PunkHPX8/PunkHPX8_Twincate/PunkHPX8/PlcTest/POUs/MAIN.TcPOU

<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.12">
  <POU Name="MAIN" Id="{f3b23004-2d2c-4ebb-9aed-d7be3f27e3a6}" SpecialFunc="None">
    <Declaration><![CDATA[PROGRAM MAIN
VAR
	//TwincatState
	EtherCAT_State AT%I* :UINT:=8;
	//VpwHotConnectState
	EtherCat_State_HotConnect_VPW AT%I* :UINT:=8;
	//Res12HotConnectState
	EtherCat_State_HotConnect_RES1_2 AT%I* :UINT:=8;
	//Res34HotConnectState
	EtherCat_State_HotConnect_RES3_4 AT%I* :UINT:=8;
	//FacilityHotConnectState
	EtherCat_State_HotConnect_Facility AT%I* :UINT:=8;
	//Plating12HotConnectState
	EtherCat_State_HotConnect_PlatingCell1_2 AT%I* :UINT:=8;
	//Plating34HotConnectState
	EtherCat_State_HotConnect_PlatingCell3_4 AT%I* :UINT:=8;
	//SrdHotConnectState
	EtherCat_State_HotConnect_SRD AT%I* :UINT:=8;
	//MainCommErr
	Safety_ComErr AT%I* :BOOL;
	//MainFbErr
	Safety_FbErr AT%I* :BOOL;
	//VpwCommErr
	Safety_ComErr_VPW AT%I* :BOOL;
	//VpwFbErr
	Safety_FbErr_VPW AT%I* :BOOL;
	//Res12CommErr
	Safety_ComErr_RES1_2 AT%I* :BOOL;
	//Res12FbErr
	Safety_FbErr_RES1_2 AT%I* :BOOL;
	//Res34CommErr
	Safety_ComErr_RES3_4 AT%I* :BOOL;
	//Res34FbErr
	Safety_FbErr_RES3_4 AT%I* :BOOL;
	//FacilityCommErr
	Safety_ComErr_Facility AT%I* :BOOL;
	//FacilityFbErr
	Safety_FbErr_Facility AT%I* :BOOL;
	//Plating12CommErr
	Safety_ComErr_PlatingCell1_2 AT%I* :BOOL;
	//Plating12FbErr
	Safety_FbErr_PlatingCell1_2 AT%I* :BOOL;
	//Plating34CommErr
	Safety_ComErr_PlatingCell3_4 AT%I* :BOOL;
	//Plating34FbErr
	Safety_FbErr_PlatingCell3_4 AT%I* :BOOL;
	//SrdCommErr
	Safety_ComErr_SRD AT%I* :BOOL;
	//SrdFbErr
	Safety_FbErr_SRD AT%I* :BOOL;
	//Cell12DoorsLeftLocked
	Safety_SDI_CHANNEL_EL1904_NS100_1 AT%I* :BOOL;
	//Cell12DoorsRightLocked
	Safety_SDI_CHANNEL_EL1904_NS100_2 AT%I* :BOOL;
	//Cell34DoorsLeftLocked
	Safety_SDI_CHANNEL_EL1904_NS100_3 AT%I* :BOOL;
	//Cell34DoorsRightLocked
	Safety_SDI_CHANNEL_EL1904_NS100_4 AT%I* :BOOL;
	//AlignerDoorClosed
	Safety_SDI_CHANNEL_EL1904_NS101_1 AT%I* :BOOL;
	//CassetteDoorsLeftLocked
	Safety_SDI_CHANNEL_EL1904_NS101_2 AT%I* :BOOL;
	//CassetteDoorsRightLocked
	Safety_SDI_CHANNEL_EL1904_NS101_3 AT%I* :BOOL;
	//Res12DoorClosed
	Safety_SDI_CHANNEL_EL1904_NS101_4 AT%I* :BOOL;
	//Res34DoorClosed
	Safety_SDI_CHANNEL_EL1904_NS102_1 AT%I* :BOOL;
	//VpwDoorClosed
	Safety_SDI_CHANNEL_EL1904_NS102_2 AT%I* :BOOL;
	//PlumblingDoorClosed
	Safety_SDI_CHANNEL_EL1904_NS102_3 AT%I* :BOOL;
	//SrdPanelClosed
	Safety_SDI_CHANNEL_EL1904_NS102_4 AT%I* :BOOL;
	//HaltButtonLeft
	Safety_SDI_CHANNEL_EL1904_NS103_1 AT%I* :BOOL;
	//HaltButtonRight
	Safety_SDI_CHANNEL_EL1904_NS103_2 AT%I* :BOOL;
	
