=#ACT_PAR ;#SSDV8_MODE,ACT_PAR,REDUCE


DECL A_APPL_T A_APPLICAT=#THIN ;#thin,#thick


DECL A_TECH_STS_T A10_OPTION=#DISABLED ; #active, #disabled


DECL INT A_ANAOUT_NO[8] ; Indexed adressing of analog channels: 0 -> not used
A_ANAOUT_NO[1]=1
A_ANAOUT_NO[2]=2
A_ANAOUT_NO[3]=3
A_ANAOUT_NO[4]=4
A_ANAOUT_NO[5]=5
A_ANAOUT_NO[6]=6
A_ANAOUT_NO[7]=7
A_ANAOUT_NO[8]=8


DECL INT A_ANA_MAX_D[2,8] ;maximum number of points to define a controller line
A_ANA_MAX_D[1,1]=2
A_ANA_MAX_D[1,2]=2
A_ANA_MAX_D[1,3]=2
A_ANA_MAX_D[1,4]=2
A_ANA_MAX_D[1,5]=2
A_ANA_MAX_D[1,6]=2
A_ANA_MAX_D[1,7]=2
A_ANA_MAX_D[1,8]=2
A_ANA_MAX_D[2,1]=2
A_ANA_MAX_D[2,2]=2
A_ANA_MAX_D[2,3]=2
A_ANA_MAX_D[2,4]=2
A_ANA_MAX_D[2,5]=2
A_ANA_MAX_D[2,6]=2
A_ANA_MAX_D[2,7]=2
A_ANA_MAX_D[2,8]=2


DECL A_ANA_DEF_T A_ANA_DEF[2,8,5] ;WELD_Mode,Channel,Points of controler line 
;Mode1 Channel1  command value
A_ANA_DEF[1,1,1]={PARA 13.0,VAL 0.0}
A_ANA_DEF[1,1,2]={PARA 39.0,VAL 1.0}
A_ANA_DEF[1,1,3]={PARA 40.0,VAL 0.0}
A_ANA_DEF[1,1,4]={PARA 41.0,VAL 0.0}
A_ANA_DEF[1,1,5]={PARA 42.0,VAL 0.0}
;Mode1 Channel2  wire feed  [IPM]
A_ANA_DEF[1,2,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[1,2,2]={PARA 1000.0,VAL 1.0}
A_ANA_DEF[1,2,3]={PARA 1001.0,VAL 0.0}
A_ANA_DEF[1,2,4]={PARA 1002.0,VAL 0.0}
A_ANA_DEF[1,2,5]={PARA 1003.0,VAL 0.0}
;Mode1 Channel3
A_ANA_DEF[1,3,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[1,3,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[1,3,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[1,3,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[1,3,5]={PARA 80.0,VAL 0.800000012}
;Mode1 Channel4
A_ANA_DEF[1,4,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[1,4,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[1,4,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[1,4,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[1,4,5]={PARA 80.0,VAL 0.800000012}
;Mode1 Channel5
A_ANA_DEF[1,5,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[1,5,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[1,5,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[1,5,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[1,5,5]={PARA 80.0,VAL 0.800000012}
;Mode1 Channel6
A_ANA_DEF[1,6,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[1,6,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[1,6,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[1,6,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[1,6,5]={PARA 80.0,VAL 0.800000012}
;Mode1 Channel7
A_ANA_DEF[1,7,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[1,7,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[1,7,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[1,7,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[1,7,5]={PARA 80.0,VAL 0.800000012}
;Mode1 Channel8
A_ANA_DEF[1,8,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[1,8,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[1,8,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[1,8,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[1,8,5]={PARA 80.0,VAL 0.800000012}
;Mode2 Channel1  command value
A_ANA_DEF[2,1,1]={PARA 13.0,VAL 0.0}
A_ANA_DEF[2,1,2]={PARA 39.0,VAL 1.0}
A_ANA_DEF[2,1,3]={PARA 40.0,VAL 0.0}
A_ANA_DEF[2,1,4]={PARA 41.0,VAL 0.0}
A_ANA_DEF[2,1,5]={PARA 42.0,VAL 0.0}
;Mode2 Channel2   wire feed   [IPM]                                                    
A_ANA_DEF[2,2,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[2,2,2]={PARA 1000.0,VAL 1.0}
A_ANA_DEF[2,2,3]={PARA 1001.0,VAL 0.0}
A_ANA_DEF[2,2,4]={PARA 1002.0,VAL 0.0}
A_ANA_DEF[2,2,5]={PARA 1003.0,VAL 0.0}
;Mode2 Channel3
A_ANA_DEF[2,3,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[2,3,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[2,3,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[2,3,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[2,3,5]={PARA 80.0,VAL 0.800000012}
;Mode2 Channel4
A_ANA_DEF[2,4,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[2,4,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[2,4,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[2,4,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[2,4,5]={PARA 80.0,VAL 0.800000012}
;Mode2 Channel5
A_ANA_DEF[2,5,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[2,5,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[2,5,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[2,5,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[2,5,5]={PARA 80.0,VAL 0.800000012}
;Mode2 Channel6
A_ANA_DEF[2,6,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[2,6,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[2,6,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[2,6,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[2,6,5]={PARA 80.0,VAL 0.800000012}
;Mode2 Channel7
A_ANA_DEF[2,7,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[2,7,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[2,7,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[2,7,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[2,7,5]={PARA 80.0,VAL 0.800000012}
;Mode2 Channel8
A_ANA_DEF[2,8,1]={PARA 0.0,VAL 0.0}
A_ANA_DEF[2,8,2]={PARA 20.0,VAL 0.200000003}
A_ANA_DEF[2,8,3]={PARA 40.0,VAL 0.400000006}
A_ANA_DEF[2,8,4]={PARA 60.0,VAL 0.600000024}
A_ANA_DEF[2,8,5]={PARA 80.0,VAL 0.800000012}


DECL A_ANA_VAL_T A_ANA_VAL[2,8,4] ; Results of controller characteristics y=mx + b form ( M + N )


; outputs for gas preflow
DECL FCT_OUT_T A_O_GAS_PRE[3]
A_O_GAS_PRE[1]={NO 'H2',PULS_TIME 0.0,STATE TRUE}
A_O_GAS_PRE[2]={NO 'H0',PULS_TIME 0.0,STATE TRUE}
A_O_GAS_PRE[3]={NO 'H0',PULS_TIME 0.0,STATE TRUE}


