Baixe DEF eco_auto INICONV INISYN OUT 909 'EXCLUI_ROBO' State= FALSE at S e outras Trabalhos em PDF para Tecnologia Industrial, somente na Docsity!
DEF eco_auto( )
INI
CONV INI
SYN OUT 909 'EXCLUI_ROBO' State= FALSE at START Delay= 0 ms
INTERRUPT DECL 1 WHEN DATA_BUS_1==20 DO DESLIGA_PISTOLA() APLICANDO_PVC=FALSE
GRACOTECH.GRACO_START
OUT_HOME: PTP HOME Vel= 20 % DEFAULT
; **************************BY:RODRIGO CALDEIRA***********************************
COMP_HOME[1]=-2.
COMP_HOME[2]=-106.
COMP_HOME[3]=118.
COMP_HOME[4]=-182.
COMP_HOME[5]=101.
COMP_HOME[6]=12.
POS_AT={X 1011.143000,Y 47.700950,Z 1204.484000}
ROD_X=$POS_ACT.X - POS_AT.X
ROD_Y=$POS_ACT.Y - POS_AT.Y
ROD_Z=$POS_ACT.Z - POS_AT.Z
ROD_X=ABS(ROD_X)
ROD_Y=ABS(ROD_Y)
ROD_Z=ABS(ROD_Z)
IF (ROD_X <> 0) OR (ROD_Y <> 0) OR (ROD_Z <> 0) THEN
; ROBO ESTA FORA DA POSICAO DE HOME ORIGINAL
OUT 908 'FALHA_HOME_ALTERADO' State= TRUE CONT HALT GOTO OUT_HOME ENDIF OUT 908 'FALHA_HOME_ALTERADO' State= FALSE CONT ; FIM DA LOGICA DE COMPARACO DE HOME ;
PTP Proximo_Veiculo Vel= 35 % PDAT24 Tool[0] Base[0]
LOOP
IF (MODELO_CARRO>0) and (MODELO_CARRO<5) THEN
IF $MODE_OP==#EX THEN INTERRUPT ON ENDIF
CARRO=MODELO_CARRO
LIN Proximo2_Veiculo Vel= 1 m/s CPDAT2 Tool[0] Base[0]
CONVtech.INI_OFF Conveyor 1 CONVtech.ON Conveyor 1
SWITCH MODELO_CARRO CASE 1 ; FIESTA HATCH CONVtech.FOLLOW Conveyor 1, Movement 1, Cancel on: Max_time=1000s, Input 999, Level:TRUE, Flag 999, Level:TRUE, WaitDist=200[mm][°], MaxDist=5000[mm][°] CASE 2 ; ECOSPORT CONVtech.FOLLOW Conveyor 1, Movement 2, Cancel on: Max_time=1000s, Input 999,
Level:TRUE, Flag 999, Level:TRUE, WaitDist=200[mm][°], MaxDist=5000[mm][°] CASE 3 ; FIESTA SEDAN CONVtech.FOLLOW Conveyor 1, Movement 3, Cancel on: Max_time=1000s, Input 999, Level:TRUE, Flag 1, Level:TRUE, WaitDist=200[mm][°], MaxDist=5000[mm][°] CASE 4 ; ECOSPORT 4X ;GOTO JUMP_4_ CONVtech.FOLLOW Conveyor 1, Movement 4, Cancel on: Max_time=1000s, Input 999, Level:TRUE, Flag 999, Level:TRUE, WaitDist=200[mm][°], MaxDist=5000[mm][°] ;JUMP_4_4: ENDSWITCH
CONTINUE APLICANDO_PVC=FALSE
CONVtech.QUIT Conveyor 1, Stop after error:TRUE
PTP Saida_Veiculo CONT Vel= 35 % PDAT2 Tool[0] Base[0]
GRACOTECH.GRACO_FINISH
SYN PULSE 898 'Fim_Ciclo_Robo' State= TRUE Time= 1 sec at START Delay= 0 ms
IF $MODE_OP==#EX THEN INTERRUPT OFF ENDIF
PTP Proximo_Veiculo CONT Vel= 35 % PDAT19 Tool[0] Base[0]
ENDIF ; Modelo de carro
CONTINUE IF ($TIMER_FLAG[1]) AND (NOT CARRO_NA_REGIAO_DO_ROBO) THEN ; Timer para purga da Gun RPURGA_GUN1 () ;Subprograma Externo para purga da Gun PTP Proximo_Veiculo CONT Vel= 25 % PDAT25 Tool[0] Base[0] ENDIF
GOTO JUMP_PURGA CONTINUE IF ($TIMER_FLAG[2]) AND (NOT CARRO_NA_REGIAO_DO_ROBO) THEN ; Timer para purga da Gun RPURGA_GUN2 () ;Subprograma Externo para purga da Gun PTP Proximo_Veiculo CONT Vel= 25 % PDAT27 Tool[0] Base[0] ENDIF JUMP_PURGA2:
CONTINUE IF NOT ECO_AUTO_DI_866 THEN EXIT ENDIF
ENDLOOP
END
DEF CONV_MOV(Z_CONV_NBR:IN,Z_MOV_NBR:IN) INI CONV_MOV
CONVEYOR 1 MOVEMENT GROUP 1 = FIESTA HATCH
; -------------------------------------------------- ; HATCH ; ASSOALHO DIANTEIRO ; --------------------------------------------------
CONTINUE APLICANDO_PVC=TRUE
