Zimmer REP2000 Montage- Und Betriebsanleitung Seite 54

MONTAGE- UND BETRIEBSANLEITUNG:
160:
IF NOT (PDI.RU.STATUS.busy) THEN
// Movement done
IF (PDI.RU.STATUS.done AND PDI.RU.STATUS.in_target) THEN
// The cap is open
iStep := 170;
ELSE IF (NOT PDI.RU.STATUS.done)
// Something went wrong
iStep := 500;
END_IF
END_IF
170:
// So something while bottle uncapped
...
iStep := 180;
180:
// Screw cap
PDO.RU.TORQUE := 50;
PDO.RU.VELOCITY := 50;
PDO.RU.POSITION := 108000; // +1080°
order_flag := PDI.RU.STATUS.new_order;
PDO.RU.COMMAND := 16#0204; // Relative positioning
iStep := 150;
190:
IF NOT(order_flag = PDI.RU.STATUS.new_order) THEN
IF NOT(PDI.RU.STATUS.order_rejected) THEN
// Rotary unit module has accepted the order
iStep := 160;
ELSE
iStep := 500;
END_IF
END_IF
200:
IF NOT (PDI.RU.STATUS.busy) THEN
// Movement done
IF (PDI.RU.STATUS.done AND PDI.RU.STATUS.in_target) THEN
// The cap is closed (were expected)
iStep := 210;
ELSE
// Something went wrong
iStep := 500;
END_IF
END_IF
210:
// Release cap
order_flag := PDI.GR.STATUS.new_order;
PDO.GR.COMMAND := 16#0004; // Easy positioning to max
iStep := 220;
220:
IF NOT(order_flag = PDI.GR.STATUS.new_order) THEN
IF NOT(PDI.GR.STATUS.order_rejected) THEN
// Gripper module has accepted the order
iStep := 230;
ELSE
iStep := 500;
END_IF
END_IF
240:
IF NOT (PDI.RU.STATUS.busy) THEN
IF (PDI.GR.STATUS.done AND PDI.GR.STATUS.in_target) THEN
// Cap successfully released
iStep := 250;
ELSE
// Something went wrong
iStep := 500;
END_IF
END_IF
260:
// Done (OK)
500:
// Something wrong has happened
END_CASE;
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REP2000
54