; outputs for MODE1 welding
DECL FCT_OUT_T A_O_MODE1[3]
A_O_MODE1[1]={NO 'H3',PULS_TIME 0.0,STATE TRUE}
A_O_MODE1[2]={NO 'H0',PULS_TIME 0.0,STATE TRUE}
A_O_MODE1[3]={NO 'H0',PULS_TIME 0.0,STATE TRUE}


; outputs for MODE2 welding
DECL FCT_OUT_T A_O_MODE2[3]
A_O_MODE2[1]={NO 'H3',PULS_TIME 0.0,STATE FALSE}
A_O_MODE2[2]={NO 'H0',PULS_TIME 0.0,STATE FALSE}
A_O_MODE2[3]={NO 'H0',PULS_TIME 0.0,STATE FALSE}


; outputs for weld start
DECL FCT_OUT_T A_O_WLD_STRT[3]
A_O_WLD_STRT[1]={NO 'H1',PULS_TIME 0.0,STATE TRUE}
A_O_WLD_STRT[2]={NO 'H2',PULS_TIME 0.0,STATE TRUE}
A_O_WLD_STRT[3]={NO 'H0',PULS_TIME 0.0,STATE TRUE}


; outputs burn back starts
DECL FCT_OUT_T A_O_SEAM_END[3]
A_O_SEAM_END[1]={NO 'H1',PULS_TIME 0.0,STATE FALSE}
A_O_SEAM_END[2]={NO 'H0',PULS_TIME 0.0,STATE FALSE}
A_O_SEAM_END[3]={NO 'H0',PULS_TIME 0.0,STATE FALSE}


; outputs gas post flow starts
DECL FCT_OUT_T A_O_POST_ON[3]
A_O_POST_ON[1]={NO 'H2',PULS_TIME 0.150000006,STATE TRUE}
A_O_POST_ON[2]={NO 'H0',PULS_TIME 0.150000006,STATE TRUE}
A_O_POST_ON[3]={NO 'H0',PULS_TIME 0.150000006,STATE TRUE}


; outputs gas post flow ends
DECL FCT_OUT_T A_O_POST_OFF[3]
A_O_POST_OFF[1]={NO 'H2',PULS_TIME 0.200000003,STATE TRUE}
A_O_POST_OFF[2]={NO 'H0',PULS_TIME 0.200000003,STATE TRUE}
A_O_POST_OFF[3]={NO 'H0',PULS_TIME 0.200000003,STATE TRUE}


; outputs fault while arc on
DECL FCT_OUT_T A_O_FLT_ON[3]
A_O_FLT_ON[1]={NO 'H1',PULS_TIME 0.0,STATE FALSE}
A_O_FLT_ON[2]={NO 'H2',PULS_TIME 0.0,STATE FALSE}
A_O_FLT_ON[3]={NO 'H7',PULS_TIME 0.0,STATE TRUE}


; switch off outputs after fault
DECL FCT_OUT_T A_O_DISBL_P[3]
A_O_DISBL_P[1]={NO 'H4',PULS_TIME 0.0,STATE FALSE}
A_O_DISBL_P[2]={NO 'H0',PULS_TIME 0.0,STATE FALSE}
A_O_DISBL_P[3]={NO 'H0',PULS_TIME 0.0,STATE FALSE}


; outputs acknowledge fault
DECL FCT_OUT_T A_O_ACK_FLT[3]
A_O_ACK_FLT[1]={NO 'H5',PULS_TIME 0.5,STATE TRUE}
A_O_ACK_FLT[2]={NO 'H0',PULS_TIME 0.5,STATE TRUE}
A_O_ACK_FLT[3]={NO 'H0',PULS_TIME 0.5,STATE TRUE}


; output for fault message
DECL FCT_OUT_T A_O_FLT_SIGN={NO 'H6',PULS_TIME 0.0,STATE TRUE}


; output for fault at start procedure
DECL FCT_OUT_T A_O_FLT_STRT={NO 'H7',PULS_TIME 0.0,STATE TRUE}


; output for fault application error message
DECL FCT_OUT_T A_O_FLT_APPL={NO 'H8',PULS_TIME 0.0,STATE TRUE}


; output for interpreter stop 
DECL FCT_OUT_T A_O_IR_STOP={NO 'H9',PULS_TIME 0.0,STATE TRUE}


; signal for periphery in case of aluminium start
DECL FCT_OUT_T A_O_ALU_STRT={NO 'HA',PULS_TIME 0.0,STATE TRUE}
;=====================
; Aluminium Options:
;=====================
DECL A_BOOL_T A_ALU_OPTION=#IDLE
REAL A_ALU_S_TIME=0.200000003
REAL A_ALU_DELY_T=0.300000012


;WIREFEED control 
DECL FCT_OUT_T A_O_WRFEDP={NO 15,PULS_TIME 0.200000003,STATE TRUE}
DECL FCT_OUT_T A_O_WRFEDN={NO 16,PULS_TIME 0.200000003,STATE TRUE}


;for controls of peripheries on a seam
DECL INT A_FLT_NUM[4]


;inputs for controls of peripheries on a seam
DECL FCT_IN_T A_FLT_CYCFLG[4]
A_FLT_CYCFLG[1]={NO 13,STATE TRUE} ;e.g. collection failure
A_FLT_CYCFLG[2]={NO 2,STATE TRUE} ;e.g. current
A_FLT_CYCFLG[3]={NO 11,STATE TRUE} ;e.g. gas
A_FLT_CYCFLG[4]={NO 10,STATE TRUE} ;e.g. water


;inputs as condition befor weld can start
DECL FCT_IN_T A_I_WLD_COND[3]
A_I_WLD_COND[1]={NO 1,STATE TRUE} ; source okay
A_I_WLD_COND[2]={NO 10,STATE TRUE} ; water available
A_I_WLD_COND[3]={NO 11,STATE TRUE} ; gas available


;inputs start moving
DECL FCT_IN_T A_I_STRT_MOV[3]
A_I_STRT_MOV[1]={NO 'H2',STATE TRUE}
A_I_STRT_MOV[2]={NO 'H0',STATE TRUE}
A_I_STRT_MOV[3]={NO 'H0',STATE TRUE}