LIN Saida_Frente_FSedan Vel= 2 m/s CPDAT11 Tool[6]:Leque_Gun1_90 Base[11]:CONV
WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -45 mm LIN Asso_Inf_09_FS CONT Vel= 2 m/s CPDAT176 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN Asso_Inf_10_FS CONT Vel= 0.4 m/s CPDAT177 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -10 mm LIN Asso_Inf_11_FS CONT Vel= 2 m/s CPDAT178 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -55 mm LIN Asso_Inf_12_FS CONT Vel= 0.4 m/s CPDAT179 Tool[6]:Leque_Gun1_90 Base[11]:CONV
LIN Saida_Asso_Inf_FS CONT Vel= 2 m/s CPDAT180 Tool[6]:Leque_Gun1_90 Base[11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
LIN Inter_Frent_CxEstepe_FS Vel= 2 m/s CPDAT155 Tool[6]:Leque_Gun1_90 Base [11]:CONV
; -------------------------------------------------- ; HATCH ; TRAJETORIA DA CX DE ESTEPE ; --------------------------------------------------
LIN FIESTA_CX_ESTEPE_01 CONT Vel= 2 m/s CPDAT252 Tool[6]:Leque_Gun1_90 Base [11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= 0 mm LIN FIESTA_CX_ESTEPE_02 CONT Vel= 2 m/s CPDAT77 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_03 CONT Vel= 1 m/s CPDAT78 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_04 CONT Vel= 1 m/s CPDAT80 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_05 CONT Vel= 1 m/s CPDAT79 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_06 CONT Vel= 1 m/s CPDAT81 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_07 CONT Vel= 1 m/s CPDAT83 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= 0 mm LIN FIESTA_CX_ESTEPE_08 CONT Vel= 0.6 m/s CPDAT257 Tool[3]:Leque_Gun1 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 75 %, DIST= -70 mm LIN FIESTA_CX_ESTEPE_09 CONT Vel= 2 m/s CPDAT259 Tool[3]:Leque_Gun1 Base[11]:CONV LIN FIESTA_CX_ESTEPE_10 CONT Vel= 1 m/s CPDAT260 Tool[3]:Leque_Gun1 Base[11]:CONV LIN FIESTA_CX_ESTEPE_11 CONT Vel= 0.6 m/s CPDAT258 Tool[3]:Leque_Gun1 Base [11]:CONV LIN FIESTA_CX_ESTEPE_12 CONT Vel= 0.6 m/s CPDAT255 Tool[3]:Leque_Gun1 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= 0 mm LIN FIESTA_CX_ESTEPE_13 CONT Vel= 0.4 m/s CPDAT90 Tool[6]:Leque_Gun1_90 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 70 %, DIST= -70 mm LIN FIESTA_CX_ESTEPE_14 CONT Vel= 2 m/s CPDAT92 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -10 mm LIN FIESTA_CX_ESTEPE_15 CONT Vel= 0.4 m/s CPDAT93 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_16 CONT Vel= 0.4 m/s CPDAT94 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_17 CONT Vel= 0.4 m/s CPDAT95 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_18 CONT Vel= 0.4 m/s CPDAT261 Tool[3]:Leque_Gun1 Base
[11]:CONV
LIN FIESTA_CX_ESTEPE_19 CONT Vel= 0.4 m/s CPDAT262 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -50 mm LIN FIESTA_CX_ESTEPE_20 CONT Vel= 1 m/s CPDAT96 Tool[6]:Leque_Gun1_90 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -50 mm LIN FIESTA_CX_ESTEPE_21 CONT Vel= 2 m/s CPDAT100 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_22 CONT Vel= 1 m/s CPDAT263 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_23 CONT Vel= 0.4 m/s CPDAT264 