103 lines
3.6 KiB
Plaintext
103 lines
3.6 KiB
Plaintext
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&ACCESS RV$
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&REL 3
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&PARAM VERSION = 1.0.0
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DEFDAT $MACHINE PUBLIC
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SIGNAL $CRIT_PERI_ACK_REQ $IN[1026] ;Schalter zur Konfiguration der Bewegung kritischer Peripherie
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SIGNAL $CRIT_PERI_ACK FALSE
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CHAR $V_STEUMADA[32]
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$V_STEUMADA[]="V1.0.0/KUKA8.3" ;VERSIONSKENNUNG
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SIGNAL $MASTERINGTEST_REQ_EXT $IN[1026] ;TRUE = Referenzfahrt angefordert (extern)
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SIGNAL $BRAKETEST_REQ_EX $IN[1026] ;TRUE = Bremsentest soll gestartet werden
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SIGNAL $BRAKETEST_MONTIME FALSE
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SIGNAL $MAINTENANCE_TO_PLC FALSE
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SIGNAL $DRIVE_STOP_NOT_REQ $IN[1025] ;FALSE = Drehzahlstopp Anforderung
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SIGNAL $BRAKETEST_REQ_INT FALSE
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SIGNAL $BRAKETEST_WORK FALSE
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SIGNAL $BRAKES_OK FALSE
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SIGNAL $BRAKETEST_WARN FALSE
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DECL EMSTOP_PATH $EMSTOP_PATH={T1 #ON,T2 #ON,AUT #ON,EX #ON} ;PROJEKTIERUNG DES BAHNTREUEN NOT-AUS FUER T1,T2,AUT,EX
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SIGNAL $EXT_START $IN[3] ;EXTERNER START
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SIGNAL $MOVE_ENABLE $IN[4] ;FAHRFREIGABE GESAMT
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SIGNAL $RC_RDY1 $OUT[17] ;RC-BETRIEBSBEREIT 1
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SIGNAL $SPOC_MOTION_ENABLE $OUT[1015] ; FAHRFREIGABE DURCH SAFETY CONTROLLER
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SIGNAL $ALARM_STOP $OUT[1] ;NOT-STOP
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SIGNAL $T1 $OUT[10] ;BETRIEBSART T1
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SIGNAL $T2 $OUT[11] ;BETRIEBSART T2
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SIGNAL $AUT $OUT[12] ;BETRIEBSART AUTOMATIK
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SIGNAL $I_O_ACTCONF $OUT[18] ;E/A-SCHNITTSTELLE AKTIV QUITTUNG
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SIGNAL $MODE_AUTO FALSE
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SIGNAL $MODE_TEST FALSE
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SIGNAL $LOCAL_NETWORK_OK FALSE
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SIGNAL $COMPLETE_NETWORK_OK FALSE
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SIGNAL $EXT $OUT[13] ;BETRIEBSART EXTERN
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SIGNAL $STOPMESS $OUT[4] ;STOP-MELDUNG
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SIGNAL $CONF_MESS $IN[5] ;EXTERNE QUITTUNG
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SIGNAL $USER_SAF $OUT[2]
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SIGNAL $PERI_RDY $OUT[3]
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SIGNAL $IN_HOME $OUT[8] ;ROB IN HOMEPOSITION
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SIGNAL $IN_HOME1 FALSE
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SIGNAL $IN_HOME2 FALSE
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SIGNAL $IN_HOME3 FALSE
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SIGNAL $IN_HOME4 FALSE
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SIGNAL $IN_HOME5 FALSE
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SIGNAL $DRIVES_ON $IN[7] ;ANTRIEBE EIN
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SIGNAL $DRIVES_OFF $IN[6] ;ANTRIEBE ENABLE
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SIGNAL $ON_PATH $OUT[9] ;ROB AUF BAHN
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SIGNAL $PR_MODE $OUT[21] ;HAND/PROGRAMMIERMODUS
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SIGNAL $SS_MODE $OUT[22] ;HAND/SINGLE-STEP
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SIGNAL $ALARM_STOP_INTERN $OUT[1002] ;NOT-STOP INTERN
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SIGNAL $WORKSTATE1 FALSE