;inputs for weld in ended
DECL FCT_IN_T A_I_WELD_END[3]
A_I_WELD_END[1]={NO 'H2',STATE FALSE}
A_I_WELD_END[2]={NO 'H0',STATE FALSE}
A_I_WELD_END[3]={NO 'H0',STATE FALSE}


;input for external disable weld
DECL FCT_IN_T A_I_EN_W_EXT={NO 5,STATE TRUE}


;input for test of burn free from workpiece
DECL FCT_IN_T A_I_BRN_FREE={NO 7,STATE TRUE}


;Digital outputs
;----------------------------------
DECL CTRL_OUT_T A_WLD_OUT[16]
A_WLD_OUT[1]={OUT_NR 0,INI FALSE,NAME_NAT[] "WELD_START      "}
A_WLD_OUT[2]={OUT_NR 0,INI FALSE,NAME_NAT[] "GAS PREFLOW     "}
A_WLD_OUT[3]={OUT_NR 0,INI FALSE,NAME_NAT[] "WELD_MODE PS/MM"}
A_WLD_OUT[4]={OUT_NR 0,INI FALSE,NAME_NAT[] "CLEANER  "}
A_WLD_OUT[5]={OUT_NR 0,INI FALSE,NAME_NAT[] "RECEIPT ERRORS  "}
A_WLD_OUT[6]={OUT_NR 0,INI FALSE,NAME_NAT[] "ERR MESSG_SIGNAL"}
A_WLD_OUT[7]={OUT_NR 0,INI FALSE,NAME_NAT[] "START ERROR "}
A_WLD_OUT[8]={OUT_NR 0,INI FALSE,NAME_NAT[] "APPL_ERROR  "}
A_WLD_OUT[9]={OUT_NR 0,INI FALSE,NAME_NAT[] "INTERPRETER-STOP"}
A_WLD_OUT[10]={OUT_NR 0,INI FALSE,NAME_NAT[] "ALU_START"}
A_WLD_OUT[11]={OUT_NR 0,INI FALSE,NAME_NAT[] "                    "}
A_WLD_OUT[12]={OUT_NR 0,INI FALSE,NAME_NAT[] "                    "}
A_WLD_OUT[13]={OUT_NR 0,INI FALSE,NAME_NAT[] "                    "}
A_WLD_OUT[14]={OUT_NR 0,INI FALSE,NAME_NAT[] "                    "}
A_WLD_OUT[15]={OUT_NR 0,INI FALSE,NAME_NAT[] "WFD +               "}
A_WLD_OUT[16]={OUT_NR 0,INI FALSE,NAME_NAT[] "WFD -               "}


; Digital inputs
;----------------------------------
DECL CTRL_IN_T A_WLD_IN[16]
A_WLD_IN[1]={IN_NR 0,NAME_NAT[] "WELDER READY        "}
A_WLD_IN[2]={IN_NR 0,NAME_NAT[] "ARC ESTABLISHED     "}
A_WLD_IN[3]={IN_NR 0,NAME_NAT[] "SEAM_ERROR          "}
A_WLD_IN[4]={IN_NR 0,NAME_NAT[] "CURRENT OVER        "}
A_WLD_IN[5]={IN_NR 0,NAME_NAT[] "KEY SWITCH HOT/COLD "}
A_WLD_IN[6]={IN_NR 0,NAME_NAT[] "                    "}
A_WLD_IN[7]={IN_NR 0,NAME_NAT[] "BURN FREE INP_SIGNAL"}
A_WLD_IN[8]={IN_NR 0,NAME_NAT[] "                    "}
A_WLD_IN[9]={IN_NR 0,NAME_NAT[] "                    "}
A_WLD_IN[10]={IN_NR 0,NAME_NAT[] "WATER AVAILABLE     "}
A_WLD_IN[11]={IN_NR 0,NAME_NAT[] "GAS  AVAILABLE      "}
A_WLD_IN[12]={IN_NR 0,NAME_NAT[] "WIRE AVAILABLE      "}
A_WLD_IN[13]={IN_NR 0,NAME_NAT[] "COLLECTION FAILURE  "}
A_WLD_IN[14]={IN_NR 0,NAME_NAT[] "                    "}
A_WLD_IN[15]={IN_NR 0,NAME_NAT[] "                    "}
A_WLD_IN[16]={IN_NR 0,NAME_NAT[] "                    "}


;======================
; External declarations
;======================
EXT  A10 (A_CMD_T  :IN,A_STRT_T  :IN,A_WELD_T  :IN,A_END_T  :IN,INT  :IN )
EXT  FLT_SERV (A_BOOL_T  :IN,A_BOOL_T  :IN ) ; A_WLD_ACTIVE,ARC_ON_ERROR
EXT  NEW_SERV (A_RESTART_T  :IN,INT  :IN ) ;strategy number / [delay ms]
EXT  A10_INI ( )
EXT  ARC_MSG (MSG_CALL_T  :IN )
;====================
; Signal declarations
;====================
SIGNAL A_O_ANA1 $ANOUT[1]
SIGNAL A_O_ANA2 $ANOUT[2]
SIGNAL A_O_ANA3 $ANOUT[3]
SIGNAL A_O_ANA4 $ANOUT[4]
SIGNAL A_O_ANA5 $ANOUT[5]
SIGNAL A_O_ANA6 $ANOUT[6]
SIGNAL A_O_ANA7 $ANOUT[7]
SIGNAL A_O_ANA8 $ANOUT[8]


