------- [ Contato auxiliar ] ------R0127: [MENUOK],

R0021: [POS1],
R0116: [TELA1],
R0117: [TELA2],
R0024: [AT00],
R0025: [AT01],
R0026: [AT02],
R0027: [AT03],
R0028: [AT04],
R0029: [AT05],
R0030: [AT06],
R0128: [CF],

Datapool

Esteira Completa

------- [ Memria inteira ] ------M0017: [TECLADO],

Inicializacao do selecionador de peas

MENUOK

BLQ
T0001

MENUOK POS1

TELA1

TELA1

TELA2

Inicializao das Variveis

TELA2

AT00

AT01

AT02

AT03

AT04

AT05

AT06

Menu
=
TECLADO

CF

------- [ Contato auxiliar ] ------R0117: [TELA2],

R0128: [CF],
R0118: [TELA3],
R0124: [POSIC1],
R0121: [TELA6],
R0252: [POS1HAB],
R0119: [TELA4],
R0125: [POSIC2],
R0075: [SENS100],
R0122: [TELA7],

CTE10

TELA2

CF

<>
TECLADO

<>

TELA2

TECLADO
TELA3

CTE10

CTE09
POSIC1

CF

TELA3

CF

TELA3

TECLADO
TELA6
CTE01
CF

POS1HAB

TELA3

CF

TELA3

TECLADO
TELA4
CTE00
CF

POS1HAB

POSIC1

POSIC2

TELA6 POSIC1

CF

------- [ Memria inteira ] ------M0017: [TECLADO],

SENS100

TECLADO
TELA6
CTE00
TELA7

CF

------- [ Constante inteira ] ------K0013: [CTE10], Constante inteira, valor = 10

K0012: [CTE09], Constante inteira, valor = 9
K0004: [CTE01], Constante inteira, valor = 1
K0003: [CTE00], Constante inteira, valor = 0

TELA6 POSIC1

CF

=
TECLADO

CTE01

------- [ Contato auxiliar ] ------R0121: [TELA6],

SENS100 R0124: [POSIC1],
R0128: [CF],
R0075: [SENS100],
POS100 R0048: [POS100],
R0049: [POS101],
R0050: [POS102],
R0122: [TELA7],
POS101
------- [ Memria inteira ] ------M0017: [TECLADO],

POS102

TELA6

TELA7

CF

TELA6 POSIC1

CF

SENS100

TECLADO
POS101
CTE02
POS100

POS102

TELA6

TELA7

CF

TELA6 POSIC1

CF

SENS100

TECLADO
POS102
CTE03
POS101

POS100

TELA6

TELA7

CF

------- [ Constante inteira ] ------K0004: [CTE01], Constante inteira, valor = 1

K0005: [CTE02], Constante inteira, valor = 2
K0006: [CTE03], Constante inteira, valor = 3

TELA7 POSIC1

CF

=
TECLADO

CTE00

------- [ Contato auxiliar ] ------R0122: [TELA7],

SENS101 R0124: [POSIC1],
R0128: [CF],
R0076: [SENS101],
TELA7 R0123: [TELA8],
R0051: [POS103],
R0077: [SENS102],
R0119: [TELA4],
TELA8 R0125: [POSIC2],

CF

TELA7 POSIC1

CF

=
TECLADO

------- [ Constante inteira ] ------K0003: [CTE00], Constante inteira, valor = 0

SENS101 K0004: [CTE01], Constante inteira, valor = 1
K0005: [CTE02], Constante inteira, valor = 2

POS103
CTE01
TELA7

TELA8

CF

TELA7 POSIC1

CF

SENS101

TECLADO
POS103
CTE02
TELA7

TELA8

CF

TELA8 POSIC1

CF

SENS102

TECLADO
TELA8
CTE00
POSIC1

TELA4

POSIC2

CF

TELA8 POSIC1

CF

=
TECLADO

------- [ Memria inteira ] ------M0017: [TECLADO],

SENS102

CTE01

------- [ Contato auxiliar ] ------R0052: [POS104],

POS104 R0053: [POS105],
R0054: [POS106],
R0123: [TELA8],
POS105 R0124: [POSIC1],
R0119: [TELA4],
R0125: [POSIC2],
R0128: [CF],
POS106 R0077: [SENS102],

