// WORLD CELL:  AW-200
// PART #:      176436-1
// SYS DIAGRAM #:  171680-1
//
// DATE: 4/21/16
// SW VERSION: DX200
// CREATED BY: Mike Katchmar (SSG)
//
// The panel door is operated by a seperate controller.  The door is
// lowered to load and raised to allow the robot to process parts.
//
//
// ATTENTION PROJECT ENGINEER!
// ** You must make accomodations in the FSU, CIO, and alarm logic if additional
//    light curtain options are integrated.
//
// Base CIO File
//
// REV.0 Initial Release for DX200 - before first build
// REV.1 Fixed message numbering and addresses to trigger FSU alarm, also fixed
//       usage of Robot Range Limit addresses in some door control logic / latching.
// 


// E-Stops OK
STR #80025
AND #80026
AND #80027
OUT #78000        //E-Stop OK


// //////////////////////////////////////////////////////////
//    STATION 1
// //////////////////////////////////////////////////////////

// Cycle Start
STR #20030        //Ext In 1 - Cycle Start
AND-NOT #30050    //Ext Out 17 - Lower Door
AND-NOT #30051    //Ext Out 18 - Raise Door
AND-NOT #78057    //Cycle Start Anti-Tie Down
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
OUT #78050        //Cycle Start Pulse

// Cycle Start Anti-Tie Down
STR #20030        //Ext In 1 - Cycle Start
TMR M242,5        //Start 0.5 Second Timer
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
OUT #78057        //Cycle Start Anti-Tie Down

// Is Robot Safe for Cycle Start Station 1?  
//   (Replaces Zone Ring logic)
STR #52450        //FSU Generated Safe Zone#1 - R1 Play Safe (STA2 Open) (SOUT#1953)
OR #52451         //FSU Generated Safe Zone#2 - R1 Play Safe (STA1 Open) (SOUT#1954)
OR #52452         //FSU Generated Safe Zone#3 - R1 Play Safe (STA1&2 Open) (SOUT#1955)
OR #78510         //R1 Safe or Working STA2 & STA1 Latched
AND-NOT #10030    //Int Out 17 - Lower Door
OUT #78510        //R1 Safe or Working STA2 & STA1 Latched

// Cycle Start Latch ST1
STR #78050        //CS Pulse
AND #78101        //Door is Now Lowered
STR #78510        //R1 Safe or Working STA2 & STA1 Latched
AND #00010        //CS Latch
AND-NOT #10030    //Int Out 17 - Lower Door
AND-NOT #78050    //CS Pulse
OR-STR
AND #78000        //E-Stop OK
AND #50070        //Operating
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
OUT #00010        //Int In 1 - Cycle Start Latch

// Cycle Latched ST1 Output
STR #10010        //Univ Out 1 - (Review Lamp Test Feature IF Panel)
OR #60010         //Lamp Test IF Panel
AND #50053        //Teach Mode
STR #00010        //Univ In 1 - Cycle Start Latched
OR-STR
OUT #30030        //Ext Out 1 - Cycle Start Latch LT


//Status Conditions
// /////////////////////////////
STR #20032        //Ext In 3 - Door Raised
AND-NOT #20033    //Ext In 4 - Door Lowered
OUT #78100        //Door is Now Raised

STR #20033        //Ext In 4 - Door Lowered
AND-NOT #20032    //Ext In 3 - Door Raised
OUT #78101        //Door is Now Lowered

STR-NOT #20032    //Ext In 3 - Door Raised
AND-NOT #20033    //Ext In 4 - Door Lowered
STR #30051        //Ext Out 17 - Raise Door
OR #30050         //Ext Out 18 - Lower Door
AND-STR
OUT #78102        //S1 Door is Moving

STR #20032        //Ext In 3 - Door Raised
AND #20033        //Ext In 4 - Door Lowered
OUT #78103        //Door Switch Fault