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_24 CONT Vel= 0.3 m/s CPDAT103 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_25 CONT Vel= 0.5 m/s CPDAT104 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_26 CONT Vel= 0.5 m/s CPDAT105 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -40 mm LIN FIESTA_CX_ESTEPE_27 CONT Vel= 0.5 m/s CPDAT106 Tool[6]:Leque_Gun1_90 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -60 mm LIN PainelTraz_FH_38 CONT Vel= 2 m/s CPDAT203 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN PTraz_FH_39 CONT Vel= 0.35 m/s CPDAT204 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -100 mm LIN PTraz_FH_40 CONT Vel= 0.35 m/s CPDAT205 Tool[6]:Leque_Gun1_90 Base[11]:CONV
CONVEYOR 1 MOVEMENT GROUP 2 = ECOSPORT
; -------------------------------------------------- ; ECO 4X ; ASSOALHO DIANTEIRO ; --------------------------------------------------
CONTINUE APLICANDO_PVC=TRUE
LIN Saida_Frente_FSedan Vel= 2 m/s CPDAT11 Tool[6]:Leque_Gun1_90 Base[11]:CONV
WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -40 mm LIN Asso_Inf_13_FS CONT Vel= 2 m/s CPDAT214 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -40 mm LIN Asso_Inf_14_FS CONT Vel= 0.35 m/s CPDAT215 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -20 mm LIN Asso_Inf_15_FS CONT Vel= 2 m/s CPDAT216 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -20 mm LIN Asso_Inf_16_FS CONT Vel= 0.35 m/s CPDAT217 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -35 mm LIN Asso_Inf_26_FS CONT Vel= 2 m/s CPDAT232 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -20 mm LIN Asso_Inf_27_FS CONT Vel= 0.35 m/s CPDAT233 Tool[6]:Leque_Gun1_90 Base[11]:CONV
WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -5 mm LIN Asso_Inf_17_FS CONT Vel= 2 m/s CPDAT218 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -20 mm LIN Asso_Inf_18_FS CONT Vel= 0.35 m/s CPDAT219 Tool[6]:Leque_Gun1_90 Base[11]:CONV
; ECO 4X
; ASSOALHO TRASEIRO
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN Asso_Traz_001_ECO CONT Vel= 2 m/s CPDAT77 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN Asso_Traz_002_ECO CONT Vel= 0.4 m/s CPDAT78 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN Asso_Traz_004_ECO CONT Vel= 0.4 m/s CPDAT80 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -50 mm LIN Asso_Traz_003_ECO CONT Vel= 0.4 m/s CPDAT79 Tool[6]:Leque_Gun1_90 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
; ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^***************************^^^^^^^^^^^^^^^^********
; GANCHO 4X ; ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^***************************^^^^^^^^^^^^^^^^********
GRACOTECH.GUN_ON GUN= 1, FLOW= 90 %, DIST= -70 mm LIN PGANCHO CONT Vel= 2 m/s CPDAT286 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN PGANCHO_A CONT Vel= 2 m/s CPDAT287 Tool[6]:Leque_Gun1_90 Base[11]:CONV $VEL.CP= GRACOTECH.GUN_OFF GUN= 1, DIST= -100 mm LIN_REL {Y -50,Z 120}
