// WORLD CELL:  AWIV-6300SL
// PART #:      
//
// DATE: 7/30/14
// SW VERSION: DX200 DN1.80 & Above for saftey logic expansion and allow removal of safety PLC
// CREATED BY: Jason Young (PSG)
// 
// Base CIO File
//
// REV.0 Initial Release
// REV.1 (Nov. 2014) Removed Safety PLC OK Alarm (does not function as expected per AG and PILZ),Removed IF-Panel test for "Cycle Start" button
// REV.2 (Feb. 2015) Adding logic to ensure all cell required FSU function are enabled.
// REV.3 (July 2015) Removing PILZ PLC and replacing with Safety Logic Circuit included in DN1.80 software and later.
// REV.4 (Feb 2016) Adding logic for JoyStick Home Latching	
//
//-------Ext/Universal Input Usages:---------------------------------------
//Ext In #20030   //Ext Input-to-Universal Input#1 - Cycle Start PB
//Ext In #20040   //Ext Input-to-Universal Input#9 - Joystick Reverse
//Ext In #20041		//Ext Input-to-Universal Input#10 - Joystick Home
//Ext In #20042   //Ext Input-to-Universal Input#11 - Joystick Forward
//Univ In #4001		//Light Curtain Clear
//Univ In #4002		//S1 (Trunnion) A-Side at Robot(s)
//Univ In #4003		//S1 (Trunnion) B-Side at Robot(s)
//Univ In #4004		//S1 (Trunnion) At Side A OR B
//Univ In #4005		//S1 (Trunnion) At Side A OR B OR LC Clear
//Univ In #4006		//S1 (Trunnion) Sweeping (Not At A OR B)
//Univ In #4007		//S1 Standstill
//Univ In #4008		//S2 Standstill
//Univ In #4009		//S3 Standstill
//Univ In #4010		//S2 Speed Limit (30%)
//Univ In #4011		//S3 Speed Limit (30%)
//Univ In #4012		//S2 (Tooling A) Power On
//Univ In #4013   //S3 (Tooling B) Power On
//
//-------Aux Relay Usages:---------------------------------------
//Aux #78000 			//Emergency Stop OK
//Aux #78050    	//Cycle Start Pulse
//Aux #78054      //Joystick Active
//Aux #78057    	//Cycle Start Anti-Tie Down/Pulse
//
//-------Ext/Universal Output Usages:---------------------------------------
//Ext Out #30030  //Ext Out 1 - Sta1 Cycle Latched
//
//-------Control Inputs Usages:---------------------------------------
//Ctrl #81320 		//Light Curtain Clear 										--> Mapped to Universal In#4001 (05010)
//Ctrl #81321    	//S1 (Trunnion) A-Side at Robot(s) 				--> Mapped to Universal In#4002 (05011)
//Ctrl #81322    	//S1 (Trunnion) B-Side at Robot(s) 				--> Mapped to Universal In#4003 (05012)
//Ctrl #81323 		//S1 (Trunnion) At Side A OR B						--> Mapped to Universal In#4004 (05013)
//Ctrl #81324    	//S1 (Trunnion) At Side A OR B OR LC Clear--> Mapped to Universal In#4005 (05014)
//Ctrl #81325    	//S1 (Trunnion) Sweeping (Not At A OR B)	--> Mapped to Universal In#4006 (05015)
//Ctrl #81326    	//S1 Standstill														--> Mapped to Universal In#4007 (05016)
//Ctrl #81327    	//S2 Standstill														--> Mapped to Universal In#4008 (05017)
//Ctrl #81330    	//S3 Standstill														--> Mapped to Universal In#4009 (05020)
//Ctrl #81331    	//S2 Speed Limit (30%)										--> Mapped to Universal In#4010 (05021)
//Ctrl #81332    	//S3 Speed Limit (30%)										--> Mapped to Universal In#4011 (05022)
//Ctrl #81333    	//S2 (Tooling A) Power On									--> Mapped to Universal In#4012 (05023)
//Ctrl #81334    	//S3 (Tooling B) Power On									--> Mapped to Universal In#4013 (05024)
//
// ========================================================
// USER ALARM TRIGGERS:
// ========================================================
//
// Make sure the robot(s) stay home when sweeping.