	//RunStop
	Safety_RunStop AT%Q* :BOOL;
	//ErrAck
	Safety_ErrAck AT%Q* :BOOL;
	//VpwStoEstopRestart
	Safety_VPW_STO_EStop_Restart AT%Q* :BOOL;
	//Res12StoEstopRestart
	Safety_RES1_2_STO_EStop_Restart AT%Q* :BOOL;
	//Res34StoEstopRestart
	Safety_RES3_4_STO_EStop_Restart AT%Q* :BOOL;
	//PlatingCell12Sto1EstopRestart
	Safety_PlatingCell1_2_STO_1_EStop_Restart AT%Q* :BOOL;
	//PlatingCell12Sto2EstopRestart
	Safety_PlatingCell1_2_STO_2_EStop_Restart AT%Q* :BOOL;
	//PlatingCell34Sto1EstopRestart
	Safety_PlatingCell3_4_STO_1_EStop_Restart AT%Q* :BOOL;
	//PlatingCell34Sto2EstopRestart
	Safety_PlatingCell3_4_STO_2_EStop_Restart AT%Q* :BOOL;
	//FacilityStoEstopRestart
	Safety_Facility_STO_EStop_Restart AT%Q* :BOOL;
	//SrdStoEstopRestart
	Safety_SRD_STO_EStop_Restart AT%Q* :BOOL;
	//ReqAlignerDoorLock
	Safety_ReqAlignerDoorsLock AT%Q* :BOOL;
	//ReqCassetteDoorsLock
	Safety_ReqCassetteDoorsLock AT%Q* :BOOL;
	//ReqCell12DoorsLock
	Safety_ReqCell1_2DoorsLock AT%Q* :BOOL;
	//ReqCell34DoorsLock
	Safety_ReqCell3_4DoorsLock AT%Q* :BOOL;
	
	
	//Reservoir12CAPumpEdm
	RES1_2_SDI_4CHANNEL_EL1904_NS401_1 AT%I* :BOOL;
	//Reservoir34CAPumpEdm
	RES3_4_SDI_4CHANNEL_EL1904_NS431_1 AT%I* :BOOL;
	//ResDegas1PumpEdm
	RES1_2_SDI_4CHANNEL_EL1904_NS400_1 AT%I* :BOOL;
	//ResDegas2PumpEdm
	RES3_4_SDI_4CHANNEL_EL1904_NS430_1 AT%I* :BOOL;
	//VpwVacuumPumpEdm and VpwBoosterPumpEdm
	VPW_SDI_4CHANNEL_EL1904_NS300_2 AT%I* :BOOL;
	//ExtFluidEnableEdm
	Facility_SDI_4CHANNEL_EL1904_NS200_1 AT%I* :BOOL;
	//Reservoir1CALevelHigh
	RES1_2_SDI_4CHANNEL_EL1904_NS400_2 AT%I* :BOOL;
	//Reservoir2CALevelHigh
	RES1_2_SDI_4CHANNEL_EL1904_NS400_3 AT%I* :BOOL;
	//Reservoir3CALevelHigh
	RES3_4_SDI_4CHANNEL_EL1904_NS430_2 AT%I* :BOOL;
	//Reservoir4CALevelHigh
	RES3_4_SDI_4CHANNEL_EL1904_NS430_3 AT%I* :BOOL;
	//VpwCell1RotationStoEdm
	VPW_SDI_4CHANNEL_EL1904_NS300_1 AT%I* :BOOL;
	//VpwCell2RotationStoEdm
	VPW_SDI_4CHANNEL_EL1904_NS300_4 AT%I* :BOOL;
	