STR #78750        //Alarm 41 - currently unused
OR #78751         //Alarm 42
OR #78752         //Alarm 43
OR #78753         //Alarm 44
OR #78754         //Alarm 45
OR #78755         //Alarm 46
AND #50013        //User Alarm Occur
OUT #78106        //Alarm Occured

STR-NOT #78000    //E-Stop OK
OR #78107         //E-Stop During Movement
OR-NOT #81327     //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
AND #78102        //S1 Door Is Moving
OUT #78107        //E-Stop During Movement


//  Operation
// /////////////////////////////
STR #78050        //Cycle Start Pulse
AND-NOT #78107    //E-Stop During Movement
AND-NOT #78103    //Door Switch Fault
PLS #78110        //Door Toggle Pulse

STR #78110        //Door Toggle Pulse
AND-NOT #78111    //Door Toggle Out
STR-NOT #78110    //Door Toggle Pulse
AND #78111        //Door Toggle Out
OR-STR
OR #78101         //Door Is Now Lowered
OR #10030         //Univ Out 17 - Robot Lower Door At End Of Cycle
AND-NOT #78100    //Door Is Raised
OUT #78111        //Door Toggle Out (0=Lower 1=Raise)

//   Lower Door Logic
STR #78050        //Cycle Start Pulse
AND-NOT #12270    //Univ Out 1809 - Station1 Active
AND-NOT #78111    //Door Toggle Out
OR #10030         //Univ Out 17 - Robot Lower Door
STR #52450        //FSU Generated Safe Zone#1 - R1 Play Safe (STA2 Open) (SOUT#1953)
STR #52452        //FSU Generated Safe Zone#3 - R1 Play Safe (STA1&2 Open) (SOUT#1955)
OR-STR
OR #52453         //FSU Generated Safe Zone#4 - R1 Play Safe (STA1&2 Closed) (SOUT#1956)
OR-NOT #50070     //Operating
AND-STR
AND-NOT #10031    //Univ Out 18 - Robot Raise Door
AND-NOT #78101    //Door Is Now Lowered
OUT #78120        //Door Lower Command

STR #78120        //Door Lower Command
OR #78121         //Door Lower Seal
AND-NOT #78130    //Raise Door Command
AND-NOT #78101    //Door Is Now Lowered
AND #78000        //E-Stop OK
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
AND-NOT #78106    //Alarm Occured
AND-NOT #20035    //Ext In 6 - S1 Barrier Inverter Fault
OUT #78121        //Door Lower Seal

//   Raise Door Logic
STR #78050        //Cycle Start Pulse
OR #30030         //Ext Out #1 - CS Latched
AND #78111        //Door Toggle Out
OR #10031         //Univ Out 18 - Robot Raise Door
AND-NOT #10030    //Univ Out 17 - Robot Lower Door
STR #52451        //FSU Generated Safe Zone#2 - R1 Play Safe (STA1 Open) (SOUT#1954)
OR #52452         //FSU Generated Safe Zone#3 - R1 Play Safe (STA1&2 Open) (SOUT#1955)
OR-NOT #50070     //Operating
AND-STR
AND-NOT #78100    //Door Is Now Raised
OUT #78130        //Door Raise Command

STR #78130        //Door Raise Command
OR #78131         //Door Raise Seal
AND-NOT #78120    //Lower Door Command
AND-NOT #78100    //Door Is Now Raised
AND #78000        //E-Stop OK
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
AND-NOT #78106    //Alarm Occured
AND-NOT #20035    //Ext In 6 - S1 Barrier Inverter Fault
OUT #78131        //Door Raise Seal


//  Door Outputs
STR #78131        //Door Raise Seal
AND-NOT #78121    //Door Lower Seal
AND-NOT #78143    //Brake Delay Running        NEW LOGIC
AND #20034        //Ext In 5 - Brake Release
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
OUT #30051        //Ext Out 18 - Raise Door

STR #78121        //Door Lower Seal
AND-NOT #78131    //Door Raise Seal
AND-NOT #78143    //Brake Delay Running        NEW LOGIC
AND #20034        //Ext In 5 - Brake Release
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
OUT #30050        //Ext Out 17 - Lower Door


// Brake must be released before Barrier Control can drive
// Brake must remain released for 0.4 sec after sensor made for
// controlled deceleration.

