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program sequence pickAlfa At the beginning the program checks if the station has ever been reset.

If the station is not yet reset (flag Reset_OK = 0-signal) the program alternates to the "reset" program part. After a workpiece is put to the station the gripper is lowered and identifies the part (black / not black). In dependance of this result the part is positiond in two differend kinds and deposited Step 1 Initialisation step If "Reset_OK" flag and "Init_Pos" flag are set, continue with step 5. If "Reset_OK" flag nort set and Emergency-Stop not active alternate to reset path. Step 2, Switch on reset indicator light (request) and wait for reset button to be pressed. Step 3 Move actuators to initial position and wait for this position to be reached. Step 4 Set flag Reset_OK Step 5 Interrogation of starting condition Without starting condition switch on the start indicator light (request) and wait for the condition to become true, otherwise don't switch on the indicator light. Step 6 Switch on the start indicator light and wait for starting condition to become true. Step 7 Wait for a workpiece at the material input. Step 8 Start security timer and set output station occupied. Wait until security timer is expired. Step 9 Open gripper and extend gripper and wait until gripper is extended. Step 10 Close gripper and wait for 0.5 sec. If the workpiece is not black continue with step 11. If thew workpiece is black continue with step 12. Step 11 Set "F_Mat" flag. "F_Mat" = 1-signal, if workpiece is red or silver. Step 12 Reset "F_Mat" flag. "F_Mat" = 0-signal, if workpiece is black. Step 13 Retract gripper and wait until gripper is retracted. If "F_Mat" = 1 continue with step 14. If "F_Mat" = 0 continue with step 15.

Step 14 Move axis to position slide red/silver and wait until position is reached. Step 15 Move axis to position slide red/silver and wait until position is reached. Step 16 Wait until deposit point is clear. Input "IP_FI" = 1-signal. Without subsequent station condition is always true. Step 17 Extend gripper and wait until gripper is extended. Step 18 Open gripper and wait for 1 sec. If timer is expired conttinue with step 19. Step 19 Retract gripper and wait until gripper is retracted. Step 20 Move axis to position preceeding station. Set flag cycle end, reset output "IP_N_FO" (station clear) and wait for end position to be reached. Organisation program Calling program blocks: The organisation program is calling the program block "P_Ems41"(Emergency-Stop) and the block "P_Auto40" (program sequence PickAlfa). The block "P_Ems41"is conditionally called if the emergency stop signal is at the input I1.5 (PNOZ I1.5 = 0-signal) or the stop button was pressed. The program sequence PickAlfa is running continuously (without condition). Initial position: The initial position of the station is stored in the "Init_Pos" flag. This flag has 1-signal if the station is in initial position. The flag is used in the program sequence. Start condition: The "F_Start" flag is set if in initial position the start button "S_Start" is p ressed. Pressing the stop button "S_Stop" in the switch position "manual" (S_Auto=1) or emergency stop will reset the "F_Start" flag. The "F_Start" flag is used within the "program sequence PickAlfa" as condition to start a new cycle. In the switch position "manual" a single cycle is startet - in the switch position "automatic" a continuous cycle is startet. Initialisation: The organisation program resets the initialisation flag "Init_Bit". "Init_bit" is set during start-up procedure once within the start-up program block OB100. Calling FC11 Emergency-Stop In condition of emergency stop (0-signal at emergency stop input I1.5)emergency stop program block is called. The program block resets the operating panel outputs and station outputs. Additional the sequentional program ist reseted. Calling FC12 Stop In condition of the stop buttton is pressed the emergency stop program block is called. The program block resets H1 und H2. Additional the sequentional program ist reseted.

Emergency The program block resets the outputs of the operating panel and station outputs. Additional the sequentional program ist reseted. Reset operating panel outputs Reset of all operating panel outputs (lights) (the value 0 is written to the output byte OB1). Reset station outputs Reset of all station outputs (the value 0 is written to the output byte OB0). Stop The program block resets H1 und H2 and the station outputs. Additional the sequentional program ist reseted. Reset station outputs Reset of all station outputs (the value 0 is written to the output byte OB0).