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@@ -505,10 +505,127 @@ VAR
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PlatingCell1_2_DO_16CHANNEL_EL2809_N401_12 AT%Q* :BOOL;
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-
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-
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-END_VAR
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-]]></Declaration>
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+ //SRD1 Rotation Status word
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+ SRD1RotationStatusWord AT%I* :UINT;
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+ //SRD1 Rotation digital inputs
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+ SRD1RotationDigitalInputs AT%I* :UDINT;
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+ //SRD1 Rotation position error
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+ SRD1RotationPositionError AT%I* :UDINT;
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+ //SRD1 Rotation actual velocity
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+ SRD1RotationActualVelocity AT%I* :UDINT;
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+ //SRD1 Rotation actual torque
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+ SRD1RotationActualTorque AT%I* :DINT;
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+ //SRD1 Rotation motor position
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+ SRD1RotationMotorPosition AT%I* :DINT;
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+ //SRD1 Rotation control word
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+ SRD1RotationControlWord AT%Q* :UINT;
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+ //SRD1 Rotation mode of operation
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+ SRD1RotationModeOfOperation AT%Q* :SINT;
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+ //SRD1 Rotation target position
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+ SRD1RotationTargetPosition AT%Q* :DINT;
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+ //SRD1 Rotation profile volecity
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+ SRD1RotationProfileVelocity AT%Q* :DINT;
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+ //SRD1 Rotation profile acceleration
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+ SRD1RotationProfileAccel AT%Q* :UDINT;
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+ //SRD1 Rotation profile deceleration
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+ SRD1RotationProfileDecel AT%Q* :UDINT;
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+ //SRD1 Rotation motor step
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+ SRD1RotationMotorStep :DINT;
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+
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+ //SRD2 Rotation Status word
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+ SRD2RotationStatusWord AT%I* :UINT;
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+ //SRD2 Rotation digital inputs
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+ SRD2RotationDigitalInputs AT%I* :UDINT;
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+ //SRD2 Rotation position error
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+ SRD2RotationPositionError AT%I* :UDINT;
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+ //SRD2 Rotation actual velocity
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+ SRD2RotationActualVelocity AT%I* :UDINT;
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+ //SRD2 Rotation actual torque
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+ SRD2RotationActualTorque AT%I* :DINT;
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+ //SRD2 Rotation motor position
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+ SRD2RotationMotorPosition AT%I* :DINT;
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+ //SRD2 Rotation control word
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+ SRD2RotationControlWord AT%Q* :UINT;
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+ //SRD2 Rotation mode of operation
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+ SRD2RotationModeOfOperation AT%Q* :SINT;
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+ //SRD2 Rotation target position
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+ SRD2RotationTargetPosition AT%Q* :DINT;
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+ //SRD2 Rotation profile volecity
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+ SRD2RotationProfileVelocity AT%Q* :DINT;
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+ //SRD2 Rotation profile acceleration
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+ SRD2RotationProfileAccel AT%Q* :UDINT;
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+ //SRD2 Rotation profile deceleration
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+ SRD2RotationProfileDecel AT%Q* :UDINT;
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+ //SRD2 Rotation motor step
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+ SRD2RotationMotorStep :DINT;
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+
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+ //SRD.FluidContainment
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+ r_SRD_FLUID_LEVEL AT%I* :BOOL;
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+ //SRD.WaterPressure
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+ r_SRD_SUPPLY_WATER_PRESS AT%I* :DINT;
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+
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+ //SRD1.DoorClosed
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+ r_SRD1_SHUTTER_CLOSED AT%I* :BOOL;
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+ //SRD1.DoorOpened
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+ r_SRD1_SHUTTER_OPEN AT%I* :BOOL;
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+ //SRD1.ChuckVacuumOK
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+ r_SRD1_CHUCK_VAC_OK AT%I* :BOOL;
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+ //SRD1.WaferPresent
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+ r_SRD1_WAFER_PRESENT AT%I* :BOOL;
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+ //SRD1.LiftUpStatus
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+ r_SRD1_LIFT_UP AT%I* :BOOL;
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+ //SRD1.Flipper1Out100Status
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+ r_SRD1_100_FLIPPER1_OUT AT%I* :BOOL;
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+ //SRD1.Flipper2Out100Status
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+ r_SRD1_100_FLIPPER2_OUT AT%I* :BOOL;
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+ //SRD1.Flipper3Out100Status
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+ r_SRD1_100_FLIPPER3_OUT AT%I* :BOOL;
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+ //SRD1.Flipper1Out150Status
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+ r_SRD1_150_FLIPPER1_OUT AT%I* :BOOL;
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+ //SRD1.Flipper2Out150Status
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+ r_SRD1_150_FLIPPER2_OUT AT%I* :BOOL;
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+ //SRD1.Flipper3Out150Status
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+ r_SRD1_150_FLIPPER3_OUT AT%I* :BOOL;
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+ //SRD1.Flipper1Out200Status
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+ r_SRD1_200_FLIPPER1_OUT AT%I* :BOOL;
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+ //SRD1.Flipper2Out200Status
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+ r_SRD1_200_FLIPPER2_OUT AT%I* :BOOL;
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+ //SRD1.Flipper3Out200Status
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+ r_SRD1_200_FLIPPER3_OUT AT%I* :BOOL;
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+ //SRD1.ChuckVacuum
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+ r_SRD1_CHUCK_VACUUM_anlg AT%I* :DINT;
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+ //SRD1.WaferPresence
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+ r_SRD1_WAFER_PRESENT_anlg AT%I* :DINT;