STR #81325				//S1 (Trunnion) Sweeping (Not At A or B)
STR-NOT #50153    //Robot #1 Wall Cube - Cube 60
OR-NOT #50152			//Robot #2 Wall Cube - Cube 59
OR-NOT #50151			//Robot #3 Wall Cube - Cube 58
AND-STR
AND #50070        //Operating
OUT #79772        //User Alarm 58 - Robot(s) Must Be Clear For Sweep
//
//System Message Indentifying which FSU files are expected to be enabled
STR #50054
STR-NOT #81320    //Light Curtain Clear
STR #81321    		//S1 (Trunnion) A-Side at Robot(s)
OR #81322    			//S1 (Trunnion) B-Side at Robot(s)
AND-NOT #52130		//FSU#1 Axis Speed Monitor File #1 (S1 Trunnion) "Valid"
STR #81322    		//S1 (Trunnion) B-Side at Robot(s)
AND-NOT #52131		//FSU#1 Axis Speed Monitor File #2 (S2 Side A Tooling) "Valid"
OR-STR
STR #81321    		//S1 (Trunnion) A-Side at Robot(s)
AND-NOT #52132		//FSU#1 Axis Speed Monitor File #3 (S3 Side B Tooling) "Valid"
OR-STR
AND-STR
STR #81322				//S1 (Trunnion) B-Side at Robot(s)
AND-NOT #52133		//FSU#1 Axis Speed Monitor File #4 (S2 Side A Tooling 30% Spped Limit) "Valid"
OR-STR
STR #81321				//S1 (Trunnion) A-Side at Robot(s)
AND-NOT #52134		//FSU#1 Axis Speed Monitor File #5 (S3 Side B Tooling 30% Spped Limit) "Valid"
OR-STR
STR #50141				//A-Side At Robot(s) Cube #50
AND-NOT #52010		
OR-STR
STR #50142				//B-Side At Robot(s) Cube#51
AND-NOT #52011
OR-STR
AND-STR
TMR M351,1
OUT #79775				//User Alarm: FSU Speed Limit Function(s) not valid when expected
//
// ========================================================
// USER MESSAGE TRIGGERS:
// ========================================================
//
//User Message Indentifying which FSU files are expected to be enabled (system section)
STR #79775				//User Alarm: FSU Speed Limit Function(s) not valid when expected
STR #79871				// Latching bit
AND #50013				// Latch while alarm above still active
OR-STR
OUT #79871				//User Message: FSU Speed Limit Function(s) File #1,2,or 3 is not enabled
//
// ========================================================
// CELL OPERATION LOGIC:
// ========================================================
// System Ready
STR #80025     	//External Emergency Stop
AND #80026     	//Programming Pendant E-Stop
AND #80027     	//Playback Box E-Stop
OUT #78000     	//Emergency Stop OK
//
// Cycle Start Pulse
STR #20030        //Ext In 1 - Cycle Start PB
AND-NOT #78057    //Cycle Start Anti-Tie Down/Pulse
OUT #78050        //Cycle Start Pulse
//
STR #20030        //Ext In 1 - Sta1 Cycle Start PB
TMR M350,5        //Sta1 Timer (0.5)
OUT #78057        //Sta1 Cycle Start Anti-Tie Down/Pulse
//
// Cycle Start Latch
STR #78050        //Cycle Start Pulse
OR #00010         //Univ In 1 - Cycle Start
AND-NOT #50053    //Teach
AND #50070        //Operating
AND #81320    		//Light Curtain Clear
AND #78000        //E-Stops Clear
STR #81321    		//S1 (Trunnion) A-Side at Robot(s)
STR #81322    		//S1 (Trunnion) B-Side at Robot(s)
OR-STR
AND-STR
AND-NOT #78054    //Joystick Active
OUT #00010        //Univ In 1 - Cycle Start
//
//Cycle Start Latched Light
STR #00010        //Univ In 1 - Sta1 Cycle Start Latched
AND #50070        //Operating
STR #10010        //Univ Out 1
AND #50053        //Teach Mode
OR-STR
OUT #30030        //Ext Out 1 - Sta1 Cycle Latched
//
// ========================================================
// MAPPING OF CONTROL & OUTPUTS TO UNIVERSAL INPUTS:
// ========================================================
// Map Light Curtain Clear to External Input#4001