	//PlatingCell1RotationStoEdm
	RES1_2_SDI_4CHANNEL_EL1904_NS500_2 AT%I* :BOOL;
	//PlatingCell2RotationStoEdm
	RES1_2_SDI_4CHANNEL_EL1904_NS500_3 AT%I* :BOOL;
	//PlatingCell3RotationStoEdm
	RES1_2_SDI_4CHANNEL_EL1904_NS531_2 AT%I* :BOOL;
	//PlatingCell4RotationStoEdm
	RES3_4_SDI_4CHANNEL_EL1904_NS531_1 AT%I* :BOOL;
	//PlatingCell12VerticalStoEdm
	RES1_2_SDI_4CHANNEL_EL1904_NS500_1 AT%I* :BOOL;
	//PlatingCell34VerticalStoEdm
	RES1_2_SDI_4CHANNEL_EL1904_NS531_1 AT%I* :BOOL;
	//Srd1RotationStoEdm
	SRD1_SDI_4CHANNEL_EL1904_NS300_1 AT%I* :BOOL;
	//Srd2RotationStoEdm
	SRD2_SDI_4CHANNEL_EL1904_NS300_4 AT%I* :BOOL;

	//Sample1FluidDetect
	Facility_DI_16CHANNEL_EL1819_N000_1 AT%I* :BOOL;
	//Sample2FluidDetect
	Facility_DI_16CHANNEL_EL1819_N000_2 AT%I* :BOOL;
	//FrameContainmentLeakDetected
	Facility_DI_16CHANNEL_EL1819_N000_10 AT%I* :BOOL;
	//VacuumPrewetLeakDetected
	VPW_DI_16CHANNEL_EL1819_N100_3 AT%I* :BOOL;
	//PlatingCell12LeakDetected
	RES1_2_DI_16CHANNEL_4_20MA_EL1819_N200_7 AT%I* :BOOL;
	//PlatingCell34LeakDetected
	RES3_4_DI_8CHANNEL_4_20MA_EL1008_N230_7 AT%I* :BOOL;
	
	//CassetteAPlaced
	Facility_DI_16CHANNEL_EL1819_N000_11 AT%I* :BOOL;
	//CassetteA100M
	Facility_DI_16CHANNEL_EL1819_N000_12 AT%I* :BOOL;
	//CassetteA200M
	Facility_DI_16CHANNEL_EL1819_N000_13 AT%I* :BOOL;
	//CassetteBPlaced
	Facility_DI_16CHANNEL_EL1819_N000_14 AT%I* :BOOL;
	//CassetteB100M
	Facility_DI_16CHANNEL_EL1819_N000_15 AT%I* :BOOL;
	//CassetteB200M
	Facility_DI_16CHANNEL_EL1819_N000_16 AT%I* :BOOL;
	//PH3
	Facility_AI_8CHANNEL_4_20mA_EL3058_N005_1 AT%I* :INT;
	//HouseChilledWaterFlow
	Facility_AI_8CHANNEL_4_20mA_EL3058_N005_5 AT%I* :INT:=10000;
	//SystemExhaust1
	Facility_AI_8CHANNEL_4_20mA_EL3058_N006_1 AT%I* :INT:=12000;
	//SystemExhaust2
	Facility_AI_8CHANNEL_4_20mA_EL3058_N006_2 AT%I* :INT:=12000;
	//DiWaterPressure
	Facility_AI_8CHANNEL_4_20mA_EL3058_N006_5 AT%I* :INT:=25000;
	//Nitrogen1BPressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_1 AT%I* :INT:=5700;
	//Nitrogen1APressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_2 AT%I* :INT:=8000;
	//Nitrogen2BPressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_3 AT%I* :INT:=5700;
	//Nitrogen2APressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_4 AT%I* :INT:=8000;
	//CDA2Pressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_5 AT%I* :INT:=10000;
	//CDA1Pressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_6 AT%I* :INT:=10000;
	//ExternalCDAPressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_7 AT%I* :INT:=10000;
	//VacuumPressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N007_8 AT%I* :INT:=4000;
	//N2BlanketPressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N008_1 AT%I* :INT;
	//N2OverFlowPressure
	Facility_AI_8CHANNEL_0_10V_EL3068_N008_2 AT%I* :INT;
	//DIReplenFlow
	Facility_COUNTER_2CHANNEL_EL1512_N009_1_Counter_value AT%I* :UDINT;
	//ClamshellCylinderPressure
	PlatingCell1_2_AI_8CHANNEL_0_10V_EL3086_N402_3 AT%I* :UDINT;
	//TiltCylinderPressure
	PlatingCell1_2_AI_8CHANNEL_0_10V_EL3086_N402_4 AT%I* :UDINT;
	