SIGNAL A_FLY_ARC $OUT[817]
E6POS A_SERVICE={x 0.0,y 0.0,z 0.0,a 0.0,b 0.0,c 0.0,s 0,t 0}
;ENDFOLD
;FOLD A50 GLOBALS;%{E}%V3.2.0,%MKUKATPARC,%CGLOBALS,%VGLOBALS,%P
STRUC A_SENSOR_T REAL BIAS,H_GAIN,V_GAIN,A_BOOL_T ACCUM_OFS,STS
STRUC SEN_SUGG_T CHAR SENS_SET[24],CHAR TRACK_MODE[24]
ENUM SENS_CMD_T SENS_ADV_DEF,SEN_PRE_ON,SEN_FIFO_ACT,SENSOR_OFF,INIT_SENSOR,SENS_SUB_SPS,I_SENSOR_OFF,I_SENSOR_ON,SENSOR_ON,SENS_SUB_INI,BLOCK_SELECT,PRE_SENS,DRY_WEAVE,SYNC_START,SEN_TSTOP,SYNC
DECL A_SENSOR_T TDEFAULT={BIAS 0.0,H_GAIN 50.0,V_GAIN 45.0,ACCUM_OFS #IDLE,STS #ACTIVE}
DECL A_SENSOR_T SEN_IDLE_PAR={BIAS 0.0,H_GAIN 0.0,V_GAIN 0.0,ACCUM_OFS #IDLE,STS #IDLE}
DECL A_SENSOR_T PS_TEMP_SET={BIAS 0.0,H_GAIN 50.0,V_GAIN 45.0,ACCUM_OFS #IDLE,STS #IDLE}
DECL A_TECH_STS_T A50_OPTION=#DISABLED ;active, disabled
BOOL A_HOT_TAST=FALSE
BOOL USR_DEF_ITV=FALSE
BOOL SEN_DLY_OPT=TRUE ; Sensor active after "A_SENS_DELAY" patterns
INT A_SENS_DELAY=2 ;number of idle patterns
BOOL SYNC_OPT=TRUE ; synchronization after every arc command
INT A_FG_SENSOR=4 ; function generator seam tracking
REAL IR_ITV_TIME=168.0
EXT  A50 (SENS_CMD_T  :IN,REAL  :IN,REAL  :IN,REAL  :IN,INT  :IN ) ; velocity,amplitude,weave length,pattern
;ENDFOLD
;FOLD A20 GLOBALS;%{E}%V3.2.0,%MKUKATPA20,%CGLOBALS,%VGLOBALS,%P
;==================================
; STRUCTURES:
;==================================
STRUC WELD_ST INT PRG_NO,REAL VELOCITY,START_TIME,INT WEAVFIG_MECH,REAL WEAVLEN_MECH,WEAVAMP_MECH,WEAVANG_MECH,END_TIME
STRUC WELD_FI INT PRG_NO,REAL VELOCITY,INT WEAVFIG_MECH,REAL WEAVLEN_MECH,WEAVAMP_MECH,WEAVANG_MECH,END_TIME
STRUC A20_SUGG_T CHAR WELD_MODE[24],CHAR WELD_SET[24],CHAR START_SET[24],CHAR END_SET[24],CHAR COMMENT[24],CHAR PRG_NO[24],CHAR V_ARC[24],CHAR PGNO[24]


;==================================
; external declarations:
;==================================
EXT  A20 (INT  :IN,WELD_ST  :IN,WELD_FI  :IN,INT  :IN )


;==================================
; Variables:
;==================================
; Data for online correction of weld parameters
DECL WELD_ST ADEFAULT={PRG_NO 0,VELOCITY 0.600000024,START_TIME 0.0,WEAVFIG_MECH 0,WEAVLEN_MECH 0.0,WEAVAMP_MECH 0.0,WEAVANG_MECH 0.0,END_TIME 0.0}
DECL WELD_ST ST_ACT={PRG_NO 1,VELOCITY 5.0,START_TIME 0.0,WEAVFIG_MECH 0,WEAVLEN_MECH 5.0,WEAVAMP_MECH 10.0,WEAVANG_MECH 0.0,END_TIME 0.0}
DECL WELD_FI MDEFAULT={PRG_NO 0,VELOCITY 0.600000024,WEAVFIG_MECH 0,WEAVLEN_MECH 0.0,WEAVAMP_MECH 0.0,WEAVANG_MECH 0.0,END_TIME 0.0}
DECL WELD_FI FI_ACT={PRG_NO 15,VELOCITY 0.600000024,WEAVFIG_MECH 0,WEAVLEN_MECH 5.0,WEAVAMP_MECH 10.0,WEAVANG_MECH 0.0,END_TIME 0.0}
;==================================
; SIGNALS :
;==================================
; DIGITAL  OUTPUTS
;----------------------------------
DECL CTRL_OUT_T O_WELD_CTRL[15]
O_WELD_CTRL[1]={OUT_NR 0,INI FALSE,NAME_NAT[] "START WELDING       "}
O_WELD_CTRL[2]={OUT_NR 0,INI FALSE,NAME_NAT[] "ROBOT IN POSITION   "}
O_WELD_CTRL[3]={OUT_NR 0,INI FALSE,NAME_NAT[] "TRIGGER PRG-NUMBER  "}
O_WELD_CTRL[4]={OUT_NR 0,INI FALSE,NAME_NAT[] "ACKN POWER SUPPLY   "}
O_WELD_CTRL[5]={OUT_NR 0,INI FALSE,NAME_NAT[] "SNEEZER             "}
O_WELD_CTRL[6]={OUT_NR 0,INI FALSE,NAME_NAT[] "CLEANER MOTOR       "}
O_WELD_CTRL[7]={OUT_NR 0,INI FALSE,NAME_NAT[] "SPRAYER             "} ; 
O_WELD_CTRL[8]={OUT_NR 0,INI FALSE,NAME_NAT[] "WIREFEED MANUAL     "}
O_WELD_CTRL[9]={OUT_NR 0,INI FALSE,NAME_NAT[] "GAS PURGE           "}
O_WELD_CTRL[10]={OUT_NR 0,INI FALSE,NAME_NAT[] "WELD ERROR MESSAGE  "}
O_WELD_CTRL[11]={OUT_NR 0,INI FALSE,NAME_NAT[] "                    "}
O_WELD_CTRL[12]={OUT_NR 0,INI FALSE,NAME_NAT[] "TARGET POINT REACHED"}
O_WELD_CTRL[13]={OUT_NR 0,INI FALSE,NAME_NAT[] "IGNITION ERROR      "}
O_WELD_CTRL[14]={OUT_NR 0,INI FALSE,NAME_NAT[] "                    "}
O_WELD_CTRL[15]={OUT_NR 0,INI FALSE,NAME_NAT[] "                    "}


; DIGITAL  INPUTS
;----------------------------------
DECL CTRL_IN_T I_WELD_CTRL[15]
I_WELD_CTRL[1]={IN_NR 0,NAME_NAT[] "POWER SUPPLY READY  "}
I_WELD_CTRL[2]={IN_NR 0,NAME_NAT[] "CURRENT AVAILABLE   "}
I_WELD_CTRL[3]={IN_NR 0,NAME_NAT[] "CURRENT OVER        "}
I_WELD_CTRL[4]={IN_NR 0,NAME_NAT[] "ERROR-INP1 PERIPHERY"}
I_WELD_CTRL[5]={IN_NR 0,NAME_NAT[] "ERROR-INP2 PERIPHERY"}
I_WELD_CTRL[6]={IN_NR 0,NAME_NAT[] "KEY SWITCH WELDING  "}
I_WELD_CTRL[7]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[8]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[9]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[10]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[11]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[12]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[13]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[14]={IN_NR 0,NAME_NAT[] "                    "}
I_WELD_CTRL[15]={IN_NR 0,NAME_NAT[] "                    "}