TELA8

------- [ Memria inteira ] ------M0017: [TECLADO],

------- [ Constante inteira ] ------K0004: [CTE01], Constante inteira, valor = 1

POSIC1 K0005: [CTE02], Constante inteira, valor = 2
K0006: [CTE03], Constante inteira, valor = 3

TELA4

POSIC2

CF

TELA8 POSIC1

CF

SENS102

TECLADO
POS105
CTE02
POS104

POS106

TELA8

POSIC1

TELA4

POSIC2

CF

TELA8 POSIC1

CF

SENS102

TECLADO
POS106
CTE03
POS105

POS104

------- [ Contato auxiliar ] ------R0123: [TELA8],

TELA8 R0124: [POSIC1],
R0119: [TELA4],
R0125: [POSIC2],
POSIC1 R0128: [CF],
R0121: [TELA6],
R0253: [POS2HAB],
R0120: [TELA5],
TELA4 R0126: [POSIC3],
R0078: [SENS200],
R0122: [TELA7],
R0057: [POS200],
POSIC2
------- [ Memria inteira ] ------M0017: [TECLADO],

CF

TELA4

CF

TELA4

TECLADO
TELA6
CTE01
CF

POS2HAB

TELA4

CF

TELA4

TECLADO
TELA5
CTE00
CF

POS2HAB

POSIC2

POSIC3

TELA6 POSIC2

CF

SENS200

TECLADO
TELA6
CTE00
TELA7

CF

TELA6 POSIC2

CF

SENS200

TECLADO
POS200
CTE01

------- [ Constante inteira ] ------K0004: [CTE01], Constante inteira, valor = 1

K0003: [CTE00], Constante inteira, valor = 0

------- [ Contato auxiliar ] ------R0058: [POS201],

POS201 R0059: [POS202],
R0121: [TELA6],
R0122: [TELA7],
POS202 R0128: [CF],
R0125: [POSIC2],
R0078: [SENS200],
R0057: [POS200],
TELA6 R0079: [SENS201],

TELA7

CF

TELA6 POSIC2

CF

SENS200

TECLADO
POS201
CTE02
POS200

POS202

TELA6

TELA7

CF

TELA6 POSIC2

CF

SENS200

TECLADO
POS202
CTE03
POS201

POS200

TELA6

TELA7

CF

TELA7 POSIC2

CF

SENS201

TECLADO
TELA7
CTE00

------- [ Memria inteira ] ------M0017: [TECLADO],

------- [ Constante inteira ] ------K0005: [CTE02], Constante inteira, valor = 2
K0006: [CTE03], Constante inteira, valor = 3
K0003: [CTE00], Constante inteira, valor = 0

TELA7 POSIC2

CF

=
TECLADO

------- [ Contato auxiliar ] ------R0123: [TELA8],

TELA8 R0128: [CF],
R0122: [TELA7],
R0125: [POSIC2],
R0079: [SENS201],
CF
R0060: [POS203],
R0080: [SENS202],
R0120: [TELA5],
SENS201 R0126: [POSIC3],
R0061: [POS204],
R0062: [POS205],

POS203
CTE01
TELA7

TELA8

CF

TELA7 POSIC2

CF

SENS201

TECLADO
POS203
CTE02
TELA7

TELA8

CF

TELA8 POSIC2

CF

SENS202

TECLADO
TELA8
CTE00
POSIC2

TELA5

POSIC3

CF

TELA8 POSIC2

CF

SENS202

TECLADO
POS204
CTE01
POS205

------- [ Memria inteira ] ------M0017: [TECLADO],

------- [ Constante inteira ] ------K0004: [CTE01], Constante inteira, valor = 1
K0005: [CTE02], Constante inteira, valor = 2
K0003: [CTE00], Constante inteira, valor = 0