	//DiwReturnFlow
	Facility_AI_8CHANNEL_4_20mA_EL3058_N006_106 AT%I* :INT:=10000;
	
	
	//N2Enable
	Facility_DO_16CHANNEL_EL2809_N002_1 AT%Q* :BOOL;
	//CDAEnable
	Facility_DO_16CHANNEL_EL2809_N002_2 AT%Q* :BOOL;
	//ExternalCDAEnable
	Facility_DO_16CHANNEL_EL2809_N002_3 AT%Q* :BOOL;
	//ExternalCDAEnable
	Facility_DO_16CHANNEL_EL2809_N002_4 AT%Q* :BOOL;
	//ExternalCDAEnable
	Facility_DO_16CHANNEL_EL2809_N002_5 AT%Q* :BOOL;
	//DiReplenEnable
	Facility_DO_16CHANNEL_EL2809_N002_6 AT%Q* :BOOL;
	//DiFillEnable
	Facility_DO_16CHANNEL_EL2809_N002_7 AT%Q* :BOOL;
	

	//VPW1 Rotation Status word
	VPW1RotationStatusWord AT%I* :UINT;
	//VPW1 Rotation digital inputs
	VPW1RotationDigitalInputs AT%I* :UDINT;
	//VPW1 Rotation position error
	VPW1RotationPositionError AT%I* :UDINT;
	//VPW1 Rotation actual velocity
	VPW1RotationActualVelocity AT%I* :UDINT;
	//VPW1 Rotation actual torque
	VPW1RotationActualTorque AT%I* :DINT;
	//VPW1 Rotation motor position
	VPW1RotationMotorPosition AT%I* :DINT;	
	//VPW1 Rotation control word
	VPW1RotationControlWord AT%Q* :UINT;	
	//VPW1 Rotation mode of operation
	VPW1RotationModeOfOperation AT%Q* :SINT;	
	//VPW1 Rotation target position
	VPW1RotationTargetPosition AT%Q* :DINT;	
	//VPW1 Rotation profile volecity
	VPW1RotationProfileVelocity AT%Q* :DINT;
	//VPW1 Rotation profile acceleration
	VPW1RotationProfileAccel AT%Q* :UDINT;
	//VPW1 Rotation profile deceleration
	VPW1RotationProfileDecel AT%Q* :UDINT;	
	//VPW1 Rotation motor step
	VPW1RotationMotorStep :DINT;
	
	//VPW2 Rotation Status word
	VPW2RotationStatusWord AT%I* :UINT;
	//VPW2 Rotation digital inputs
	VPW2RotationDigitalInputs AT%I* :UDINT;
	//VPW2 Rotation position error
	VPW2RotationPositionError AT%I* :UDINT;
	//VPW2 Rotation actual velocity
	VPW2RotationActualVelocity AT%I* :UDINT;
	//VPW2 Rotation actual torque
	VPW2RotationActualTorque AT%I* :DINT;
	//VPW2 Rotation motor position
	VPW2RotationMotorPosition AT%I* :DINT;	
	//VPW2 Rotation control word
	VPW2RotationControlWord AT%Q* :UINT;	
	//VPW2 Rotation mode of operation
	VPW2RotationModeOfOperation AT%Q* :SINT;	
	//VPW2 Rotation target position
	VPW2RotationTargetPosition AT%Q* :DINT;	
	//VPW2 Rotation profile volecity
	VPW2RotationProfileVelocity AT%Q* :DINT;
	//VPW2 Rotation profile acceleration
	VPW2RotationProfileAccel AT%Q* :UDINT;
	//VPW2 Rotation profile deceleration
	VPW2RotationProfileDecel AT%Q* :UDINT;	
	//VPW2 Rotation motor step
	VPW2RotationMotorStep :DINT;
    	