; outputs weld start
DECL FCT_OUT_T O_WELD_START[3]
O_WELD_START[1]={NO 1,PULS_TIME 0.0,STATE TRUE}
O_WELD_START[2]={NO 0,PULS_TIME 0.0,STATE TRUE}
O_WELD_START[3]={NO 0,PULS_TIME 0.0,STATE TRUE}


; outputs acknowledge start move
DECL FCT_OUT_T O_ACK_START[3]
O_ACK_START[1]={NO 2,PULS_TIME 0.300000012,STATE TRUE}
O_ACK_START[2]={NO 0,PULS_TIME 0.0,STATE TRUE}
O_ACK_START[3]={NO 0,PULS_TIME 0.0,STATE TRUE}


; strobe prg. number
DECL FCT_OUT_T O_STROB_PGNO[3]
O_STROB_PGNO[1]={NO 3,PULS_TIME 0.300000012,STATE TRUE}
O_STROB_PGNO[2]={NO 0,PULS_TIME 0.300000012,STATE TRUE}
O_STROB_PGNO[3]={NO 0,PULS_TIME 0.300000012,STATE TRUE}


; outputs weld end
DECL FCT_OUT_T O_SEAM_END[3]
O_SEAM_END[1]={NO 1,PULS_TIME 0.0,STATE FALSE}
O_SEAM_END[2]={NO 0,PULS_TIME 0.0,STATE FALSE}
O_SEAM_END[3]={NO 0,PULS_TIME 0.0,STATE FALSE}


; outputs acknowledge weld_end
DECL FCT_OUT_T O_ACK_WELD_E[3]
O_ACK_WELD_E[1]={NO 12,PULS_TIME 0.5,STATE TRUE}
O_ACK_WELD_E[2]={NO 0,PULS_TIME 0.5,STATE TRUE}
O_ACK_WELD_E[3]={NO 0,PULS_TIME 0.5,STATE TRUE}


; outputs fault while arc on
DECL FCT_OUT_T O_FLT_ARC_ON[3]
O_FLT_ARC_ON[1]={NO 13,PULS_TIME 0.0,STATE TRUE}
O_FLT_ARC_ON[2]={NO 1,PULS_TIME 0.0,STATE FALSE}
O_FLT_ARC_ON[3]={NO 0,PULS_TIME 0.0,STATE FALSE}


; outputs stop weld after interrupt on seam
DECL FCT_OUT_T O_FLT_WELD[3]
O_FLT_WELD[1]={NO 1,PULS_TIME 0.0,STATE FALSE}
O_FLT_WELD[2]={NO 10,PULS_TIME 0.0,STATE TRUE}
O_FLT_WELD[3]={NO 0,PULS_TIME 0.0,STATE FALSE}


; outputs stop cleaner after interrupt
DECL FCT_OUT_T O_FLT_CLEAN[3]
O_FLT_CLEAN[1]={NO 6,PULS_TIME 0.0,STATE FALSE}
O_FLT_CLEAN[2]={NO 0,PULS_TIME 0.0,STATE FALSE}
O_FLT_CLEAN[3]={NO 0,PULS_TIME 0.0,STATE FALSE}


; outputs acknowledge fault
DECL FCT_OUT_T O_ACK_FLT[3]
O_ACK_FLT[1]={NO 4,PULS_TIME 1.0,STATE TRUE}
O_ACK_FLT[2]={NO 13,PULS_TIME 1.0,STATE FALSE}
O_ACK_FLT[3]={NO 0,PULS_TIME 1.0,STATE TRUE}


; output for fault message
DECL FCT_OUT_T O_FLT_SIGNAL={NO 10,PULS_TIME 0.0,STATE TRUE}


; inputs as condition befor weld can start
DECL FCT_IN_T I_WELD_COND[3]
I_WELD_COND[1]={NO 1,STATE TRUE}
I_WELD_COND[2]={NO 0,STATE TRUE}
I_WELD_COND[3]={NO 0,STATE TRUE}


; inputs start moving
DECL FCT_IN_T I_START_MOVE[3]
I_START_MOVE[1]={NO 2,STATE TRUE}
I_START_MOVE[2]={NO 0,STATE TRUE}
I_START_MOVE[3]={NO 0,STATE TRUE}


; inputs weld is ended
DECL FCT_IN_T I_WELD_END[3]
I_WELD_END[1]={NO 2,STATE FALSE}
I_WELD_END[2]={NO 0,STATE FALSE}
I_WELD_END[3]={NO 0,STATE FALSE}


;Counter for Interrupt definition
DECL INT FLT_NUM[3]


; inputs telling faults while welding
DECL FCT_IN_T I_WELD_FLT[3]
I_WELD_FLT[1]={NO 2,STATE TRUE}
I_WELD_FLT[2]={NO 4,STATE TRUE}
I_WELD_FLT[3]={NO 5,STATE TRUE}