STR #78131        //Door Raise Seal
OR #78121         //Door Lower Seal
PLF #78140        //Activate Extra Brake Release Timer at End of Cycle

//NEW RUNG FOLLOWS:
@PLF #78140
STR #78131        //Door Raise Seal
OR #78121         //Door Lower Seal
PLS #78144        //Activate Extra Brake Release Timer at Start of Cycle

STR #78140        //Activate Extra Brake Release Timer
OR #78144         //Activate Extra Brake Release Timer at Start of Cycle       NEW LOGIC
STR #78141        //Brake Timer Seal
AND-NOT #78142    //Brake Delay Complete
OR-STR
//AND #50070      //Operating       REMOVED TO ENSURE OPRATION IN TEACH MODE
OUT #78141        //Brake Timer Seal

STR #78141        //Brake Timer Seal
TMR M087,3        //Delay 0.3 seconds
OUT #78142        //Brake Delay Complete

STR-NOT #78142    //Brake Delay Complete
AND #78141        //Brake Timer Seal         WAS #78142
OUT #78143        //Brake Delay Running


STR #78131        //Door Raise Seal
AND-NOT #78121    //Door Lower Seal
STR #78121        //Door Lower Seal
AND-NOT #78131    //Door Raise Seal
STR #78143        //Brake Delay Running
STR #10032        //Univ Out 19 - Brake Release
AND #50053        //Teach
OR-STR
OR-STR
OR-STR
AND #81327        //MSOut08 - Sta1 - Barrier Door Light Curtain Clear
OUT #30052        //Ext Out 19 - Brake Release

// Fault Reset Pulse
STR #20035        //Ext In 6 - Barrier Fault Occur
AND #50013        //User Alarm
PLF #78127        //Barrier Fault Anti-Tie Down

// Barrier Fault
STR #78127
OR #30053         //Ext Out 20 - Barrier Fault Reset
AND #20035        //Ext In 6 - Barrier Fault Occur
OR #10033         //Univ Out 20 - Barrier Fault Reset
OUT #30053        //Ext Out 20 - Barrier Fault Reset


// //////////////////////////////////////////////////////////
//    STATION 2
// //////////////////////////////////////////////////////////

// Cycle Start
STR #20050        //Ext In 17 - Cycle Start
AND-NOT #30054    //Ext Out 21 - Lower Door
AND-NOT #30055    //Ext Out 22 - Raise Door
AND-NOT #78067    //Cycle Start Anti-Tie Down
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
OUT #78060        //Cycle Start Pulse

// Cycle Start Anti-Tie Down
STR #20050        //Ext In 17 - Cycle Start
TMR M243,5        //Start 0.5 Second Timer
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
OUT #78067        //Cycle Start Anti-Tie Down

// Is Robot Safe for Cycle Start Station 2?  
//   (Replaces Zone Ring logic)
STR #52450        //FSU Generated Safe Zone#1 - R1 Play Safe (STA2 Open) (SOUT#1953)
OR #52451         //FSU Generated Safe Zone#2 - R1 Play Safe (STA1 Open) (SOUT#1954)
OR #52452         //FSU Generated Safe Zone#3 - R1 Play Safe (STA1&2 Open) (SOUT#1955)
OR #78511         //R1 Safe or Working STA1 & STA2 Latched
AND-NOT #10034    //Int Out 21 - Lower Door
OUT #78511        //R1 Safe or Working STA1 & STA2 Latched