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -100 mm LIN Asso_Traz_007_ECO CONT Vel= 2 m/s CPDAT83 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN Asso_Traz_006_ECO CONT Vel= 0.4 m/s CPDAT82 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN Asso_Traz_011_ECO CONT Vel= 0.4 m/s CPDAT87 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN Asso_Traz_009_ECO CONT Vel= 0.4 m/s CPDAT85 Tool[6]:Leque_Gun1_90 Base [11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -30 mm LIN Asso_Traz_010_ECO CONT Vel= 2 m/s CPDAT86 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN Asso_tras_010a CONT Vel= 1 m/s CPDAT248 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN Asso_tras_010b CONT Vel= 1 m/s CPDAT249 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN Asso_tras_010c CONT Vel= 1 m/s CPDAT250 Tool[6]:Leque_Gun1_90 Base[11]:CONV LIN Asso_Traz_012_ECO CONT Vel= 0.6 m/s CPDAT88 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN asso_tras_012a_eco CONT Vel= 2 m/s CPDAT246 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN Asso_tras_012b CONT Vel= 1 m/s CPDAT251 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -80 mm LIN Asso_Traz_013_ECO CONT Vel= 0.4 m/s CPDAT89 Tool[6]:Leque_Gun1_90 Base [11]:CONV
LIN Asso_Traz_016_ECO CONT Vel= 2 m/s CPDAT92 Tool[6]:Leque_Gun1_90 Base[11]:CONV
CONTINUE
WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -90 mm LIN KUKA_b1 CONT Vel= 2 m/s CPDAT295 Tool[3]:Leque_Gun1 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -60 mm LIN KUKA_b2 CONT Vel= 2 m/s CPDAT296 Tool[3]:Leque_Gun1 Base[11]:CONV
; ponto_ GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -10 mm LIN KUKA_b3 CONT Vel= 2 m/s CPDAT297 Tool[3]:Leque_Gun1 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -60 mm
LIN Asso_Tras_026_ECO Vel= 0.37 m/s CPDAT298 Tool[6]:Leque_Gun1_90 Base[11]:CONV
; ponto_ GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -50 mm LIN KUKA_b4 CONT Vel= 2 m/s CPDAT299 Tool[3]:Leque_Gun1 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -40 mm LIN KUKA_b5 CONT Vel= 2 m/s CPDAT300 Tool[3]:Leque_Gun1 Base[11]:CONV
; ponto_ GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -30 mm LIN KUKA_b6 CONT Vel= 2 m/s CPDAT301 Tool[3]:Leque_Gun1 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -10 mm LIN KUKA_b7 CONT Vel= 2 m/s CPDAT302 Tool[3]:Leque_Gun1 Base[11]:CONV ; fim
; start
GOTO JUMP_TRASEIRA GRACOTECH.GUN_ON GUN= 1, FLOW= 75 %, DIST= -70 mm LIN Asso_Tras_017_ECO CONT Vel= 2 m/s CPDAT93 Tool[6]:Leque_Gun1_90 Base[11]:CONV ; go GRACOTECH.GUN_OFF GUN= 1, DIST= -50 mm LIN KUKA_01 CONT Vel= 2 m/s CPDAT292 Tool[3]:Leque_Gun1 Base[11]:CONV LIN KUKA_02 CONT Vel= 2 m/s CPDAT293 Tool[3]:Leque_Gun1 Base[11]:CONV GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -10 mm LIN Asso_Tras_025_ECO Vel= 0.37 m/s CPDAT294 Tool[6]:Leque_Gun1_90 Base[11]:CONV ; label GRACOTECH.GUN_OFF GUN= 1, DIST= -20 mm LIN Asso_Tras_024_ECO Vel= 0.37 m/s CPDAT95 Tool[6]:Leque_Gun1_90 Base[11]:CONV JUMP_TRASEIRA:
;TERMINO2:
CONVEYOR 1 MOVEMENT GROUP 3 = FIESTA SEDAN
CONTINUE APLICANDO_PVC=TRUE
GOTO ASSOALHO_INFERIOR