------- [ Contato auxiliar ] ------R0063: [POS206],

POS206 R0123: [TELA8],
R0125: [POSIC2],
R0120: [TELA5],
TELA8 R0126: [POSIC3],
R0128: [CF],
R0080: [SENS202],
R0062: [POS205],
POSIC2 R0061: [POS204],

TELA5

------- [ Memria inteira ] ------M0017: [TECLADO],

------- [ Constante inteira ] ------K0005: [CTE02], Constante inteira, valor = 2

POSIC3 K0006: [CTE03], Constante inteira, valor = 3

CF

TELA8 POSIC2

CF

SENS202

TECLADO
POS205
CTE02
POS204

POS206

TELA8

POSIC2

TELA5

POSIC3

CF

TELA8 POSIC2

CF

SENS202

TECLADO
POS206
CTE03
POS205

POS204

TELA8

POSIC2

TELA5

CF

------- [ Contato auxiliar ] ------R0120: [TELA5],

TELA5 R0126: [POSIC3],
R0128: [CF],
R0121: [TELA6],
POSIC3 R0254: [POS3HAB],
R0129: [TELA9],
R0127: [MENUOK],
R0081: [SENS300],
CF
R0122: [TELA7],
R0066: [POS300],
R0067: [POS301],
R0068: [POS302],
TELA5
------- [ Memria inteira ] ------M0017: [TECLADO],

TECLADO
TELA6
CTE01
CF

POS3HAB

TELA5

CF

TELA5

TECLADO
TELA9
CTE00
CF

POS3HAB

POSIC3

MENUOK

TELA6 POSIC3

CF

SENS300

TECLADO
TELA6
CTE00
TELA7

CF

TELA6 POSIC3

CF

SENS300

TECLADO
POS300
CTE01
POS301

POS302

------- [ Constante inteira ] ------K0004: [CTE01], Constante inteira, valor = 1

K0003: [CTE00], Constante inteira, valor = 0

TELA6

TELA7

CF

TELA6 POSIC3

CF

SENS300

------- [ Contato auxiliar ] ------R0121: [TELA6],

R0122: [TELA7],
R0128: [CF],
R0126: [POSIC3],
R0081: [SENS300],
R0067: [POS301],
R0066: [POS300],
R0068: [POS302],
R0082: [SENS301],
R0123: [TELA8],
------- [ Memria inteira ] ------M0017: [TECLADO],

TECLADO

CTE02

------- [ Constante inteira ] ------POS301 K0005: [CTE02], Constante inteira, valor = 2

K0006: [CTE03], Constante inteira, valor = 3
K0003: [CTE00], Constante inteira, valor = 0

POS300

POS302

TELA6

TELA7

CF

TELA6 POSIC3

CF

SENS300

TECLADO
POS302
CTE03
POS301

POS300

TELA6

TELA7

CF

TELA7 POSIC3

CF

SENS301

TECLADO
TELA7
CTE00
TELA8

CF

TELA7 POSIC3

CF

=
TECLADO

CTE01

------- [ Contato auxiliar ] ------R0122: [TELA7],

SENS301 R0126: [POSIC3],
R0128: [CF],
R0082: [SENS301],
POS303 R0069: [POS303],
R0123: [TELA8],
R0083: [SENS302],
R0127: [MENUOK],
TELA7 R0129: [TELA9],
R0070: [POS304],
R0071: [POS305],
R0072: [POS306],
TELA8
------- [ Memria inteira ] ------M0017: [TECLADO],

CF

TELA7 POSIC3

CF

------- [ Constante inteira ] ------K0004: [CTE01], Constante inteira, valor = 1

K0005: [CTE02], Constante inteira, valor = 2
SENS301 K0003: [CTE00], Constante inteira, valor = 0

TECLADO
POS303
CTE02
TELA7

TELA8

CF

TELA8 POSIC3

CF

SENS302

TECLADO
TELA8
CTE00
POSIC3

MENUOK

CF

TELA9

TELA8 POSIC3

CF

SENS302

TECLADO
POS304
CTE01
POS305

POS306

TELA8

------- [ Contato auxiliar ] ------R0126: [POSIC3],

POSIC3 R0127: [MENUOK],
R0128: [CF],
R0129: [TELA9],
MENUOK R0123: [TELA8],
R0083: [SENS302],
R0071: [POS305],
R0070: [POS304],
CF
R0072: [POS306],