; input for external enable weld
DECL FCT_IN_T I_ENB_W_EXT={NO 6,STATE TRUE}


;current instruction
INT ARC_INSTR=0


; instruction code
INT ARC_INI=1
INT ARC_ON=2
INT ARC_OFF=3
INT ARC_SWI_F=4
INT ARC_SWIP=5
INT TECH_STOP1=6
INT TECH_STOP2=7
INT TECH_STOP=9
INT ARC_OFF_P=10
INT ARC_OFF_V=12
INT ARC_START=13
INT ARC_SWI_T=14
INT ARC_OFF_T=15
INT PRGNO=0
INT TMP_PRG=0
BOOL B_RESTART=FALSE
BOOL FLY_WELD=FALSE
BOOL ARC20=FALSE
BOOL WELD_ACTIVE=FALSE
BOOL T1_L
BOOL T_STOP=FALSE ;flag for $CYCFLAG to avoid 
;ENDFOLD 
;FOLD TOUCHSENSE GLOBALS;%{E}%V3.2.0,%MKUKATPTS,%CGLOBALS,%VGLOBALS,%P
;==================================
; Structures:
;==================================
STRUC TS_SUGG_T CHAR CD[24],PA[24]
STRUC POS_XYZ REAL X,Y,Z
STRUC SRCH_TYP_3 INT MODE,SECMODE,APO,REAL DIST,VEL,TOL,INT RET
STRUC SRCH_TYP_2 INT OPT,BOOL CAL_MODE,SRCH_OK,REAL CAL_VAL,MES_VAL,OFFSET,REAL TCH_RESULT_A,TCH_RESULT_B,TCH_RESULT_C,TCH_RESULT_D,TCH_RESULT_E,TCH_RESULT_F,B_X,B_Y,B_Z,W_X,W_Y,W_Z,REF_X,REF_Y,REF_Z,MES_X,MES_Y,MES_Z
STRUC CTRL_TOUCH_O INT OUT_NR,BOOL INI,CHAR NAME_NAT[20]
STRUC CTRL_TOUCH_I INT IN_NR,CHAR NAME_NAT[20]


;==================================
; External declarations:
;==================================
EXT  H70 (INT  :IN,SRCH_TYP_2  :OUT,E6POS  :IN,SRCH_TYP_3  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,SRCH_TYP_2  :IN,INT  :IN )
;==================================
; Variables:
;==================================
DECL FRAME HILF_BASE,Y_VEK,WORLD_POS


REAL RELAY_TIME=0.100000001 ;SEC FOR DELAY RELAIS
REAL ROT_A,ROT_B
REAL TCH_OFS_LEAV=400.0
REAL TCH_RET_ACC=15.0
REAL DELAY_TIME=0.0 ; Delay to load capacity
REAL TCH_MaxCorrVector=100.0 ;[mm] Maximum of allowed correction frame


INT FG_TOUCH=6
INT TOUCH_OUT=1
INT DOUBLE_TOUCH=0
INT TOUCH_ACTIVE=1 ; configuration
INT TOUCH_RED=100
INT OV_PRO_OLD=100
INT ADV_OLD=3


BOOL H70_OPTION=FALSE
BOOL ERROR_TOL=FALSE
BOOL TOUCH=TRUE
BOOL NOTAUS_TOUCH=FALSE
BOOL FG_ON_WORK=FALSE
BOOL SUCHWEG_ENDE=FALSE
BOOL NEW_REF=FALSE
BOOL TOUCH_ON=TRUE
BOOL HIT_TARGET=TRUE ; Decision flag
BOOL DECIDE_MODE=FALSE ; Decision on demand
POS DISTC_EXACT={x -0.300000012}


DECL SRCH_TYP_2 VDEFAULT={OPT 0,CAL_MODE TRUE,SRCH_OK FALSE,CAL_VAL 0.0,MES_VAL 0.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL SRCH_TYP_3 ZDEFAULT={MODE 1,SECMODE 0,APO 0,DIST 20.0,VEL 55.0,TOL 20.0,RET 1}


DECL SRCH_TYP_2 CD0={OPT 0,CAL_MODE FALSE,SRCH_OK TRUE,CAL_VAL 0.0,MES_VAL -1.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL SRCH_TYP_3 PA0={MODE 1} ;,SECMODE 0,APO 0,DIST 75.5,VEL 55.0,TOL 52.5,RET 0}


DECL SRCH_TYP_2 CD_GLOBAL
DECL SRCH_TYP_3 PA_GLOBAL


DECL E6POS START_POS={x 1348.53003,y -113.153999,z 759.72998,a -78.172699,b 28.6000996,c -114.376999,s 6,t 19,e1 0.0,e2 0.0,e3 0.0,e4 0.0,e5 0.0,e6 0.0}
DECL E6POS POS_DUMMY={x 0.0}
DECL POS_XYZ DELTA_DT,REF_DT1,MES_DT1,INT_POS1,INT_POS2
DECL POS BASE_POS


DECL CTRL_TOUCH_O TOUCH_O[4]
TOUCH_O[1]={OUT_NR 999,INI FALSE,NAME_NAT[] "1. TOUCH-SPANNUNG"}
TOUCH_O[2]={OUT_NR 999,INI FALSE,NAME_NAT[] "2. TOUCH-SPANNUNG"}
TOUCH_O[3]={OUT_NR 999,INI FALSE,NAME_NAT[] "3. TOUCH-SPANNUNG"}
TOUCH_O[4]={OUT_NR 999,INI FALSE,NAME_NAT[] "4. TOUCH-SPANNUNG"}


DECL CTRL_TOUCH_I TOUCH_I[4]
TOUCH_I[1]={IN_NR 1,NAME_NAT[] "1. TOUCH-EINGANG"}
TOUCH_I[2]={IN_NR 1,NAME_NAT[] "2. TOUCH-EINGANG"}
TOUCH_I[3]={IN_NR 1,NAME_NAT[] "3. TOUCH-EINGANG"}
TOUCH_I[4]={IN_NR 1,NAME_NAT[] "4. TOUCH-EINGANG"}
;ENDFOLD
;FOLD USER GLOBALS;%E{O},%P___$$$___CONFIG.USB___start___
;==================================
; Userdefined Types 
;==================================
;==================================
; DECLARATION des ENTREES/SORTIES 
;==================================
SIGNAL BP_FIN_CAMPAGNE $IN[10]
SIGNAL BP_DEM_ACCES $IN[11]
SIGNAL BP_ROLLER_EVACUES $IN[12]
SIGNAL AUTORISATION_PRISE_BOITE $IN[13]
SIGNAL SQ1 $IN[14]
SIGNAL SQ2 $IN[15]
SIGNAL SQ3 $IN[16]


SIGNAL FERMETURE_PINCE $OUT[17]
SIGNAL HL_ROLLERS_PLEIN $OUT[18]
SIGNAL HL_AUTORISATION_ACCES $OUT[19]
SIGNAL HL_FIN_CAMPAGNE $OUT[20]


;==================================
; Userdefined Externals 
;==================================


;==================================
; Userdefined Variables 
;==================================
DECL FRAME OFFSET
DECL BOOL DEM_ACCES
DECL BOOL FIN_CAMPAGNE
BOOL COLONNE_2=FALSE
REAL OFFSET_X=300.0
REAL OFFSET_Y=0.0
REAL OFFSET_Z=200.0
REAL OFFSET_A=0.0
REAL OFFSET_B=0.0
REAL OFFSET_C=0.0
INT NB_RANGEE=0
INT NB_COLONNE=1
INT ROLLER_PLEIN=5


;ENDFOLD;___$$$___CONFIG.USB___end_____
ENDDAT

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[/noae]

neranol · May 23, 2014 at 2:32 PM

Hi again,

did you try to command the gripper out in in/out window?

