1 THEN VPW1RotationMotorPosition :=VPW1RotationMotorPosition+VPW1RotationMotorStep; ELSE VPW1RotationMotorPosition :=VPW1RotationMotorPosition+1; END_IF ELSE IF VPW1RotationMotorPosition>VPW1RotationTargetPosition THEN VPW1RotationMotorStep :=(VPW1RotationMotorPosition-VPW1RotationTargetPosition)/20; IF VPW1RotationMotorStep >1 THEN VPW1RotationMotorPosition :=VPW1RotationMotorPosition-VPW1RotationMotorStep; ELSE VPW1RotationMotorPosition :=VPW1RotationMotorPosition-1; END_IF ELSE VPW1RotationStatusWord :=1591; END_IF END_IF ELSE IF VPW1RotationControlWord=319 THEN VPW1RotationStatusWord :=1591; END_IF END_IF END_IF IF VPW2RotationControlWord =7 THEN VPW2RotationStatusWord := 563; ELSE IF VPW2RotationControlWord =6 THEN VPW2RotationStatusWord :=33; ELSE IF VPW2RotationControlWord=15 THEN VPW2RotationStatusWord :=567; VPW2RotationDigitalInputs.22:=FALSE; ELSE IF VPW2RotationControlWord=31 THEN VPW2RotationDigitalInputs.22:=TRUE; VPW2RotationStatusWord :=5687; VPW2RotationMotorPosition:=0; END_IF END_IF END_IF END_IF IF VPW2RotationModeOfOperation=1 THEN IF VPW2RotationControlWord=63 THEN IF VPW2RotationMotorPosition1 THEN VPW2RotationMotorPosition :=VPW2RotationMotorPosition+VPW2RotationMotorStep; ELSE VPW2RotationMotorPosition :=VPW2RotationMotorPosition+1; END_IF ELSE IF VPW2RotationMotorPosition>VPW2RotationTargetPosition THEN VPW2RotationMotorStep :=(VPW2RotationMotorPosition-VPW2RotationTargetPosition)/20; IF VPW2RotationMotorStep >1 THEN VPW2RotationMotorPosition :=VPW2RotationMotorPosition-VPW2RotationMotorStep; ELSE VPW2RotationMotorPosition :=VPW2RotationMotorPosition-1; END_IF ELSE VPW2RotationStatusWord :=1591; END_IF END_IF ELSE IF VPW2RotationControlWord=319 THEN VPW2RotationStatusWord :=1591; END_IF END_IF END_IF IF VPW_DO_16CHANNEL_EL2809_101_7=TRUE THEN VPW_DI_16CHANNEL_EL1819_N100_9:=FALSE; VPW_AI_8CHANNEL_4_20mA_EL3058_N102_1:=10000; ELSE IF VPW_DO_16CHANNEL_EL2809_101_7=FALSE THEN VPW_DI_16CHANNEL_EL1819_N100_9:=TRUE; VPW_AI_8CHANNEL_4_20mA_EL3058_N102_1:=0; END_IF END_IF IF MOTION_DO_16CHANNEL_EL2809_N401_15=TRUE THEN VPW_DI_16CHANNEL_EL1819_N100_1:=TRUE; VPW_DI_16CHANNEL_EL1819_N100_2:=FALSE; ELSE VPW_DI_16CHANNEL_EL1819_N100_1:=FALSE; VPW_DI_16CHANNEL_EL1819_N100_2:=TRUE; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.2=TRUE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_2:=6000; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.3=TRUE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_2:=16000; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.4=TRUE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_2:=22000; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.4=FALSE AND VPW_PNEU_SMC_EX260_BYTE0.3=FALSE AND VPW_PNEU_SMC_EX260_BYTE0.2=FALSE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_2:=0; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.5=TRUE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_3:=6000; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.6=TRUE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_3:=16000; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.7=TRUE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_3:=22000; END_IF IF VPW_PNEU_SMC_EX260_BYTE0.5=FALSE AND VPW_PNEU_SMC_EX260_BYTE0.6=FALSE AND VPW_PNEU_SMC_EX260_BYTE0.7=FALSE THEN VPW_AI_8CHANNEL_4_20mA_EL3058_N102_3:=0; END_IF //safety lock IF Safety_ReqAlignerDoorsLock=TRUE THEN Safety_SDI_CHANNEL_EL1904_NS101_1:=TRUE; ELSE Safety_SDI_CHANNEL_EL1904_NS101_1:=FALSE; END_IF IF Safety_ReqCassetteDoorsLock=TRUE THEN Safety_SDI_CHANNEL_EL1904_NS101_2:=TRUE; Safety_SDI_CHANNEL_EL1904_NS101_3:=TRUE; ELSE Safety_SDI_CHANNEL_EL1904_NS101_2:=FALSE; Safety_SDI_CHANNEL_EL1904_NS101_3:=FALSE; END_IF IF Safety_ReqCell1_2DoorsLock=TRUE THEN Safety_SDI_CHANNEL_EL1904_NS100_1:=TRUE; Safety_SDI_CHANNEL_EL1904_NS100_2:=TRUE; ELSE Safety_SDI_CHANNEL_EL1904_NS100_1:=FALSE; Safety_SDI_CHANNEL_EL1904_NS100_2:=FALSE; END_IF IF Safety_ReqCell3_4DoorsLock=TRUE THEN Safety_SDI_CHANNEL_EL1904_NS100_3:=TRUE; Safety_SDI_CHANNEL_EL1904_NS100_4:=TRUE; ELSE Safety_SDI_CHANNEL_EL1904_NS100_3:=FALSE; Safety_SDI_CHANNEL_EL1904_NS100_4:=FALSE; END_IF IF MAIN_IO_RELAY_4CHANNEL_EL2624_N106_1=TRUE AND VPW_PNEU_SMC_EX260_BYTE1.3=TRUE AND VPW_PNEU_SMC_EX260_BYTE1.5=FALSE THEN VPW_AI_8CHANNEL_0_10V_EL3068_N105_1:=25000; ELSE VPW_AI_8CHANNEL_0_10V_EL3068_N105_1:=29500; END_IF IF MAIN_IO_RELAY_4CHANNEL_EL2624_N106_1=TRUE AND VPW_PNEU_SMC_EX260_BYTE1.4=TRUE AND VPW_PNEU_SMC_EX260_BYTE1.4=FALSE THEN VPW_AI_8CHANNEL_0_10V_EL3068_N105_2:=25000; ELSE VPW_AI_8CHANNEL_0_10V_EL3068_N105_2:=29500; END_IF //reservoir //reservoir 1 ca pump IF RES1_2_DO_16CHANNEL_EL2809_N201_3=TRUE THEN RES1_2_DI_8CHANNEL_EL1008_N200_1:=TRUE; ELSE RES1_2_DI_8CHANNEL_EL1008_N200_1:=FALSE; END_IF //reservoir 1 ca DIreplen IF RES1_2_PNEU_SMC_EX260_V01_V04.0=TRUE AND RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_5 <= 32760 THEN RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_5:= RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_5 + 10; END_IF]]>