TELA9

TELA8 POSIC3

CF

------- [ Constante inteira ] ------K0005: [CTE02], Constante inteira, valor = 2

SENS302 K0006: [CTE03], Constante inteira, valor = 3

TECLADO
POS305
CTE02
POS304

POS306

TELA8

POSIC3

MENUOK

CF

TELA9

TELA8 POSIC3

CF

------- [ Memria inteira ] ------M0017: [TECLADO],

SENS302

TECLADO
POS306
CTE03
POS305

POS304

TELA8

POSIC3

TELA9

CF

------- [ Sada digital ] ------O0001: [MPASSO],

MENUOK O0002: [MOTORDC],
------- [ Contato auxiliar ] ------R0127: [MENUOK],
R0225: [PULPWM],
R0115: [RESPWM],
R0130: [TELA10],
R0131: [TELA11],
R0216: [PULES],
R0217: [RESES],

Controle da velocidade do Motor DC por PWM

MPASSO

MOV

------- [ Memria inteira ] ------M0000: [VPWM],

M0016: [PWM],
M0013: [CONT],

CTE03

VPWM
MPASSO

------- [ Constante inteira ] ------K0006: [CTE03], Constante inteira, valor = 3

K0013: [CTE10], Constante inteira, valor = 10
K0003: [CTE00], Constante inteira, valor = 0
K0035: [CTE46], Constante inteira, valor = 46

MOV
CTE10

VPWM
PULPWM

PULPWM

PULPWM

UPC

RESPWM

PWM
RESPWM
CTE10
MENUOK

TELA10

MOTORDC

PWM
TELA11
CTE00
=

MOTORDC

PWM

VPWM

Controle de Entradas e Sadas Digitais

Gerando a Temporizao para a Entrada e Sada de Dados

PULES

PULES

PULES

UPC
CONT

RESES
CTE46

RESES

------- [ Entrada digital ] ------I0002:

I0004:
I0005:
I0006:
I0007:

Efetuando a leitura dos sensores de 0 a 7

=

ADDR2

CONT
ADDR0
CTE02
ADDR1

>=

<

CONT

CONT

CTE05

CTE10

MRL

I0002

GRANDE

I0002

GRANDE

I0004

MEDIO

I0004

MEDIO

I0005

POS3

I0005

POS3

I0006

COR1

I0006

COR1

I0007

POS4

I0007

POS4

Efetuando a leitura dos sensores de 8 a 15

CONT

------- [ Contato auxiliar ] ------R0002: [GRANDE],

R0004: [MEDIO],
R0005: [POS3],
R0006: [COR1],
R0007: [POS4],
------- [ Memria inteira ] ------M0013: [CONT],

ADDR0 ADDR1 ADDR2

EMR

------- [ Sada digital ] ------O0011: [ADDR2],

O0008: [ADDR0],
O0009: [ADDR1],

ADDR2

------- [ Constante inteira ] ------K0005: [CTE02], Constante inteira, valor = 2

K0008: [CTE05], Constante inteira, valor = 5
K0013: [CTE10], Constante inteira, valor = 10

ADDR1
CTE12
=

ADDR0

CONT

CTE32
>=

<

CONT

CONT

CTE15

CTE20

>=

<

CONT

CONT

CTE35

CTE40

ADDR2 ADDR1 ADDR0

MRL

------- [ Sada digital ] ------O0009: [ADDR1],

O0008: [ADDR0],
O0011: [ADDR2],
------- [ Contato auxiliar ] ------R0011: [ALIMENT],
R0012: [COR2],
R0013: [PECAOK],
R0014: [COR3],
------- [ Memria inteira ] ------M0013: [CONT],

I0008

------- [ Constante inteira ] ------K0015: [CTE12], Constante inteira, valor = 12