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SIGNAL $WORKSTATE2 FALSE
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SIGNAL $WORKSTATE3 FALSE
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SIGNAL $WORKSTATE4 FALSE
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SIGNAL $WORKSTATE5 FALSE
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SIGNAL $WORKSTATE6 FALSE
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SIGNAL $WORKSTATE7 FALSE
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SIGNAL $WORKSTATE8 FALSE
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SIGNAL $CYLWORKSTATE1 FALSE
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SIGNAL $CYLWORKSTATE2 FALSE
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SIGNAL $CYLWORKSTATE3 FALSE
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SIGNAL $CYLWORKSTATE4 FALSE
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SIGNAL $CYLWORKSTATE5 FALSE
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SIGNAL $CYLWORKSTATE6 FALSE
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SIGNAL $CYLWORKSTATE7 FALSE
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SIGNAL $CYLWORKSTATE8 FALSE
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SIGNAL $AXWORKSTATE1 FALSE
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SIGNAL $AXWORKSTATE2 FALSE
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SIGNAL $AXWORKSTATE3 FALSE
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SIGNAL $AXWORKSTATE4 FALSE
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SIGNAL $AXWORKSTATE5 FALSE
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SIGNAL $AXWORKSTATE6 FALSE
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SIGNAL $AXWORKSTATE7 FALSE
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SIGNAL $AXWORKSTATE8 FALSE
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SIGNAL $DELTAWORKSTATE FALSE
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SIGNAL $ASYNC_AX1_P $IN[1026]
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SIGNAL $ASYNC_AX2_P $IN[1026]
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SIGNAL $ASYNC_AX3_P $IN[1026]
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SIGNAL $ASYNC_AX4_P $IN[1026]
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SIGNAL $ASYNC_AX5_P $IN[1026]
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SIGNAL $ASYNC_AX6_P $IN[1026]
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SIGNAL $ASYNC_AX1_M $IN[1026]
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SIGNAL $ASYNC_AX2_M $IN[1026]
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SIGNAL $ASYNC_AX3_M $IN[1026]
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SIGNAL $ASYNC_AX4_M $IN[1026]
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SIGNAL $ASYNC_AX5_M $IN[1026]
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SIGNAL $ASYNC_AX6_M $IN[1026]
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SIGNAL $ZUST_ASYNC $IN[1026]
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SIGNAL $NEAR_POSRET $OUT[14] ;ROBOTER IN TOLERANZFENSTER
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SIGNAL $COLLISION FALSE
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SIGNAL $COLLISION_STOP FALSE
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SIGNAL $I_O_ACT $IN[1025] ;E/A-SCHNITTSTELLE AKTIV
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SIGNAL $SAFEGATE_OP $IN[1025] ;SAFETY GATE ON PATH STOP
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SIGNAL $MOVE_ENA_ACK FALSE
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SIGNAL $COLL_ALARM FALSE
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SIGNAL $COLL_ENABLE FALSE
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SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS
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SIGNAL $AUX_POWER $IN[1026] ;EXTERNE SPANNUNGSVERSORGUNG AKTIV
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SIGNAL $T2_ENABLE $IN[1025] ;SAFETY-SPEED
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REAL $FAN_FOLLOW_UP_TIME=5.00000 ;NACHLAUFZEIT FUER DIE FAN-ANSTEUERUNG
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SIGNAL $ROB_STOPPED $OUT[1023] ;ROBOTER STEHT
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SIGNAL $ROB_CAL $OUT[1001] ;ROBOTER SYNCHRON
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SIGNAL $PRO_ACT $OUT[5] ;PROZESS AKTIV
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SIGNAL $PRO_MOVE $OUT[1022] ;PROGRAMMBEWEGUNG AKTIV
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ENDDAT
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