// Cycle Start Latch ST2
STR #78060        //CS Pulse
AND #78151        //Door is Now Lowered
STR #78511        //R1 Safe or Working STA1 & STA2 Latched
AND #00030        //CS Latch
AND-NOT #10034    //Int Out 21 - Lower Door
AND-NOT #78060    //CS Pulse
OR-STR
AND #78000        //E-Stop OK
AND #50070        //Operating
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
OUT #00030        //Int In 17 - Cycle Start Latch

// Cycle Latched ST2 Output
STR #10011        //Univ Out 2 - (Review Lamp Test Feature IF Panel)
OR #60010         //Lamp Test IF Panel
AND #50053        //Teach Mode
STR #00030        //Univ In 17 - Cycle Start Latched
OR-STR
OUT #30031        //Ext Out 2 - Cycle Start Latch LT


//Status Conditions

STR #20052        //Ext In 19 - Door Raised
AND-NOT #20053    //Ext In 20 - Door Lowered
OUT #78150        //Door is Now Raised

STR #20053        //Ext In 20 - Door Lowered
AND-NOT #20052    //Ext In 19 - Door Raised
OUT #78151        //Door is Now Lowered

STR-NOT #20052    //Ext In 19 - Door Raised
AND-NOT #20053    //Ext In 20 - Door Lowered
STR #30055        //Ext Out 22 - Raise Door
OR #30054         //Ext Out 21 - Lower Door
AND-STR
OUT #78152        //S2 Door is Moving

STR #20052        //Ext In 19 - Door Raised
AND #20053        //Ext In 20 - Door Lowered
OUT #78153        //Door Switch Fault



STR #78756        //Alarm 47 - currently unused
OR #78757         //Alarm 48
OR #78760         //Alarm 49
OR #78761         //Alarm 50
OR #78762         //Alarm 51
OR #78763         //Alarm 52
AND #50013        //User Alarm Occur
OUT #78156        //Alarm Occured

STR-NOT #78000    //E-Stop OK
OR #78157         //E-Stop During Movement
OR-NOT #81330     //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
AND #78152        //S2 Door Is Moving
OUT #78157        //E-Stop During Movement


//  Operation

STR #78060        //Cycle Start Pulse
AND-NOT #78157    //E-Stop During Movement
AND-NOT #78153    //Door Switch Fault
PLS #78160        //Door Toggle Pulse

STR #78160        //Door Toggle Pulse
AND-NOT #78161    //Door Toggle Out
STR-NOT #78160    //Door Toggle Pulse
AND #78161        //Door Toggle Out
OR-STR
OR #78151         //Door Is Now Lowered
OR #10034         //Univ Out 21 - Robot Lower Door At End Of Cycle
AND-NOT #78150    //Door Is Raised
OUT #78161        //Door Toggle Out (0=Lower 1=Raise)

//   Lower Door Logic

STR #78060        //Cycle Start Pulse
AND-NOT #12271    //Univ Out 1810 - Station2 Active
AND-NOT #78161    //Door Toggle Out
OR #10034         //Univ Out 21 - Robot Lower Door
STR #52451        //FSU Generated Safe Zone#2 - R1 Play Safe (STA1 Open) (SOUT#1954)
STR #52452        //FSU Generated Safe Zone#3 - R1 Play Safe (STA1&2 Open) (SOUT#1955)
OR-STR
OR #52453         //FSU Generated Safe Zone#4 - R1 Play Safe (STA1&2 Closed) (SOUT#1956)
OR-NOT #50070     //Operating
AND-STR
AND-NOT #10035    //Univ Out 22 - Robot Raise Door
AND-NOT #78151    //Door Is Now Lowered
OUT #78170        //Door Lower Command

STR #78170        //Door Lower Command
OR #78171         //Door Lower Seal
AND-NOT #78180    //Raise Door Command
AND-NOT #78151    //Door Is Now Lowered
AND #78000        //E-Stop OK
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
AND-NOT #78156    //Alarm Occured
AND-NOT #20055    //S2 Barrier Inverter Fault
OUT #78171        //Door Lower Seal