K0036: [CTE32], Constante inteira, valor = 32
K0018: [CTE15], Constante inteira, valor = 15
K0028: [CTE20], Constante inteira, valor = 20
K0037: [CTE35], Constante inteira, valor = 35
K0030: [CTE40], Constante inteira, valor = 40
ALIMENT K0033: [CTE22], Constante inteira, valor = 22

I0008

ALIMENT

I0004

COR2

I0004

COR2

I0005

PECAOK

I0005

PECAOK

I0006

COR3

I0006

COR3

EMR

Efetuando a leitura dos sensores de 16 a 23

=

------- [ Entrada digital ] ------I0008:

I0004:
I0005:
I0006:

ADDR2

CONT
ADDR0
CTE22
ADDR1

>=

<

CONT

CONT

CTE25

CTE30

ADDR0 ADDR1 ADDR2

MRL

I0008

POS2

I0008

POS2

I0004

METAL

I0004

METAL

I0005

POS1

I0005

POS1

------- [ Memria inteira ] ------M0013: [CONT],

------- [ Constante inteira ] ------K0031: [CTE25], Constante inteira, valor = 25
K0032: [CTE30], Constante inteira, valor = 30

I0006

PEQUENO

TELA10
MRL

Sensor de Peas Metlicas

AT00

Sensor de Cor
COR1

------- [ Contato auxiliar ] ------R0019: [POS2],

R0020: [METAL],
R0021: [POS1],
R0022: [PEQUENO],
R0127: [MENUOK],
R0130: [TELA10],
R0024: [AT00],
R0006: [COR1],
R0025: [AT01],
R0026: [AT02],
R0027: [AT03],

PEQUENO

Leituras Atuais

METAL

------- [ Sada digital ] ------O0008: [ADDR0],

O0009: [ADDR1],
O0011: [ADDR2],

I0006

EMR

MENUOK

------- [ Entrada digital ] ------I0008:

I0004:
I0005:
I0006:

AT01

AT02

AT03

COR2

AT02

AT01

AT03

COR3

AT03

AT01

AT02

Sensor de Tamanho
PEQUENO

AT05

AT04

AT04

AT05

AT06

MEDIO

AT04

AT04

AT05

AT06

GRANDE

AT04

AT05

AT06

EMR
Clculo da Velocidade da Esteira atravs do Encoder
CALC

FCT
T0000

RESTIME
ENCODER
TMR
TEMPO2

CALC

------- [ Contato auxiliar ] ------R0012: [COR2],

R0026: [AT02],
R0025: [AT01],
R0027: [AT03],
R0014: [COR3],
R0022: [PEQUENO],
R0029: [AT05],
R0028: [AT04],
R0030: [AT06],
R0004: [MEDIO],
R0002: [GRANDE],
R0133: [CALC],
R0134: [RESTIME],
------- [ Memria inteira ] ------M0023: [ENCODER],
M0025: [TEMPO2],

------- [ Sada digital ] ------O0001: [MPASSO],

RESTIME

------- [ Contato auxiliar ] ------R0134: [RESTIME],

R0133: [CALC],
R0013: [PECAOK],
R0127: [MENUOK],
R0131: [TELA11],
RESTIME R0129: [TELA9],
R0011: [ALIMENT],
R0130: [TELA10],
R0022: [PEQUENO],
CALC
R0113: [SF],
R0136: [SFE],

CTERPM

CALC

DIV
ENCODER

CTE08

------- [ Memria inteira ] ------M0023: [ENCODER],

M0018: [RPM],

RPM

------- [ Constante inteira ] ------K0023: [CTERPM], Constante inteira, valor = 96