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+ //SRD1.WaterFlow
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+ r_SRD1_WATER_FLOW AT%I* :DINT;
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+
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+
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+ //SRD1.WaterAbove
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+ c_SRD1_Water_Above_Wafer AT%Q* :BOOL;
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+ //SRD1.WaterBelow
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+ c_SRD1_Water_Below_Wafer AT%Q* :BOOL;
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+ //SRD1.ExhaustOn
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+ c_SRD1_Exhaust_Fan_On AT%Q* :BOOL;
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+ //SRD1.DoorClose
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+ c_SRD1_Shutter_Close AT%Q* :BOOL;
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+ //SRD1.ChuckVacuum
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+ c_SRD1_CHUCK_VACUUM AT%Q* :BOOL;
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+ //SRD1.ChuckATMOn
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+ c_SRD1_CHUCK_ATM_ON AT%Q* :BOOL;
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+ //SRD1.LiftUp
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+ c_SRD1_LIFT_UP AT%Q* :BOOL;
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+ //SRD1.FlippersIn100
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+ c_SRD1_100_FLIPPERS_IN AT%Q* :BOOL;
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+ //SRD1.FlippersIn150
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+ c_SRD1_150_FLIPPERS_IN AT%Q* :BOOL;
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+ //SRD1.FlippersIn200
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+ c_SRD1_200_FLIPPERS_IN AT%Q* :BOOL;
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+ //SRD1.WaterOn
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+ c_SRD1_WATER_ON AT%Q* :BOOL;
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+ //SRD1.N2On
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+ c_SRD1_N2_FLOW_ON AT%Q* :BOOL;
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+
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+END_VAR]]></Declaration>
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<Implementation>
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<ST><![CDATA[IF VPW1RotationControlWord =7 THEN
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VPW1RotationStatusWord := 563;
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@@ -738,7 +855,56 @@ END_IF
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//reservoir 4 ca DIreplen
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IF RES3_4_PNEU_SMC_EX260_V01_V04.6=TRUE AND RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_6 <= 32760 THEN
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RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_6:= RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_6 + 10;
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-END_IF]]></ST>
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+END_IF
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+
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+
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+
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+IF SRD1RotationControlWord =7 THEN
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+ SRD1RotationStatusWord := 563;
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+ ELSE IF SRD1RotationControlWord =6 THEN
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+ SRD1RotationStatusWord :=33;
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+ ELSE IF SRD1RotationControlWord=15 THEN
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+ SRD1RotationStatusWord :=567;
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+ SRD1RotationDigitalInputs.22:=FALSE;
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+ ELSE IF SRD1RotationControlWord=31 THEN
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+ SRD1RotationDigitalInputs.22:=TRUE;
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+ SRD1RotationStatusWord :=5687;
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+ SRD1RotationMotorPosition:=0;
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+ END_IF
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+ END_IF
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+ END_IF
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+
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+END_IF
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+
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+IF SRD1RotationModeOfOperation=1 THEN
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+ IF SRD1RotationControlWord=63 THEN
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+ IF SRD1RotationMotorPosition<SRD1RotationTargetPosition THEN
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+ SRD1RotationMotorStep :=(SRD1RotationTargetPosition-SRD1RotationMotorPosition)/20;
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+ IF SRD1RotationMotorStep >1 THEN
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+ SRD1RotationMotorPosition :=SRD1RotationMotorPosition+SRD1RotationMotorStep;
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+ ELSE
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+ SRD1RotationMotorPosition :=SRD1RotationMotorPosition+1;
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+ END_IF
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+ ELSE IF SRD1RotationMotorPosition>SRD1RotationTargetPosition THEN
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+ SRD1RotationMotorStep :=(SRD1RotationMotorPosition-SRD1RotationTargetPosition)/20;
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+ IF SRD1RotationMotorStep >1 THEN
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+ SRD1RotationMotorPosition :=SRD1RotationMotorPosition-SRD1RotationMotorStep;
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+ ELSE
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+ SRD1RotationMotorPosition :=SRD1RotationMotorPosition-1;
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+ END_IF
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+ ELSE
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+ SRD1RotationStatusWord :=1591;
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+ END_IF
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+ END_IF
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+ ELSE IF SRD1RotationControlWord=319 THEN
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+ SRD1RotationStatusWord :=1591;
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+ END_IF
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+ END_IF
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+END_IF
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+
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+
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+
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+]]></ST>
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</Implementation>
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<LineIds Name="MAIN">
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<LineId Id="52" Count="5" />
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@@ -815,6 +981,10 @@ END_IF]]></ST>
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<LineId Id="2275" Count="6" />
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<LineId Id="2284" Count="2" />
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<LineId Id="2274" Count="0" />
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+ <LineId Id="2850" Count="2" />
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+ <LineId Id="2856" Count="41" />
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+ <LineId Id="2853" Count="2" />
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+ <LineId Id="2849" Count="0" />
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</LineIds>
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</POU>
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</TcPlcObject>
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