LIN Espera_Frente_FSedan CONT Vel= 2 m/s CPDAT3 Tool[4]:Leque_Gun2 Base[11]:CONV LIN Proximo_LE_Fsedan CONT Vel= 2 m/s CPDAT4 Tool[4]:Leque_Gun2 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 2, FLOW= 100 %, DIST= -70 mm LIN LE_Mov1_FSedan CONT Vel= 2 m/s CPDAT5 Tool[4]:Leque_Gun2 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 2, DIST= -70 mm LIN Frente_Mov1_FSedan CONT Vel= 1 m/s CPDAT6 Tool[4]:Leque_Gun2 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 2, FLOW= 100 %, DIST= -70 mm LIN Frente_Mov1a_FSedan CONT Vel= 2 m/s CPDAT16 Tool[4]:Leque_Gun2 Base[11]:CONV LIN Frente_Mov1b_FSedan CONT Vel= 1 m/s CPDAT199 Tool[4]:Leque_Gun2 Base[11]:CONV LIN Frente_Mov2_FSedan CONT Vel= 1 m/s CPDAT7 Tool[4]:Leque_Gun2 Base[11]:CONV LIN Frente_Mov4_FSedan CONT Vel= 1 m/s CPDAT8 Tool[4]:Leque_Gun2 Base[11]:CONV LIN Frente_Mov6_FSedan CONT Vel= 1 m/s CPDAT9 Tool[4]:Leque_Gun2 Base[11]:CONV LIN LD_Mov7_FSedan CONT Vel= 1 m/s CPDAT10 Tool[4]:Leque_Gun2 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 2, DIST= -70 mm LIN LD_Mov7a_FSedan CONT Vel= 1 m/s CPDAT200 Tool[4]:Leque_Gun2 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 2, FLOW= 100 %, DIST= -70 mm LIN LD_Mov7b_FSedan CONT Vel= 2 m/s CPDAT201 Tool[4]:Leque_Gun2 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 2, DIST= -70 mm LIN LD_Mov7c_FSedan CONT Vel= 1 m/s CPDAT202 Tool[4]:Leque_Gun2 Base[11]:CONV
ASSOALHO_INFERIOR3:
LIN Saida_Frente_FSedan Vel= 2 m/s CPDAT11 Tool[6]:Leque_Gun1_90 Base[11]:CONV
WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -40 mm LIN Asso_Inf_13_FS CONT Vel= 2 m/s CPDAT214 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -40 mm
GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN Asso_Inf_10_FS CONT Vel= 0.4 m/s CPDAT177 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -10 mm LIN Asso_Inf_11_FS CONT Vel= 2 m/s CPDAT178 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -55 mm LIN Asso_Inf_12_FS CONT Vel= 0.4 m/s CPDAT179 Tool[6]:Leque_Gun1_90 Base[11]:CONV
LIN Saida_Asso_Inf_FS CONT Vel= 2 m/s CPDAT180 Tool[6]:Leque_Gun1_90 Base[11]:CONV
;GOTO TERMINO
CONTINUE WAIT FOR $SEN_PREA[1]>
LIN Inter_Frent_CxEstepe_FS Vel= 2 m/s CPDAT155 Tool[6]:Leque_Gun1_90 Base [11]:CONV
; -------------------------------------------------- ; SEDAN ; TRAJETORIA DA CX DE ESTEPE ; --------------------------------------------------
LIN FIESTA_CX_ESTEPE_01 CONT Vel= 2 m/s CPDAT252 Tool[6]:Leque_Gun1_90 Base [11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -50 mm LIN FIESTA_CX_ESTEPE_02 CONT Vel= 2 m/s CPDAT77 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_03 CONT Vel= 1 m/s CPDAT78 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_04 CONT Vel= 1 m/s CPDAT80 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_05 CONT Vel= 1 m/s CPDAT79 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_06 CONT Vel= 1 m/s CPDAT81 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_07 CONT Vel= 1 m/s CPDAT83 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= 0 mm LIN FIESTA_CX_ESTEPE_08 CONT Vel= 0.6 m/s CPDAT257 Tool[3]:Leque_Gun1 Base [11]:CONV
; OPCAO_01=2550 / OPCAO_02= CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 75 %, DIST= -70 mm LIN FIESTA_CX_ESTEPE_09 CONT Vel= 2 m/s CPDAT259 Tool[3]:Leque_Gun1 Base[11]:CONV LIN FIESTA_CX_ESTEPE_10 CONT Vel= 2 m/s CPDAT260 Tool[3]:Leque_Gun1 Base[11]:CONV LIN FIESTA_CX_ESTEPE_11 CONT Vel= 1 m/s CPDAT258 Tool[3]:Leque_Gun1 Base[11]:CONV LIN FIESTA_CX_ESTEPE_12 CONT Vel= 0.6 m/s CPDAT255 Tool[3]:Leque_Gun1 Base [11]:CONV GOTO OPCAO_