K0011: [CTE08], Constante inteira, valor = 8

Atualizao da Tela "Alimentando" da IHM

PECAOK

MENUOK

MPASSO

TELA11

TELA9

Atualizao da Tela "Lendo Sensores" da IHM

ALIMENT

MENUOK

TELA9

TELA9

TELA10

Verificando se a Pea passou pelo ltimo Sensor da Esteira

MENUOK

PEQUENO

TELA10

SF

Chamada da Subrotina para Determinao da Posio Seguinte

MENUOK SF

BLQ

SF

T0001
SFE

TELA10

TELA11

------- [ Sada digital ] ------O0001: [MPASSO],

O0000: [SENTIDO],

Inicializao das Variveis Atuais para a Prxima Pea

SFE

PECAOK

MPASSO

AT00

AT01

AT02

AT03

AT04

AT05

AT06

SFE

Chamada da Subrotina para Determinar o Deslocamento do Posicionador

BLQ
T0002

Determinao do Sentido do Motor de Passo

IR12

SENTIDO

IR13

IR14

IR23

IR24

IR34

IR43

SENTIDO

------- [ Contato auxiliar ] ------R0136: [SFE],

R0013: [PECAOK],
R0024: [AT00],
R0025: [AT01],
R0026: [AT02],
R0027: [AT03],
R0028: [AT04],
R0029: [AT05],
R0030: [AT06],
R0100: [IR12],
R0103: [IR13],
R0106: [IR14],
R0104: [IR23],
R0107: [IR24],
R0108: [IR34],
R0105: [IR43],

------- [ Sada digital ] ------O0001: [MPASSO],

IR42

------- [ Contato auxiliar ] ------R0102: [IR42],

R0099: [IR41],
R0101: [IR32],
R0098: [IR31],
R0097: [IR21],
R0093: [POS1OK],
R0021: [POS1],
R0094: [POS2OK],
R0019: [POS2],
R0095: [POS3OK],
R0005: [POS3],
R0096: [POS4OK],
R0007: [POS4],

IR41

IR32

IR31

IR21

Acionamento do Motor de Passo para ir para a Posio 1

POS1OK

POS1

MPASSO

POS1OK

POS1

MPASSO

Acionamento do Motor de Passo para ir para a Posio 2

POS2OK

POS2

MPASSO

POS2OK

POS2

MPASSO

Acionamento do Motor de Passo para ir para a Posio 3

POS3OK

POS3

MPASSO

POS3OK

POS3

MPASSO

Acionamento do Motor de Passo para ir para a Posio 4

POS4OK

POS4

MPASSO

POS4OK

POS4

MPASSO

SENTIDO

Reset via tecla 9

CF

=
TECLADO

BLQ

CF

T0000

------- [ Sada digital ] ------O0000: [SENTIDO],

------- [ Contato auxiliar ] ------R0128: [CF],
R0127: [MENUOK],
R0113: [SF],
R0136: [SFE],
R0116: [TELA1],
R0117: [TELA2],
R0118: [TELA3],
R0119: [TELA4],
R0120: [TELA5],
R0121: [TELA6],
R0122: [TELA7],
R0123: [TELA8],
------- [ Memria inteira ] ------M0017: [TECLADO],

CTE09

------- [ Constante inteira ] ------K0012: [CTE09], Constante inteira, valor = 9

END

Subrotina para Inicializaao das Variaveis (ao Ligar o CLP)

T0000
BBK
MENUOK

SF

SFE

TELA1

TELA2

TELA3

TELA4

TELA5

TELA6

TELA7

TELA8

------- [ Contato auxiliar ] ------R0129: [TELA9],

TELA9 R0130: [TELA10],
R0131: [TELA11],
R0028: [AT04],
TELA10 R0029: [AT05],
R0030: [AT06],
R0075: [SENS100],
R0025: [AT01],
TELA11 R0048: [POS100],
R0026: [AT02],
R0049: [POS101],
R0027: [AT03],
AT04
R0050: [POS102],
R0084: [COR1OK],
R0076: [SENS101],
R0024: [AT00],
AT05
R0051: [POS103],
R0085: [MET1OK],
R0077: [SENS102],
AT06
R0052: [POS104],
R0053: [POS105],