//   Raise Door Logic

STR #78060        //Cycle Start Pulse
OR #30031         //Ext Out #2 - CS Latched
AND #78161        //Door Toggle Out
OR #10035         //Univ Out 22 - Robot Raise Door
AND-NOT #10034    //Univ Out 21 - Robot Lower Door
STR #52450        //FSU Generated Safe Zone#1 - R1 Play Safe (STA2 Open) (SOUT#1953)
OR #52452         //FSU Generated Safe Zone#3 - R1 Play Safe (STA1&2 Open) (SOUT#1955)
OR-NOT #50070     //Operating
AND-STR
AND-NOT #78150    //Door Is Now Raised
OUT #78180        //Door Raise Command

STR #78180        //Door Raise Command
OR #78181         //Door Raise Seal
AND-NOT #78170    //Lower Door Command
AND-NOT #78150    //Door Is Now Raised
AND #78000        //E-Stop OK
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
AND-NOT #78156    //Alarm Occured
AND-NOT #20055    //S2 Barrier Inverter Fault
OUT #78181        //Door Raise Seal


//  Door Outputs

STR #78181        //Door Raise Seal
AND-NOT #78171    //Door Lower Seal
AND-NOT #78193    //Brake Delay Running      NEW LOGIC
AND #20054        //Ext In 21 - Brake Release
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
OUT #30055        //Ext Out 22 - Raise Door

STR #78171        //Door Lower Seal
AND-NOT #78181    //Door Raise Seal
AND-NOT #78193    //Brake Delay Running      NEW LOGIC
AND #20054        //Ext In 21 - Brake Release
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
OUT #30054        //Ext Out 21 - Lower Door

// Brake must be released before Barrier Control can drive
// Brake must remain released for 0.4 sec after sensor made for
// controlled deceleration.

STR #78171        //Door Lower Seal
OR #78181         //Door Raise Seal
PLF #78190        //Activate Extra Brake Release Timer

//NEW RUNG FOLLOWS:
@PLF #78190
STR #78171        //Door Raise Seal
OR #78181         //Door Lower Seal
PLS #78194        //Activate Extra Brake Release Timer at Start of Cycle

STR #78190        //Activate Extra Brake Release Timer
OR #78194         //Activate Extra Brake Release Timer at Start of Cycle     NEW LOGIC
STR #78191        //Brake Timer Seal
AND-NOT #78192    //Brake Delay Complete
OR-STR
//AND #50070      //Operating       REMOVED TO ENSURE OPERATION IN TEACH MODE
OUT #78191        //Brake Timer Seal

STR #78191        //Brake Timer Seal
TMR M097,3        //Delay 0.3 seconds
OUT #78192        //Brake Delay Complete

STR-NOT #78192    //Brake Delay Complete
AND #78191        //Brake Timer Seal      WAS #78192
OUT #78193        //Brake Delay Running


STR #78181        //Door Raise Seal
AND-NOT #78171    //Door Lower Seal
STR #78171        //Door Lower Seal
AND-NOT #78181    //Door Raise Seal
STR #78193        //Brake Delay Running
STR #10036        //Univ Out 23 - Brake Release
AND #50053        //Teach
OR-STR
OR-STR
OR-STR
AND #81330        //MSOut09 - Sta2 - Barrier Door Light Curtain Clear
OUT #30056        //Ext Out 23 - Brake Release


// Fault Reset Pulse
STR #20055        //Ext In 22 - Barrier Fault Occur
AND #50013        //User Alarm
PLF #78177        //Barrier Fault Anti-Tie Down

// Barrier Fault
STR #78177        
OR #30057         //Ext Out 24 - Barrier Fault Reset
AND #20055        //Ext In 22 - Barrier Fault Occur
OR #10037         //Univ Out 24 - S2 Fault Reset
OUT #30057        //Ext Out 24 - Barrier Fault Reset


