&ACCESS RV$
&REL 8
&PARAM VERSION = 1.0.0
DEFDAT  $MACHINE PUBLIC
SIGNAL $CRIT_PERI_ACK_REQ $IN[1026] ;Schalter zur Konfiguration der Bewegung kritischer Peripherie
SIGNAL $CRIT_PERI_ACK FALSE
CHAR $V_STEUMADA[32]
$V_STEUMADA[]="V1.0.0/KUKA8.3" ;VERSIONSKENNUNG
SIGNAL $MASTERINGTEST_REQ_EXT $IN[1026] ;TRUE = Referenzfahrt angefordert (extern)
SIGNAL $BRAKETEST_REQ_EX $IN[1026] ;TRUE = Bremsentest soll gestartet werden
SIGNAL $BRAKETEST_MONTIME FALSE
SIGNAL $MAINTENANCE_TO_PLC FALSE
SIGNAL $DRIVE_STOP_NOT_REQ $IN[1025] ;FALSE = Drehzahlstopp Anforderung
SIGNAL $BRAKETEST_REQ_INT FALSE
SIGNAL $BRAKETEST_WORK FALSE
SIGNAL $BRAKES_OK FALSE
SIGNAL $BRAKETEST_WARN FALSE
DECL EMSTOP_PATH $EMSTOP_PATH={T1 #ON,T2 #ON,AUT #ON,EX #ON} ;PROJEKTIERUNG DES BAHNTREUEN NOT-AUS FUER T1,T2,AUT,EX
SIGNAL $EXT_START $IN[3] ;EXTERNER START
SIGNAL $MOVE_ENABLE $IN[4] ;FAHRFREIGABE GESAMT
SIGNAL $RC_RDY1 $OUT[17] ;RC-BETRIEBSBEREIT 1
SIGNAL $SPOC_MOTION_ENABLE $OUT[1015] ; FAHRFREIGABE DURCH SAFETY CONTROLLER
SIGNAL $ALARM_STOP $OUT[1] ;NOT-STOP
SIGNAL $T1 $OUT[10] ;BETRIEBSART T1
SIGNAL $T2 $OUT[11] ;BETRIEBSART T2
SIGNAL $AUT $OUT[12] ;BETRIEBSART AUTOMATIK
SIGNAL $I_O_ACTCONF $OUT[18] ;E/A-SCHNITTSTELLE AKTIV QUITTUNG
SIGNAL $MODE_AUTO FALSE
SIGNAL $MODE_TEST FALSE
SIGNAL $LOCAL_NETWORK_OK FALSE
SIGNAL $COMPLETE_NETWORK_OK FALSE
SIGNAL $EXT $OUT[13] ;BETRIEBSART EXTERN
SIGNAL $STOPMESS $OUT[4] ;STOP-MELDUNG
SIGNAL $CONF_MESS $IN[5] ;EXTERNE QUITTUNG
SIGNAL $USER_SAF $OUT[2]
SIGNAL $PERI_RDY $OUT[3]
SIGNAL $IN_HOME $OUT[8] ;ROB IN HOMEPOSITION
SIGNAL $IN_HOME1 $OUT[49]
SIGNAL $IN_HOME2 $OUT[50]
SIGNAL $IN_HOME3 $OUT[51]
SIGNAL $IN_HOME4 $OUT[52]
SIGNAL $IN_HOME5 $OUT[53]
SIGNAL $DRIVES_ON $IN[7] ;ANTRIEBE EIN
SIGNAL $DRIVES_OFF $IN[6] ;ANTRIEBE ENABLE
SIGNAL $ON_PATH $OUT[9] ;ROB AUF BAHN
SIGNAL $PR_MODE $OUT[19] ;HAND/PROGRAMMIERMODUS
SIGNAL $SS_MODE $OUT[20] ;HAND/SINGLE-STEP
SIGNAL $ALARM_STOP_INTERN $OUT[1002] ;NOT-STOP INTERN
SIGNAL $WORKSTATE1 FALSE
SIGNAL $WORKSTATE2 FALSE
SIGNAL $WORKSTATE3 FALSE
SIGNAL $WORKSTATE4 FALSE
SIGNAL $WORKSTATE5 FALSE
SIGNAL $WORKSTATE6 FALSE
SIGNAL $WORKSTATE7 FALSE
SIGNAL $WORKSTATE8 FALSE
SIGNAL $CYLWORKSTATE1 FALSE
SIGNAL $CYLWORKSTATE2 FALSE
SIGNAL $CYLWORKSTATE3 FALSE
SIGNAL $CYLWORKSTATE4 FALSE
SIGNAL $CYLWORKSTATE5 FALSE
SIGNAL $CYLWORKSTATE6 FALSE
SIGNAL $CYLWORKSTATE7 FALSE
SIGNAL $CYLWORKSTATE8 FALSE
SIGNAL $AXWORKSTATE1 FALSE
SIGNAL $AXWORKSTATE2 FALSE
SIGNAL $AXWORKSTATE3 FALSE
SIGNAL $AXWORKSTATE4 FALSE
SIGNAL $AXWORKSTATE5 FALSE
SIGNAL $AXWORKSTATE6 FALSE
SIGNAL $AXWORKSTATE7 FALSE
SIGNAL $AXWORKSTATE8 FALSE
SIGNAL $DELTAWORKSTATE FALSE
SIGNAL $ASYNC_AX1_P $IN[1026]
SIGNAL $ASYNC_AX2_P $IN[1026]
SIGNAL $ASYNC_AX3_P $IN[1026]
SIGNAL $ASYNC_AX4_P $IN[1026]
SIGNAL $ASYNC_AX5_P $IN[1026]
SIGNAL $ASYNC_AX6_P $IN[1026]
SIGNAL $ASYNC_AX1_M $IN[1026]
SIGNAL $ASYNC_AX2_M $IN[1026]
SIGNAL $ASYNC_AX3_M $IN[1026]
SIGNAL $ASYNC_AX4_M $IN[1026]
SIGNAL $ASYNC_AX5_M $IN[1026]
SIGNAL $ASYNC_AX6_M $IN[1026]
SIGNAL $ZUST_ASYNC $IN[1026]
SIGNAL $NEAR_POSRET $OUT[14] ;ROBOTER IN TOLERANZFENSTER
SIGNAL $COLLISION FALSE
SIGNAL $COLLISION_STOP FALSE
SIGNAL $I_O_ACT $IN[1025] ;E/A-SCHNITTSTELLE AKTIV
SIGNAL $SAFEGATE_OP $IN[1025] ;SAFETY GATE ON PATH STOP
SIGNAL $MOVE_ENA_ACK FALSE
SIGNAL $COLL_ALARM FALSE
SIGNAL $COLL_ENABLE FALSE
SIGNAL $IMM_STOP $IN[1025] ;NOT-AUS VON DER SPS
SIGNAL $AUX_POWER $IN[1026] ;EXTERNE SPANNUNGSVERSORGUNG AKTIV
SIGNAL $T2_ENABLE $IN[1025] ;SAFETY-SPEED
REAL $FAN_FOLLOW_UP_TIME=5.00000 ;NACHLAUFZEIT FUER DIE FAN-ANSTEUERUNG
SIGNAL $ROB_STOPPED $OUT[1023] ;ROBOTER STEHT
SIGNAL $ROB_CAL $OUT[1001] ;ROBOTER SYNCHRON
SIGNAL $PRO_ACT $OUT[5] ;PROZESS AKTIV
SIGNAL $PRO_MOVE $OUT[1022] ;PROGRAMMBEWEGUNG AKTIV
ENDDAT