; ------------------------------ ; OPCAO_ LIN FIESTA_CX_ESTEPE_12B CONT Vel= 1 m/s CPDAT280 Tool[3]:Leque_Gun1 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= 0 mm LIN FIESTA_CX_ESTEPE_12C CONT Vel= 1 m/s CPDAT281 Tool[3]:Leque_Gun1 Base[11]:CONV ; CONTINUE WAIT FOR $SEN_PREA[1]> GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= 0 mm LIN FIESTA_CX_ESTEPE_12D CONT Vel= 1 m/s CPDAT285 Tool[3]:Leque_Gun1 Base[11]:CONV LIN FIESTA_CX_ESTEPE_12E CONT Vel= 1 m/s CPDAT283 Tool[3]:Leque_Gun1 Base[11]:CONV GOTO CONTINUACAO ; FIM DA OPCAO_ ; ------------------------------
OPCAO_01: GRACOTECH.GUN_OFF GUN= 1, DIST= 0 mm
LIN FIESTA_CX_ESTEPE_13 CONT Vel= 0.4 m/s CPDAT90 Tool[6]:Leque_Gun1_90 Base [11]:CONV ; 2920 CONTINUE WAIT FOR $SEN_PREA[1]> GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN FIESTA_CX_ESTEPE_14 CONT Vel= 2 m/s CPDAT92 Tool[6]:Leque_Gun1_90 Base [11]:CONV CONTINUACAO: LIN FIESTA_CX_ESTEPE_15 CONT Vel= 0.4 m/s CPDAT93 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_16 CONT Vel= 0.4 m/s CPDAT94 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_17 CONT Vel= 0.4 m/s CPDAT95 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_18 CONT Vel= 0.4 m/s CPDAT261 Tool[3]:Leque_Gun1 Base [11]:CONV LIN FIESTA_CX_ESTEPE_19 CONT Vel= 0.4 m/s CPDAT262 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -50 mm LIN FIESTA_CX_ESTEPE_20 CONT Vel= 2 m/s CPDAT96 Tool[6]:Leque_Gun1_90 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN FIESTA_CX_ESTEPE_21 CONT Vel= 2 m/s CPDAT100 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_22 CONT Vel= 2 m/s CPDAT263 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_23 CONT Vel= 0.3 m/s CPDAT264 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_24 CONT Vel= 0.3 m/s CPDAT103 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_25 CONT Vel= 0.3 m/s CPDAT104 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_26 CONT Vel= 0.5 m/s CPDAT105 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -40 mm LIN FIESTA_CX_ESTEPE_27 CONT Vel= 0.5 m/s CPDAT106 Tool[6]:Leque_Gun1_90 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN FIESTA_CX_ESTEPE_28 CONT Vel= 2 m/s CPDAT156 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_29 CONT Vel= 0.3 m/s CPDAT157 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_30 CONT Vel= 0.3 m/s CPDAT158 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FIESTA_CX_ESTEPE_31 CONT Vel= 0.3 m/s CPDAT159 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN FIESTA_CX_ESTEPE_32 CONT Vel= 0.4 m/s CPDAT161 Tool[6]:Leque_Gun1_90 Base [11]:CONV
; -------------------------------------------------- ; SEDAN ; TRAJETORIA DA TRASEIRA ; --------------------------------------------------
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -20 mm LIN FSEDAN_TRASEIRA_01 CONT Vel= 2 m/s CPDAT203 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN FSEDAN_TRASEIRA_02 CONT Vel= 0.4 m/s CPDAT204 Tool[6]:Leque_Gun1_90 Base [11]:CONV