	
	//r_VPW_CHAMBER_CLOSED
	VPW_DI_16CHANNEL_EL1819_N100_1 AT%I* :BOOL;
	//r_VPW_CHAMBER_OPENED
	VPW_DI_16CHANNEL_EL1819_N100_2 AT%I* :BOOL;

	//r_VPW_VAC_PUMP_PRESSURE
	VPW_AI_8CHANNEL_4_20mA_EL3058_N102_6 AT%I* :DINT;
	//r_VPW_BOOSTER_PUMP_STATUS
	VPW_DI_16CHANNEL_EL1819_N100_9 AT%I* :BOOL;
	//r_VPW_DIW_TOTAL_FLOW
	VPW_AI_8CHANNEL_4_20mA_EL3058_N102_1 AT%I* :DINT;
	//r_VPW_DIW_PRESSURE
	VPW_AI_8CHANNEL_4_20mA_EL3058_N102_4 AT%I* :DINT :=10000;
	//r_VPW_DEGAS_PUMP_PRESSURE
	VPW_AI_8CHANNEL_4_20mA_EL3058_N102_5 AT%I* :DINT;
	//c_VPW_CHAMBER_CLOSE
	MOTION_DO_16CHANNEL_EL2809_N401_15 AT%Q* :BOOL;
	//c_VPW_VACUUM_PUMP_POWER
	VPW_DO_16CHANNEL_EL2809_101_5 AT%Q* :BOOL;
	//c_VPW_DEGAS_PUMP_ENABLE
	VPW_DO_16CHANNEL_EL2809_101_6 AT%Q* :BOOL;
	//c_VPW_BOOSTER_PUMP_ENABLE
	VPW_DO_16CHANNEL_EL2809_101_7 AT%Q* :BOOL;
	//c_VPW_VACUUM_PUMP_ENABLE
	MAIN_IO_RELAY_4CHANNEL_EL2624_N106_1 AT%Q* :BOOL;
	//c_VPW_VACUUM_PUMP_SPEED_ENABLE
	MAIN_IO_RELAY_4CHANNEL_EL2624_N106_2 AT%Q* :BOOL;
	//c_VPW_VACUUM_PUMP_SPEED
	VPW_AO_8CHANNEL_0_10V_EL4008_N104_1 AT%Q* :DINT;
	//c_VPW_BOOSTER_PUMP_SPPED
	VPW_AO_8CHANNEL_0_10V_EL4008_N104_5 AT%Q* :DINT;
	//c_VPW_DIW_EABLE c_VPW_DIW_PROCESS c_VPW_1_FLOW_DRIP c_VPW_1_FLOW_SMALL c_VPW_1_FLOW_LARGE c_VPW_2_FLOW_DRIP c_VPW_2_FLOW_SMALL c_VPW_2_FLOW_LARGE
	VPW_PNEU_SMC_EX260_BYTE0 AT%Q* :BYTE;
	//c_VPW_DIW_DEGAS c_VPW_DEGAS_ADJUST c_VPW_DEGAS_PURGE c_VPW_1_VACUUM_VALVE c_VPW_1_VENT_VALVE c_VPW_2_VACUUM_VALVE c_VPW_2_VENT_VALVE
	VPW_PNEU_SMC_EX260_BYTE1 AT%Q* :BYTE;
	//c_VPW_1_DIW_DRAIN c_VPW_2_DIW_DRAIN
	VPW_PNEU_SMC_EX260_BYTE2 AT%Q* :BYTE;
	
	//r_VPW_DIW_CELL_1_FLOW 
	VPW_AI_8CHANNEL_4_20mA_EL3058_N102_2 AT%I* :DINT;
	//r_VPW_CELL_1_VAC_PRESSURE
	VPW_AI_8CHANNEL_0_10V_EL3068_N105_1 AT%I* :DINT;
	