// =======================================
//    CELL ALARMS
// =======================================

// Alarm 41 - ST1 Barrier Fault Occured
STR #20035        //Ext In 6 - Barrier Fault Occur
OUT #79750        //User Alarm 41 - ST1 Barrier Fault Occured

// Alarm 42 - ST1 Door Overtime
STR #30050        //Ext Out 17 - Lower Door
OR #30051         //Ext Out 18 - Raise Door
AND #78102        //S1 Door Is Moving
TMR M080,40       //Start 4 Second Timer
OUT #79751        //User Alarm 42 - ST1 Door Overtime Flt

// Alarm 43 - ST1 Door Raised Not ON FAULT
STR #30051        //Ext Out 18 - Raise Door
AND-NOT #20032    //Ext In 3 - Door Raised
TMR M081,50       //5 Second Timer
OUT #79752        //User Alarm 43 - ST1 Door Raised Not On

// Alarm 44 - ST1 Door Raised Not Off FAULT
STR #30050        //Ext Out 17 - Lower Door
AND #20032        //Ext In 3 - Door Raised
TMR M082,50       //5 Second Timer
OUT #79753        //User Alarm 44 - ST1 Door Raised Not Off

// Alarm 45 - ST1 Door Lowered Not On FAULT
STR #30050        //Ext Out 17 - Lower Door
AND-NOT #20033    //Ext In 4 - Door Lowered
TMR M083,50       //5 Second Timer
OUT #79754        //User Alarm 45 - ST1 Door Lowered Not On

// Alarm 46 - ST1 Door Lowered Not Off FAULT
STR #30051        //Ext Out 18 - Raise Door
AND #20033        //Ext In 4 - Door Lowered
TMR M084,50       //5 Second Timer
OUT #79755        //User Alarm 46 - ST1 Door Lowered Not Off



// Alarm 47 - ST2 Barrier Fault Occured
STR #20055        //Ext In 22 - Barrier Fault Occur
OUT #79756        //User Alarm 41 - ST2 Barrier Fault Occured

// Alarm 48 - ST2 Door Overtime
STR #30054        //Ext Out 21 - Lower Door
OR #30055         //Ext Out 22 - Raise Door
AND #78152        //S2 Door Is Moving
TMR M090,40       //Start 4 Second Timer
OUT #79757        //User Alarm 48 - ST2 Door Overtime Flt

// Alarm 49 - ST2 Door Raised Not ON FAULT
STR #30055        //Ext Out 22 - Raise Door
AND-NOT #20052    //Ext In 19 - Door Raised
TMR M091,50       //5 Second Timer
OUT #79760        //User Alarm 49 - ST2 Door Raised Not On

// Alarm 50 - ST2 Door Raised Not Off FAULT
STR #30054        //Ext Out 21 - Lower Door
AND #20052        //Ext In 19 - Door Raised
TMR M092,50       //5 Second Timer
OUT #79761        //User Alarm 50 - ST2 Door Raised Not Off

// Alarm 51 - ST2 Door Lowered Not On FAULT
STR #30054        //Ext Out 21 - Lower Door
AND-NOT #20053    //Ext In 20 - Door Lowered
TMR M093,50       //5 Second Timer
OUT #79762        //User Alarm 51 - ST2 Door Lowered Not On

// Alarm 52 - ST2 Door Lowered Not Off FAULT
STR #30055        //Ext Out 22 - Raise Door
AND #20053        //Ext In 20 - Door Lowered
TMR M094,50       //5 Second Timer
OUT #79763        //User Alarm 52 - ST2 Door Lowered Not Off



