BECO_01_D_MODS

LAD 12 - ROBOT --- Total Rungs in File = 29

Robot
cell in
Auto s/s
I:8

Estops
OK
I:8

Safety Gate
OK
I:8

Access SW
robot cell
I:8

15
1747-SN

14
1747-SN

Robot
cell in
auto
B3:8

0000
0
1747-SN
Robot
cell in
Auto s/s
I:8

13
1747-SN
Estops
OK
I:8

14
Robot
cell in
manual
B3:8

Safety Gate
OK
I:8

0001
0
1747-SN

13
1747-SN

15
1747-SN

15
Robot access
gate delay
timer
TON
Timer On Delay
Timer
T4:10
Time Base
0.01
Preset
200<
Accum
0<

Access SW
robot cell
I:8
0002
14
1747-SN

Robot access
gate delay
timer
T4:10

Robot
ProgRun
I:12

EN
DN

Access gate
solenoid
O:8

0003
DN

0004

114
1747-SDN

65
1747-SN

Main program can be selected only when the robot at home position
PV Robot
Program
PV Screen
Number
Number
EQU
EQU
Equal
Equal
Source A
I:12.17
Source A
I:12.16
0<
0<
Source B
1
Source B
35
1<
35<

0005

PV Robot
Program
Number
NEQ
Not Equal
Source A
Source B

0006

PV Robot
Program
Number
EQU
Equal
Source A
Source B

0007

PV Robot
Program
Number
NEQ
Not Equal
Source A
Source B

Robot
ProgRun
I:12
0008

Page 1

114
1747-SDN

Robot cell
access reqd
B3:8
4

TP
Enabled
I:12
119
1747-SDN

I:12.17
0<
2
2<

osr
B3:9
OSR
0

208
1747-SDN

Robot at
home posn
I:12
31
1747-SDN

Robot
Main
prog select
B3:19
L
1

Robot
Main
prog select
B3:19
U
1

I:12.17
0<
1
1<

I:12.17
0<
2
2<

PV Robot
program
accept PB
I:12

PV Screen
Number
EQU
Equal
Source A
Source B

TP
Enabled
I:12
I:12.16
0<
35
35<

119
1747-SDN

PV Robot
program
accept PB
I:12
208
1747-SDN

Robot
Recover
prog select
B3:19
L
2

Robot
Recover
prog select
B3:19
U
2

Robot
Main
prog select
B3:19
U
1
Robot
Recover
prog select
B3:19
U
2

Saturday, September 15, 2007 - 13:47:59

BECO_01_D_MODS
LAD 12 - ROBOT --- Total Rungs in File = 29

0009

PNS0001 Calls the Main program

Robot
PV Robot
Main
Program
prog select
Number
B3:19
EQU
Equal
1
Source A
Source B

0010

I:12.17
0<
1
1<

PNS0006 Calls the Recover program. This program runs the robot to home position safely from any position.
Robot
PV Robot
Recover
Program
prog select
Number
B3:19
EQU
Equal
2
Source A
I:12.17
0<
Source B
2
2<

0011

Page 2

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
MOV
Move
Source
Dest

Robot
PNS Number
MOV
Move
Source
Dest

1
1<
N7:12
0<

6
6<
N7:12
0<
Robot
RSR1/PNS1
O:12

N7:12
0<
1
1<

120
1747-SDN

N7:12
0<
3
3<

N7:12
0<
5
5<

N7:12
0<
7
7<

Saturday, September 15, 2007 - 13:47:59

BECO_01_D_MODS
LAD 12 - ROBOT --- Total Rungs in File = 29

0012

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

0013

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

Robot
PNS Number
EQU
Equal
Source A
Source B

0014

Page 3

PV Robot
Speed Select
EQU
Equal
Source A
Source B

PV Robot
Speed Select
EQU
Equal
Source A
Source B

Robot
RSR2/PNS2
O:12
N7:12
0<
2
2<

121
1747-SDN

N7:12
0<
3
3<

N7:12
0<
6
6<

N7:12
0<
7
7<
Robot
RSR3/PNS3
O:12
N7:12
0<
4
4<

122
1747-SDN

N7:12
0<
5
5<

N7:12
0<
6
6<

N7:12
0<
7
7<
Robot in
recovery
mode
I:12
I:12.21
0<
3
3<

26
1747-SDN

Speed select
input 1
O:12
30
1747-SDN

I:12.21
0<
4
4<

Saturday, September 15, 2007 - 13:47:59

BECO_01_D_MODS
LAD 12 - ROBOT --- Total Rungs in File = 29
Robot in
recovery
mode
I:12

