Siemens 2D-TZ577, Инструкция по эксплуатации

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7 Procedure before Startup
Have A Try For It 7 - 38
7.4.3 Examples of Robot Program (Using General-purpose I/O)
*LBL1:If M_In(20 08) = 0 Then GoTo *LBL1
M1 = M_Inb(200 0)
M_Out(2009) = 1
*LBL 2:If M_In(2008) = 1 Then GoTo *LBL 2
M_Out(2009) = 0
Select M1
Case 1
GoSub *LOAD
break
Case 2
GoSub *UNLOAD
break
Case 3
GoSub *GOHOME
break
End Select
End
*LOAD
：
Return
*UNLOAD
：
Return
*GOHOME
：
Return
Input No. 2008 and output No. 2009 ar e used as an
interlock.
For information about the interlock, see Section 3.7.1 Robot
System State Variables Relative to 2D -TZ577 Card.
If M1 *1 is 1, a jump is made to the line labeled "*LOAD."
If M1
*1
is 2, a jump is made to the line labeled "*UNLOAD."
。
If M1
*1
is 3, a jump is made to the line labeled "*GOHOME."
。
A statement on processing done in the step labeled "*LOAD."
*1 M1 is byte data received via PROFIBUS DP network.
(See the 2nd line of the program.)
A statement on processing done in the step labeled "*UNLOAD."
A statement on processing done in the step labeled "*GOHOME."