EBK

Subrotina para Determinao da Posio Seguinte

T0001
BBK
Verificando a posicao 1
SENS100

SENS100

AT01

POS100

AT02

POS101

AT03

POS102

AT00

POS103

AT00

POS103

AT06

POS104

AT05

POS105

COR1OK

SENS101

SENS101

SENS102

SENS102

MET1OK

AT04

COR1OK

MET1OK

POS106

TAM1OK

POS1HAB

MENUOK

Verificando a posicao 2
SENS200

SENS200

AT01

POS200

AT02

POS201

AT03

POS202

AT00

POS203

AT00

POS203

AT06

POS204

AT05

POS205

AT04

POS206

------- [ Contato auxiliar ] ------R0028: [AT04],

TAM1OK R0054: [POS106],
R0086: [TAM1OK],
R0084: [COR1OK],
POS1OK R0085: [MET1OK],
R0252: [POS1HAB],
R0093: [POS1OK],
R0127: [MENUOK],
R0078: [SENS200],
R0025: [AT01],
R0057: [POS200],
R0026: [AT02],
R0058: [POS201],
R0027: [AT03],
R0059: [POS202],
R0087: [COR2OK],
R0079: [SENS201],
R0024: [AT00],
R0060: [POS203],
R0088: [MET2OK],
R0080: [SENS202],
R0030: [AT06],
R0061: [POS204],
R0029: [AT05],
R0062: [POS205],
R0063: [POS206],
R0089: [TAM2OK],
R0253: [POS2HAB],
R0094: [POS2OK],
R0081: [SENS300],
COR2OK

SENS201

SENS201

MET2OK

SENS202

SENS202

COR2OK

MET2OK

Verificando posicao 3
SENS300

TAM2OK

TAM2OK

POS2HAB

MENUOKPOS2OK

SENS300

AT01

POS300

AT02

POS301

AT03

POS302

AT00

POS303

AT00

POS303

AT06

POS304

AT05

POS305

AT04

POS306

------- [ Contato auxiliar ] ------R0081: [SENS300],

R0025: [AT01],
R0066: [POS300],
R0026: [AT02],
R0067: [POS301],
R0027: [AT03],
R0068: [POS302],
R0090: [COR3OK],
COR3OK R0082: [SENS301],
R0024: [AT00],
R0069: [POS303],
R0091: [MET3OK],
R0083: [SENS302],
R0030: [AT06],
R0070: [POS304],
R0029: [AT05],
R0071: [POS305],
R0028: [AT04],
R0072: [POS306],
MET3OK R0092: [TAM3OK],
R0254: [POS3HAB],
R0127: [MENUOK],
R0095: [POS3OK],
R0093: [POS1OK],
R0094: [POS2OK],
R0096: [POS4OK],

SENS301

SENS301

SENS302

SENS302

COR3OK

MET3OK

TAM3OK

TAM3OK

POS3HAB

POS3OK

MENUOK

MENUOKPOS3OK

Verificando a posicao 4
POS1OK

POS2OK

POS4OK

EBK

Subrotina para Determinar o Deslocamento do Posicionador

T0002
BBK

Verificando a posicao 1
POS1OK
MRL
POS2

IR31

IR41

IR21

POS3

IR21

IR41

IR31

POS4

IR21

IR31

IR41

EMR

Verificando a posicao 2
POS2OK
MRL
POS1

IR32

IR42

IR12

POS3

IR12

IR42

IR32

POS4

IR12

IR32

IR42

EMR

Verificando a posicao 3
POS3OK
MRL
POS1

IR23

IR43

IR13

POS2

IR13

IR43

IR23

POS4

IR13

IR23

IR43

EMR

------- [ Contato auxiliar ] ------R0093: [POS1OK],

R0019: [POS2],
R0098: [IR31],
R0099: [IR41],
R0097: [IR21],
R0005: [POS3],
R0007: [POS4],
R0094: [POS2OK],
R0021: [POS1],
R0101: [IR32],
R0102: [IR42],
R0100: [IR12],
R0095: [POS3OK],
R0104: [IR23],
R0105: [IR43],
R0103: [IR13],

Verificando a posicao 4
POS4OK
MRL
POS1

IR24

IR34

IR14

POS2

IR14

IR34

IR24

POS3

IR14

IR24

IR34

EMR

EBK

------- [ Contato auxiliar ] ------R0096: [POS4OK],

R0021: [POS1],
R0107: [IR24],
R0108: [IR34],
R0106: [IR14],
R0019: [POS2],
R0005: [POS3],