// ========================================================
// FSU - USER ALARM TRIGGERS
// ========================================================
//
STR #81322              //MSOut3 - Play Mode Selected (reported by safety logic)
STR #81320              //MSOut1 - Sta1 Barrier Door Closed
AND-NOT #81321          //MSOut2 - Sta2 Barrier Door Closed
AND-NOT #52090          //Robot Range Limit File #1 (R1 - Station 1 Allowed)
STR-NOT #81320          //MSOut1 - Sta1 Barrier Door Closed
AND #81321              //MSOut2 - Sta2 Barrier Door Closed
AND-NOT #52091          //Robot Range Limit File #2 (R1 - Station 2 Allowed)
STR-NOT #81320          //MSOut1 - Sta1 Barrier Door Closed
AND-NOT #81321          //MSOut2 - Sta2 Barrier Door Closed
AND-NOT #52092          //Robot Range Limit File #3 (R1 - Rear Zone Allowed)
STR #81320              //MSOut1 - Sta1 Barrier Door Closed
AND #81321              //MSOut2 - Sta2 Barrier Door Closed
AND-NOT #52093          //Robot Range Limit File #4 (R1 - Full Zone Allowed)
STR-NOT #52094          //Robot Range Limit File #5 (R1 - Stat1 Top of Barrier Block)
STR-NOT #52095          //Robot Range Limit File #6 (R1 - Stat2 Top of Barrier Block)
OR-STR
OR-STR
OR-STR
OR-STR
OR-STR
AND-STR
OUT #78071              //User Alarm: FSU Axis Range Limit Function(s) not valid when expected
//
STR-NOT #81322          //MSOut3 - Play Mode Selected (reported by safety logic)
AND-NOT #52096          //FSU#1 Robot Range Limit File #7 (R1 - Full Cell allowed) "Valid"
OUT #78072              //User Alarm: FSU Range Limit Function(s) not valid when expected
//
STR #78071              //User Alarm: FSU Axis Range Limit Function(s) not valid when expected
OR #78072               //User Alarm: FSU Range Limit Function(s) not valid when expected
TMR M340,1
OUT #79771              //User Alarm: FSU Speed Limit Function(s) not valid when expected


// ========================================================
// FSU - USER MESSAGE TRIGGERS
// ========================================================
//
//User Message Indentifying which FSU files are expected to be enabled
STR #78071              //User Alarm: FSU Axis Range Limit Function(s) not valid when expected
STR #79861              //Latching bit
AND #50013              //Latch while alarm above still active
OR-STR
OUT #79861              //User Message: ROBOT RANGE FILE 1-6 DISABLED
//
//User Message Indentifying which FSU files are expected to be enabled
STR #78072              //User Alarm: FSU Range Limit Function(s) not valid when expected
STR #79862              //Latching bit
AND #50013              //Latch while alarm above still active
OR-STR
OUT #79862              //User Message: ROBOT RANGE FILE #7 DISABLED