	//r_VPW_DIW_CELL_2_FLOW 
	VPW_AI_8CHANNEL_4_20mA_EL3058_N102_3 AT%I* :DINT;
	//r_VPW_CELL_2_VAC_PRESSURE
	VPW_AI_8CHANNEL_0_10V_EL3068_N105_2 AT%I* :DINT;
	//c_System_Alarm
	Facility_DO_16CHANNEL_EL2809_N003_1 AT%I* :BOOL;
	//c_Pole_Red
	Facility_DO_16CHANNEL_EL2809_N003_2 AT%I* :BOOL;
	//c_Pole_Amber
	Facility_DO_16CHANNEL_EL2809_N003_3 AT%I* :BOOL;
	//c_Pole_Green
	Facility_DO_16CHANNEL_EL2809_N003_4 AT%I* :BOOL;
	//c_Pole_Blue
	Facility_DO_16CHANNEL_EL2809_N003_5 AT%I* :BOOL;
	//c_System_Alarm2
	Facility_DO_16CHANNEL_EL2809_N003_6 AT%I* :BOOL;
	
	//Reservoir1 CaPumpRunning
	RES1_2_DI_8CHANNEL_EL1008_N200_1 AT%I* :BOOL;
	//Reservoir1 AnTowerHigh
	RES1_2_DI_8CHANNEL_EL1008_N200_3 AT%I* :BOOL;
	//Reservoir1 AnTowerLow
	RES1_2_DI_8CHANNEL_EL1008_N200_4 AT%I* :BOOL;
	//Reservoir1 AnFlow
	RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_1 AT%I* :DINT:=10000;
	//Reservoir1 CaFlow
	RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_3 AT%I* :DINT:=10000;
	//Reservoir1 CaWaterLevel
	RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_5 AT%I* :DINT:=10000;
	
	
	//Reservoir1 AnPumpEnable
	RES1_2_DO_16CHANNEL_EL2809_N201_1 AT%Q* :BOOL;
	//Reservoir1 CaPumpEnable
	RES1_2_DO_16CHANNEL_EL2809_N201_3 AT%Q* :BOOL;
	//Reservoir1 ReturnValveEnable
	RES1_2_DO_16CHANNEL_EL2809_N201_5 AT%Q* :BOOL;
	//Reservoir1 AnPumpSpeed
	RES1_2_AO_8CHANNEL_0_10V_EL4008_N204_1  AT%Q* :DINT;
	//Reservoir1 CaPumpSpeed
	RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_1 AT%Q* :DINT;
	//Reservoir1 ReturnValveOpening
	RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_3 AT%Q* :DINT;
	//Reservoir1 CaDiReplen  SampleOut...
	RES1_2_PNEU_SMC_EX260_V01_V04 AT%Q* :BYTE;
	
	
	
	
	
	
	
	
END_VAR
]]></Declaration>
    <Implementation>
      <ST><![CDATA[IF VPW1RotationControlWord =7 THEN
	VPW1RotationStatusWord := 563;
	ELSE IF VPW1RotationControlWord =6 THEN
		VPW1RotationStatusWord :=33;
	ELSE IF VPW1RotationControlWord=15 THEN
		VPW1RotationStatusWord :=567;
		VPW1RotationDigitalInputs.22:=FALSE;
		ELSE IF VPW1RotationControlWord=31 THEN
			VPW1RotationDigitalInputs.22:=TRUE;
			VPW1RotationStatusWord :=5687;
			VPW1RotationMotorPosition:=0;
		END_IF
	END_IF
	END_IF
	
END_IF

IF VPW1RotationModeOfOperation=1 THEN
	IF VPW1RotationControlWord=63 THEN
		IF VPW1RotationMotorPosition<VPW1RotationTargetPosition THEN
			VPW1RotationMotorStep :=(VPW1RotationTargetPosition-VPW1RotationMotorPosition)/20;
			IF VPW1RotationMotorStep >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 VPW2RotationMotorPosition<VPW2RotationTargetPosition THEN
			VPW2RotationMotorStep :=(VPW2RotationTargetPosition-VPW2RotationMotorPosition)/20;
			IF VPW2RotationMotorStep >1 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]]></ST>
    </Implementation>
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