PV Robot
Speed Select
EQU
Equal
Source A

0015

I:12.21
0<
2
2<

Source B

PV Robot
Speed Select
EQU
Equal
Source A

Speed select
input 2
O:12

26
1747-SDN

31
1747-SDN

I:12.21
0<
4
4<

Source B

Estops
OK
I:8

Robot
IMSTP
O:12

0016
13
1747-SN

112
1747-SDN
Robot
SFSPD
O:12
114
1747-SDN
Robot
CSTOPI
O:12
115
1747-SDN

Robot
cell in
auto
B3:8

Robot
ENBL
O:12
119
1747-SDN
Robot
HOLD
O:12

0017
14

113
1747-SDN

TP
Enabled
I:12

CMD Enabled
I:12

119
1747-SDN
Robot
HOLD
O:12
0018
113
1747-SDN

112
1747-SDN
Robot Start
Enable Pulse
B3:19

osr
B3:9
OSR
1

Robot Start
Enable Pulse
B3:19

Robot
cell in
auto
B3:8

14

Robot
ProgRun
I:12

Robot Start
Enable
B3:19

0019
114
1747-SDN

Robot Start
Enable
B3:19
4
S:4/2 is the clock pulse
Robot Start
Enable
Time Base
B3:19
S:4

Robot
start
O:12

0020
4
TP
Enabled
I:12

2
Robot
IMSTP
O:12

117
1747-SDN
CMD Enabled
I:12

Robot
Fault
I:12

Robot fault
reset timer
T4:3

Estops
OK
I:8

Safety Gate
OK
I:8

0021

Page 4

119
1747-SDN

112
1747-SDN

112
1747-SDN

117
1747-SDN

DN

13
1747-SN

15
1747-SN

Robot fault
reset timer
TON
Timer On Delay
Timer
T4:3
Time Base
0.01
Preset
100<
Accum
26<

EN
DN

Saturday, September 15, 2007 - 13:47:59

BECO_01_D_MODS
LAD 12 - ROBOT --- Total Rungs in File = 29
Robot
cell in
Auto s/s
I:8

Robot fault
reset timer
GRT
Greater Than (A>B)
Source A T4:3.ACC
26<
Source B
50
50<

0022
0
1747-SN

Robot
FAULT RESET
O:12
116
1747-SDN

Robot
Main
prog select
B3:19

Robot
PNSTROBE
Timer
TON
Timer On Delay
Timer
T4:8
Time Base
0.01
Preset
200<
Accum
0<

0023
1
Robot
Recover
prog select
B3:19

EN
DN

2
Robot
Main
prog select
B3:19
0024
1
Robot
Recover
prog select
B3:19

Robot
PNSTROBE
Timer
LES
Less Than (A<B)
Source A T4:8.ACC
0<
Source B
100
100<

Robot
CSTOPI
O:12
115
1747-SDN

2
Robot
Main
prog select
B3:19

CMD Enabled
I:12

Robot
ProgRun
I:12

SNACK
I:12

Robot
PNSTROBE
O:12

0025
1

112
1747-SDN

114
1747-SDN

130
1747-SDN

128
1747-SDN

Robot
Recover
prog select
B3:19
2
CMD Enabled
I:12

SNACK
I:12

Robot
PROD_START
O:12

0026
112
1747-SDN

130
1747-SDN

129
1747-SDN

Bricks at
robot pick up
I:8

Bricks at
robot pick up
O:12

11
1747-SN

16
1747-SDN

0027

0028

Page 5

END

Saturday, September 15, 2007 - 13:47:59