$ALARM1
9000
9001
9002
9003
9004
9005
9006
9007
9008
9009
9010
9011
9012
9013
9014
9015
9016
9017
9018
9019
9020
9021
9022
9023
9024
9025
9026
9027
9028
9029
9030
9031
9032
9033
9034
9035
9036
9037
9038
9039
9040
9041
9042
9043
9044
9045
9046
9047
9048
9049
9050
9051
9052
9053
9054
9055
9056
9057
9058
9059
9060
9061
9062
9063
9064
9065
9066
9067
9068
9069
9070
9071
9072
9073
9074
9075
9076
9077
9078
9079
9080
9081
9082
9083
9084
9085
9086
9087
9088
9089
9090
9091
9092
9093
9094
9095
9096
9097
9098
9099
9100
9101
9102
9103
9104 ST1 Barrier Fault Occured
9105 ST1 Door Overtime Fault
9106 ST1 Door Raised Not ON FAULT
9107 ST1 Door Raised Not OFF FAULT
9108 ST1 Door Lowered Not ON FAULT
9109 ST1 Door Lowered Not OFF FAULT
9110 ST2 Barrier Fault Occured
9111 ST2 Door Overtime Fault
9112 ST2 Door Raised Not ON FAULT
9113 ST2 Door Raised Not OFF FAULT
9114 ST2 Door Lowered Not ON FAULT
9115 ST2 Door Lowered Not OFF FAULT
9116
9117
9118
9119
9120
9121 SYS CRITICAL FSU FUNCT DISABLED
9122
9123
9124 
9125
9126
9127
$ALARM2
9128
9129
9130
9131
9132
9133
9134
9135
9136
9137
9138
9139
9140
9141
9142
9143
9144
9145
9146
9147
9148
9149
9150
9151
9152
9153
9154
9155
9156
9157
9158
9159
9160
9161
9162
9163
9164
9165
9166
9167
9168
9169
9170
9171
9172
9173
9174
9175
9176
9177
9178
9179
9180
9181
9182
9183
9184
9185
9186
9187
9188
9189
9190
9191
9192
9193
9194
9195
9196
9197
9198
9199
9200
9201
9202
9203
9204
9205
9206
9207
9208
9209
9210
9211
9212
9213
9214
9215
9216
9217
9218
9219
9220
9221
9222
9223
9224
9225
9226
9227
9228
9229
9230
9231
9232
9233
9234
9235
9236
9237
9238
9239
9240
9241
9242
9243
9244
9245
9246
9247
9248
9249
9250
9251
9252
9253
9254
9255
$MESSAGE1
0001 
0002 
0003 
0004 
0005 
0006 
0007 
0008 
0009 
0010 
0011 
0012 
0013 
0014 
0015 
0016 
0017 
0018 
0019 
0020 
0021 
0022 
0023 
0024 
0025 
0026 
0027 
0028 
0029 
0030 
0031 
0032 
0033 
0034 
0035 
0036 
0037 
0038 
0039 
0040 
0041 
0042 
0043 
0044 
0045 
0046 
0047 
0048 
0049 
0050 
0051 
0052 
0053 
0054 
0055 
0056 
0057 
0058 
0059 
0060 
0061 
0062 
0063 
0064 
0065 
0066 
0067 
0068 
0069 
0070 
0071 
0072 
0073 
0074 
0075 
0076 
0077 
0078 
0079 
0080 
0081 
0082 
0083 
0084 
0085 
0086 
0087 
0088 
0089 
0090 
0091 
0092 
0093 
0094 
0095 
0096 
0097 
0098 
0099 
0100 
0101 
0102 
0103 
0104 
0105 
0106 ROBOT RANGE FILE 1-6 DISABLED
0107 ROBOT RANGE FILE #7 DISABLED
0108 
0109 
0110 
0111 
0112 
0113 
0114 
0115 
0116 
0117 
0118 
0119 
0120 
0121 
0122 
0123 
0124 
0125 
0126 
0127 
0128 
$MESSAGE2
0129 
0130 
0131 
0132 
0133 
0134 
0135 
0136 
0137 
0138 
0139 
0140 
0141 
0142 
0143 
0144 
0145 
0146 
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0150 
0151 
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0155 
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0164 
0165 
0166 
0167 
0168 
0169 
0170 
0171 
0172 
0173 
0174 
0175 
0176 
0177 
0178 
0179 
0180 
0181 
0182 
0183 
0184 
0185 
0186 
0187 
0188 
0189 
0190 
0191 
0192 
0193 
0194 
0195 
0196 
0197 
0198 
0199 
0200 
0201 
0202 
0203 
0204 
0205 
0206 
0207 
0208 
0209 
0210 
0211 
0212 
0213 
0214 
0215 
0216 
0217 
0218 
0219 
0220 
0221 
0222 
0223 
0224 
0225 
0226 
0227 
0228 
0229 
0230 
0231 
0232 
0233 
0234 
0235 
0236 
0237 
0238 
0239 
0240 
0241 
0242 
0243 
0244 
0245 
0246 
0247 
0248 
0249 
0250 
0251 
0252 
0253 
0254 
0255 
0256 
