Introductory example
Programming transitions
Introduction
Step 0 -> 1
Step 1 -> 2
Step 2 -> 3
Step 3 -> 4
Step 4 -> 5
Step 4 -> 8
Step 5 -> 6
Step 8 -> 6
Step 6 -> 2
The transitions drawn in the Grafcet are programmed in the following way:
! (*X channel not in error, claw open, Auto_man switch set to Auto, Y channel not in error and automatic mode activated*)
NOT ERROR AND NOT CAPTEUR_3 AND NOT AUTO_MAN AND CYCLE AND NOT
ERROR_Y AND MODE_AUTO
! (*Test: axes ready and referenced*)
DONE AND CALIB AND DONE_Y AND CALIB_Y
! (*Moving part in stand-by position and part detected on belt A*)
CAPTEUR_1 AND CYCLE AND NEXT AND NEXT_Y
! (*Moving part in position to take part detected on belt A*)
AT_POINT AND NEXT AND NEXT_Y AND AT_POINT_Y
! (*Type 1 part and claw closed*)
CAPTEUR_2 AND CAPTEUR_3
! (*Type 2 part and claw closed*)
NOT CAPTEUR_2 AND CAPTEUR_3
! (*Moving part in position on belt B*)
AT_POINT AND NEXT AND NEXT_Y AND AT_POINT_Y
! (*Moving part in position on belt C*)
AT_POINT AND NEXT AND NEXT_Y AND AT_POINT_Y
! (*Claw open)
NOT CAPTEUR_3 AND CYCLE
TLX DS 57 PL7 40E 09.2000
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