STR #81320				//Light Curtain Clear
OUT #05010				//Light Curtain Clear Universal In#4001
//
// Map "S1 (Trunnion) A-Side at Robot(s)" to External Input#4002
STR #81321				//S1 (Trunnion) A-Side at Robot(s)
OUT #05011				//A-Side at Robot(s) Universal In#4002
//
// Map "S1 (Trunnion) B-Side at Robot(s)" to External Input#4003
STR #81322				//S1 (Trunnion) B-Side at Robot(s)
OUT #05012				//B-Side at Robot(s) Universal In#4003
//
// Map "S1 (Trunnion) At Side A OR B" to External Input#4004
STR #81323				//S1 (Trunnion) At Side A OR B
OUT #05013				//S1 (Trunnion) At Side A OR B Universal In#4004
//
// Map "S1 (Trunnion) At Side A OR B OR LC Clear" to External Input#4005
STR #81324				//S1 (Trunnion) At Side A OR B OR LC Clear
OUT #05014				//S1 (Trunnion) At Side A OR B OR LC Clear Universal In#4005
//
// Map "S1 (Trunnion) Sweeping (Not At A OR B)" to External Input#4006
STR #81325				//S1 (Trunnion) Sweeping (Not At A OR B)
OUT #05015				//S1 (Trunnion) Sweeping (Not At A OR B) Universal In#4006
//
// Map "S1 StandStill" to External Input#4007
STR #81326				//S1 StandStill
OUT #05016				//S1 StandStill Universal In#4007
//
// Map "S2 StandStill" to External Input#4008
STR #81327				//S2 StandStill
OUT #05017				//S2 StandStill Universal In#4008
//
// Map "S3 StandStill" to External Input#4009
STR #81330				//S3 StandStill
OUT #05020				//S3 StandStill Universal In#4009
//
// Map "S2 Speed Limit (30%)" to External Input#4010
STR #81331				//S2 Speed Limit (30%)
OUT #05021				//S2 Speed Limit (30%) Universal In#4010
//
// Map "S3 Speed Limit (30%)" to External Input#4011
STR #81332				//S3 Speed Limit (30%)
OUT #05022				//S3 Speed Limit (30%) Universal In#4011
//
// Map "S2 (Tooling A) Power On" to External Input#4012
STR #81333				//S2 (Tooling A) Power On
OUT #05023				//S2 (Tooling A) Power On Universal In#4012
//
// Map "S3 (Tooling B) Power On" to External Input#4013
STR #81334				//S3 (Tooling B) Power On
OUT #05024				//S3 (Tooling B) Power On Universal In#4013
//
// ========================================================
// JOYSTICK CONTROLS:
// ========================================================
// Joystick controls - only allow usage if light curtains clear
STR #20040        //Ext In 9 - Joystick Reverse
AND #81320 				//Light Curtain Clear
OUT #00020        //Univ In 9 - Joystick Reverse
//                
STR #20041        //Ext In 10 - Joystick Home
OR #00021					//Ext In 11 - Joystick Home
AND #81320 				//Light Curtain Clear
AND-NOT #12272		//Output 1811 Joystick Home Complete (from Joystick JBI)
OUT #00021        //Ext In 11 - Joystick Home
//
STR #20042        //Ext In 11 - Joystick Forward
AND #81320 				//Light Curtain Clear
OUT #00022        //Ext In 11 - Joystick Forward
//
// Jog Active
STR #20040        //Ext In 9 - Joystick - Reverse
OR #20041         //Ext In 10 - Joystick - Home
OR #20042         //Ext In 11 - Joystick - Forward
OUT #78054        //Joystick Active
//
$ALARM1
9000
9001
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9113
9114
9115
9116
9117
9118
9119
9120
9121
9122 ROBOTS MUST BE CLEAR FOR SWEEP
9123 
9124  
9125 SYS CRITICAL FSU FUNCT DISABLED
9126
9127 
$ALARM2
9128
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$MESSAGE1
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120 AxSpdMon#1-5/AxisRange#1,2 Dbled
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$MESSAGE2
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