LIN Asso_Inf_17_FS CONT Vel= 2 m/s CPDAT218 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -20 mm LIN Asso_Inf_18_FS CONT Vel= 0.35 m/s CPDAT219 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -50 mm LIN Asso_Inf_19_FS CONT Vel= 2 m/s CPDAT220 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -20 mm LIN Asso_Inf_20_FS CONT Vel= 0.35 m/s CPDAT221 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -40 mm LIN Asso_Inf_28_FS CONT Vel= 2 m/s CPDAT242 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -30 mm LIN Asso_Inf_29_FS CONT Vel= 0.35 m/s CPDAT243 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -50 mm LIN Asso_Inf_21_FS CONT Vel= 2 m/s CPDAT222 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -75 mm LIN Asso_Inf_22_FS CONT Vel= 0.35 m/s CPDAT224 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -75 mm LIN Asso_Inf_23_FS CONT Vel= 2 m/s CPDAT225 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -60 mm LIN Asso_Inf_24_FS CONT Vel= 0.35 m/s CPDAT226 Tool[6]:Leque_Gun1_90 Base[11]:CONV
LIN Asso_Inf_25_FS CONT Vel= 2 m/s CPDAT227 Tool[6]:Leque_Gun1_90 Base[11]:CONV
WAIT FOR $SEN_PREA[1]> $VEL.CP= LIN_REL {X -300}
CONTINUE WAIT FOR $SEN_PREA[1]>
; ------------------------------------------------- ; SEGUNDA FILEIRA ; -------------------------------------------------
LIN Inter_Asso_FS CONT Vel= 2 m/s CPDAT167 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN Asso_Inf_01_FS CONT Vel= 2 m/s CPDAT168 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -35 mm LIN Asso_Inf_02_FS CONT Vel= 0.4 m/s CPDAT169 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -30 mm LIN Asso_Inf_03_FS CONT Vel= 2 m/s CPDAT170 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -50 mm LIN Asso_Inf_04_FS CONT Vel= 0.4 m/s CPDAT171 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -25 mm LIN Asso_Inf_05_FS CONT Vel= 2 m/s CPDAT172 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN Asso_Inf_06_FS CONT Vel= 0.4 m/s CPDAT173 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -30 mm LIN Asso_Inf_07_FS CONT Vel= 2 m/s CPDAT174 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -35 mm LIN Asso_Inf_08_FS CONT Vel= 0.4 m/s CPDAT175 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -45 mm LIN Asso_Inf_09_FS CONT Vel= 2 m/s CPDAT176 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN Asso_Inf_10_FS CONT Vel= 0.4 m/s CPDAT177 Tool[6]:Leque_Gun1_90 Base[11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -10 mm LIN Asso_Inf_11_FS CONT Vel= 2 m/s CPDAT178 Tool[6]:Leque_Gun1_90 Base[11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -55 mm LIN Asso_Inf_12_FS CONT Vel= 0.4 m/s CPDAT179 Tool[6]:Leque_Gun1_90 Base[11]:CONV
LIN Saida_Asso_Inf_FS CONT Vel= 2 m/s CPDAT180 Tool[6]:Leque_Gun1_90 Base[11]:CONV
;GOTO TERMINO
CONTINUE
WAIT FOR $SEN_PREA[1]>
$VEL.CP=
LIN_REL {X -400}
CONTINUE
WAIT FOR $SEN_PREA[1]>
LIN Inter_AssoTraz_ECO4X4 CONT Vel= 2 m/s CPDAT155 Tool[6]:Leque_Gun1_90 Base [11]:CONV
;----------------------------------------------------------- ; TRAJETORIA DO ASSOALHO TRAZEIRO ;-----------------------------------------------------------
