Lenze PM94P01C - Manual (Page 22)

PM94P01C 20
Introduction
Table 6: Bin Location, Inputs & Index Values
Bin Location Input State INDEX Value
Bin 1 Input B1 is made 1
Bin 2 Input B2 is made 2
Bin 3 Inputs B1 and B2 are made 3
Bin 4 Input B3 is made 4
Bin 5 Inputs B1 and B3 are made 5
Bin 6 Inputs B2 and B3 are made 6
Bin 7 Inputs B1, B2 and B3 are made 7
The Main program has been modified to change the end place position based on the value of the “ INDEX” variable.
;************************** Main Program **********************************
ENABLE
PROGRAM_START:
WAIT UNTIL IN_A4==1
;Make sure Arm is retracted
MOVEP 0 ;Move to (ABS) to Pick position
OUT1 = 1 ;Turn on output 1 to extend Pick arm
WAIT UNTIL IN_A1==1 ;Arm extends
OUT2 = 1 ;Turn on output 2 to Engage gripper
WAIT TIME 1000 ;Delay 1 sec to Pick part
OUT1 = 0 ;Turn off output 1 to Retract Pick arm
WAIT UNTIL IN_A4==0 ;Make sure Arm is retracted
IF INDEX==1 ;In this area we use the If statement to
GOTO BIN_1 ;check and see what state inputs B1, B2 & B3
ENDIF ;are in.
IF INDEX==2 ; INDEX = 1 when input B1 is made
GOTO BIN_2 ; INDEX = 2 when input B2 is made
ENDIF ; INDEX = 3 when input B1 & B2 are made.
. ; INDEX = 4 when input B3 is made
. ; INDEX = 5 when input B1 & B3 are made.
. ; INDEX = 6 when input B2 & B3 are made.
IF INDEX==7 ; INDEX = 7 when input B1, B2 & B3 are made
GOTO BIN_7 ;We can now direct the program to one of seven
ENDIF ;locations based on three inputs.
BIN_1: ;Set up for Bin 1
MOVEP 10 ;Move to Bin 1 location
GOTO PLACE_PART ;Jump to place part routine
BIN_2: ;Set up for Bin 2
MOVEP 20 ;Move to Bin 2 location
GOTO PLACE_PART ;Jump to place part routine
BIN_7: ;Set up for Bin 7
MOVEP 70 ;Move to Bin 7 location
GOTO PLACE_PART ;Jump to place part routine
PLACE_PART:
OUT1 = 1
;Turn on output 1 to extend Pick arm
WAIT UNTIL IN_A4 == 1 ;Arm extends
OUT2 = 0 ;Turn off output 2 to Disengage gripper
WAIT TIME 1000 ;Delay 1 sec to Place part
OUT1 = 0 ;Retract Pick arm
WAIT UNTIL IN_A4 == 0 ;Arm is retracted
GOTO PROGRAM_START
END