If not go to input/output window, in T1 mode and command it.

The output configured is 17.

eusty · May 23, 2014 at 2:49 PM

Also remember you need the deadman pulled in (i.e. drives on) as well as being in T1/2

job111a · May 23, 2014 at 6:01 PM

Yes i try to command the gripper out in in/out window.

Is it because i declare it in my config.dat?

Code

SIGNAL FERMETURE_PINCE $OUT[17]

eusty · May 23, 2014 at 6:51 PM

No you can declare it as signal and use it in grippertec .

Sent from my GT-I9000 using Tapatalk 2

job111a · May 27, 2014 at 10:57 PM

yes the submit is running and i pulled deadman but not working!!

**panic mode** · May 28, 2014 at 3:22 AM

are you sure that gripper itself is ok and wired correctly? (can you verify if you can control it by toggling outputs?)

job111a · May 28, 2014 at 10:19 PM

Yes it work correctly when the outpout is on

job111a · June 3, 2014 at 2:12 PM

Is it because i modify my SPS at this line "GESTION_ACCES ( )"?

Code

&ACCESS  RVO
&COMMENT PLC on control
DEF  SPS ( )
  ;FOLD DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ;FOLD BASIS DECL;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  DECL INT WFD_PLUS,WFD_MINUS,OLD_WFD
  ;Automatik extern
  DECL STATE_T STAT
  DECL MODUS_T MODE
  ;ENDFOLD (BASIS DECL)
  ;FOLD USER DECL;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ; Please insert user defined declarations


  ;ENDFOLD (USER DECL)
  ;ENDFOLD (DECLARATIONS)
  ;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ;Default value MSG_T 
  $MSG_T={MSG_T: VALID FALSE,RELEASE FALSE,TYP #NOTIFY,MODUL[] " ",KEY[] " ",PARAM_TYP #VALUE,PARAM[] " ",DLG_FORMAT[] " ",ANSWER 0}
  ;FOLD AUTOEXT INIT;%{E}%V3.2.0,%MKUKATPBASIS,%CSPS,%VAUTOEXT,%P
  INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO RESET_OUT ()
  INTERRUPT ON 91
  $LOOP_MSG[]="                                                            "
  MODE=#SYNC
  $H_POS=$H_POS
  TECH_MOTION=FALSE
  ;Automatik extern
  IF $MODE_OP==#EX THEN
    CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
  ENDIF
  ;ENDFOLD (AUTOEXT INIT)
  ;FOLD USER INIT;%{E}%V3.2.0,%MKUKATPBASIS,%CSPS,%VAUTOEXT,%P
  ; Please insert user defined initialization commands


  ;ENDFOLD (USER INIT)
  ;ENDFOLD (INI)


  LOOP
     WAIT FOR NOT($POWER_FAIL)
    ;FOLD ARC20 PLC;%{E}%V3.2.0,%MKUKATPA20,%CSPS,%VSPS,%P
    IF ((ARC20==TRUE) AND (A10_OPTION==#DISABLED)) THEN
      A20_TECH ( )
    ENDIF
    ;ENDFOLD (ARC20 PLC)
    ;FOLD TOUCH PLC;%{E}%V3.2.0,%MKUKATPTS,%CSPS,%VSPS,%P
    IF H70_OPTION THEN
      IF ( NOT ($PRO_ACT) AND FG_ON_WORK AND ($OV_PRO==0)) THEN
        IF (TOUCH_ACTIVE>0) AND (TOUCH_ACTIVE<5) THEN
          IF TOUCH_O[TOUCH_ACTIVE].OUT_NR>0 THEN
            $OUT[TOUCH_O[TOUCH_ACTIVE].OUT_NR]=FALSE
          ENDIF
        ENDIF
        NOTAUS_TOUCH=TRUE ; error flag 
        $OV_PRO=OV_PRO_OLD
      ENDIF
    ENDIF
    ;ENDFOLD (TOUCH PLC)
    ;FOLD GRP PLC;%{E}%V3.2.0,%MKUKATPGRP,%CSPS,%VSPS,%P
    IF (ZANGEN_FUNKT>0) THEN
      H50 (5,AKT_ZANGE,DUMMY,GDEFAULT )
      ZANGEN_FUNKT=0
    ENDIF
    ;ENDFOLD (GRP PLC)
    ;FOLD SPOT PLC;%{E}%V3.2.0,%MKUKATPSPOT,%CSPS,%VSPS,%P
    ;Make your modifications here


    ;ENDFOLD (SPOT PLC)
    ;FOLD USER PLC;%{E}%V3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
    ;Make your modifications here


    ;ENDFOLD (USER PLC)


    GESTION_ACCES ( )


  ENDLOOP
  ;FOLD ;%{H}
  ;FOLD
END
;ENDFOLD


DEF  A20_TECH ( )
  IF ($PRO_STATE1==#P_STOP) THEN
    A20 (TECH_STOP )
  ENDIF
END


DEF  RESET_OUT ( )
  INT N


  $LOOP_MSG[]="                                                            "
  IF REFLECT_PROG_NR == 1 THEN
    FOR N = 0 TO PGNO_LENGTH - 1
      $OUT[PGNO_FBIT_REFL + N] = FALSE
    ENDFOR
  ENDIF
  IF (PGNO_REQ>0) THEN
    $OUT[PGNO_REQ]=FALSE
  ELSE
    IF (PGNO_REQ<0) THEN
      $OUT[-PGNO_REQ]=TRUE
    ENDIF
  ENDIF
END


;FOLD USER SUBROUTINE;%{H}%V3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
;Integrate your user defined subroutines


;ENDFOLD (USER SUBROUTINE)
;ENDFOLD

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Code

&ACCESS RVO
&PARAM TEMPLATE = C:\KRC\Roboter\Template\submit
&PARAM EDITMASK = *
DEF GESTION_ACCES( )
;FOLD DECLARATIONS;%{PE}%3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD USER DECL;%{PE}%3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
; Please insert user defined declarations