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN Asso_Traz_001_ECO4X4 CONT Vel= 2 m/s CPDAT77 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -40 mm LIN Asso_Traz_003_ECO4X4 CONT Vel= 0.2 m/s CPDAT79 Tool[6]:Leque_Gun1_90 Base [11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= 0 mm LIN Asso_Traz_005_ECO4X4 CONT Vel= 2 m/s CPDAT81 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -20 mm LIN Asso_Traz_005c_Eco4x4 CONT Vel= 0.2 m/s CPDAT183 Tool[6]:Leque_Gun1_90 Base [11]:CONV
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= 0 mm LIN Asso_Traz_005d_Eco4x4 CONT Vel= 2 m/s CPDAT184 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN Asso_Traz_005h_Eco4x4 CONT Vel= 0.2 m/s CPDAT188 Tool[6]:Leque_Gun1_90 Base [11]:CONV
; ------------------------------------------------- ; SEGUNDO PASSE ; ------------------------------------------------- ; INTERNO DO GANCHO
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN Asso_Traz_007_ECO4X4 CONT Vel= 2 m/s CPDAT83 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -70 mm LIN Asso_Traz_006_ECO4X4 CONT Vel= 0.4 m/s CPDAT82 Tool[6]:Leque_Gun1_90 Base [11]:CONV
CONTINUE WAIT FOR $SEN_PREA[1]>
; TERCEIRO PASSE ECO 4X
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -70 mm LIN Asso_Traz_011_ECO4X4 CONT Vel= 2 m/s CPDAT87 Tool[6]:Leque_Gun1_90 Base [11]:CONV LIN Asso_Traz_008_ECO4X4 CONT Vel= 0.4 m/s CPDAT84 Tool[6]:Leque_Gun1_90 Base [11]:CONV GRACOTECH.GUN_OFF GUN= 1, DIST= -100 mm LIN Asso_Traz_009_ECO4X4 CONT Vel= 2 m/s CPDAT85 Tool[6]:Leque_Gun1_90 Base [11]:CONV
$VEL.CP= LIN_REL {X -200}
CONTINUE WAIT FOR $SEN_PREA[1]>
GRACOTECH.GUN_ON GUN= 1, FLOW= 100 %, DIST= -150 mm LIN A_4X4 CONT Vel= 2 m/s CPDAT289 Tool[3]:Leque_Gun1 Base[11]:CONV LIN A_4X5 CONT Vel= 0.6 m/s CPDAT290 Tool[3]:Leque_Gun1 Base[11]:CONV
INTERRUPT OFF Z_ALARM_DIST_INT_NBR[2]
INTERRUPT OFF Z_MAX_DIST_INT_NBR[2]
INTERRUPT OFF Z_EMS_INT_NBR[2]
CASE 3
INTERRUPT OFF Z_ALARM_DIST_INT_NBR[3]
INTERRUPT OFF Z_MAX_DIST_INT_NBR[3]
INTERRUPT OFF Z_EMS_INT_NBR[3]
ENDSWITCH
CONV_MESS(119) ;--- AlarmConveyorMaxDist --- BRAKE RESUME END
DEF INT_CONV_EMS(Z_CONV_NBR:IN) INT Z_CONV_NBR CONTINUE $OUT[Z_EMS_OUT_NBR[Z_CONV_NBR]]=FALSE IF NOT B_CONTINUE_AFTER_EMS THEN B_QUIT_BECAUSE_EMS=TRUE SWITCH Z_CONV_NBR CASE 1 INTERRUPT OFF Z_ALARM_DIST_INT_NBR[1] INTERRUPT OFF Z_MAX_DIST_INT_NBR[1] INTERRUPT OFF Z_EMS_INT_NBR[1] CASE 2 INTERRUPT OFF Z_ALARM_DIST_INT_NBR[2] INTERRUPT OFF Z_MAX_DIST_INT_NBR[2] INTERRUPT OFF Z_EMS_INT_NBR[2] CASE 3 INTERRUPT OFF Z_ALARM_DIST_INT_NBR[3] INTERRUPT OFF Z_MAX_DIST_INT_NBR[3] INTERRUPT OFF Z_EMS_INT_NBR[3] ENDSWITCH CONV_MESS(113) ;--- AlarmConveyorEMS --- BRAKE RESUME ENDIF END
DEF INT_CONV_ALARM(Z_CONV_NBR:IN) INT Z_CONV_NBR SWITCH Z_CONV_NBR CASE 1 INTERRUPT OFF Z_ALARM_DIST_INT_NBR[1] CONTINUE $OUT[Z_DIST_ALARM_OUT_NBR[1]]=FALSE CASE 2 INTERRUPT OFF Z_ALARM_DIST_INT_NBR[2] CONTINUE $OUT[Z_DIST_ALARM_OUT_NBR[2]]=FALSE CASE 3 INTERRUPT OFF Z_ALARM_DIST_INT_NBR[3] CONTINUE $OUT[Z_DIST_ALARM_OUT_NBR[3]]=FALSE ENDSWITCH CONV_MESS(112) ;--- AlarmConveyorDistance --- END
DEF DESLIGA_PISTOLA()
CONTINUE OUT 9 'Gun_1_on' State= FALSE CONT OUT 10 'Gun_2_on' State= FALSE CONT CONTINUE
END