;ENDFOLD (USER DECL)
;ENDFOLD (DECLARATIONS)
;FOLD INI;%{PE}%3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
;FOLD USER INIT;%{E}%3.2.0,%MKUKATPBASIS,%CSPS,%VAUTOEXT,%P
DEM_ACCES = FALSE


;ENDFOLD (USER INIT)
;ENDFOLD (INI)


LOOP
;FOLD USER PLC;%{PE}%3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
;Make your modifikations here


;ENDFOLD (USER PLC)


IF $IN[11] == TRUE THEN
DEM_ACCES = TRUE
ENDIF


IF $IN[10] == TRUE THEN
FIN_CAMPAGNE = TRUE
ENDIF


ENDLOOP
;FOLD ;%{H};
END
;ENDFOLD
;FOLD USER SUBROUTINE;%{H}%V3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
;Integrate your user defined subroutines


;ENDFOLD (USER SUBROUTINE)

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neranol · June 21, 2014 at 12:31 AM

Hi,
The program gestion_acess() it's a closed loop! Just comment the line in sps and see the result.
Regards

Neranol

job111a · June 24, 2014 at 6:18 PM

It's ok thanks

i make that in my sps

Code

&ACCESS  RVO
&COMMENT PLC on control
DEF  SPS ( )
  ;FOLD DECLARATIONS;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ;FOLD BASIS DECL;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  DECL INT WFD_PLUS,WFD_MINUS,OLD_WFD
  ;Automatik extern
  DECL STATE_T STAT
  DECL MODUS_T MODE
  ;ENDFOLD (BASIS DECL)
  ;FOLD USER DECL;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ; Please insert user defined declarations


  ;ENDFOLD (USER DECL)
  ;ENDFOLD (DECLARATIONS)
  ;FOLD INI;%{PE}%V3.2.0,%MKUKATPBASIS,%CINIT,%VCOMMON,%P
  ;Default value MSG_T 
  $MSG_T={MSG_T: VALID FALSE,RELEASE FALSE,TYP #NOTIFY,MODUL[] " ",KEY[] " ",PARAM_TYP #VALUE,PARAM[] " ",DLG_FORMAT[] " ",ANSWER 0}
  ;FOLD AUTOEXT INIT;%{E}%V3.2.0,%MKUKATPBASIS,%CSPS,%VAUTOEXT,%P
  INTERRUPT DECL 91 WHEN $PRO_STATE1==#P_FREE DO RESET_OUT ()
  INTERRUPT ON 91
  $LOOP_MSG[]="                                                            "
  MODE=#SYNC
  $H_POS=$H_POS
  TECH_MOTION=FALSE
  ;Automatik extern
  IF $MODE_OP==#EX THEN
    CWRITE($CMD,STAT,MODE,"RUN /R1/CELL()")
  ENDIF
  ;ENDFOLD (AUTOEXT INIT)
  ;FOLD USER INIT;%{E}%V3.2.0,%MKUKATPBASIS,%CSPS,%VAUTOEXT,%P
  ; Please insert user defined initialization commands


  ;ENDFOLD (USER INIT)
  ;ENDFOLD (INI)


  LOOP
     WAIT FOR NOT($POWER_FAIL)
    ;FOLD ARC20 PLC;%{E}%V3.2.0,%MKUKATPA20,%CSPS,%VSPS,%P
    IF ((ARC20==TRUE) AND (A10_OPTION==#DISABLED)) THEN
      A20_TECH ( )
    ENDIF
    ;ENDFOLD (ARC20 PLC)
    ;FOLD TOUCH PLC;%{E}%V3.2.0,%MKUKATPTS,%CSPS,%VSPS,%P
    IF H70_OPTION THEN
      IF ( NOT ($PRO_ACT) AND FG_ON_WORK AND ($OV_PRO==0)) THEN
        IF (TOUCH_ACTIVE>0) AND (TOUCH_ACTIVE<5) THEN
          IF TOUCH_O[TOUCH_ACTIVE].OUT_NR>0 THEN
            $OUT[TOUCH_O[TOUCH_ACTIVE].OUT_NR]=FALSE
          ENDIF
        ENDIF
        NOTAUS_TOUCH=TRUE ; error flag 
        $OV_PRO=OV_PRO_OLD
      ENDIF
    ENDIF
    ;ENDFOLD (TOUCH PLC)
    ;FOLD GRP PLC;%{E}%V3.2.0,%MKUKATPGRP,%CSPS,%VSPS,%P
    IF (ZANGEN_FUNKT>0) THEN
      H50 (5,AKT_ZANGE,DUMMY,GDEFAULT )
      ZANGEN_FUNKT=0
    ENDIF
    ;ENDFOLD (GRP PLC)
    ;FOLD SPOT PLC;%{E}%V3.2.0,%MKUKATPSPOT,%CSPS,%VSPS,%P
    ;Make your modifications here


    ;ENDFOLD (SPOT PLC)
    ;FOLD USER PLC;%{E}%V3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
    ;Make your modifications here


    ;ENDFOLD (USER PLC)


    IF $IN[11] == TRUE THEN
        DEM_ACCES = TRUE
    ENDIF


    IF $IN[10] == TRUE THEN
        FIN_CAMPAGNE = TRUE
    ENDIF


  ENDLOOP
  ;FOLD ;%{H}
  ;FOLD
END
;ENDFOLD


DEF  A20_TECH ( )
  IF ($PRO_STATE1==#P_STOP) THEN
    A20 (TECH_STOP )
  ENDIF
END


DEF  RESET_OUT ( )
  INT N


  $LOOP_MSG[]="                                                            "
  IF REFLECT_PROG_NR == 1 THEN
    FOR N = 0 TO PGNO_LENGTH - 1
      $OUT[PGNO_FBIT_REFL + N] = FALSE
    ENDFOR
  ENDIF
  IF (PGNO_REQ>0) THEN
    $OUT[PGNO_REQ]=FALSE
  ELSE
    IF (PGNO_REQ<0) THEN
      $OUT[-PGNO_REQ]=TRUE
    ENDIF
  ENDIF
END


;FOLD USER SUBROUTINE;%{H}%V3.2.0,%MKUKATPUSER,%CSPS,%VSPS,%P
;Integrate your user defined subroutines


;ENDFOLD (USER SUBROUTINE)
;ENDFOLD

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