Robot RIP

Range: K1 – A/E513 – 520

A513 Boiling valve

A514 Pilot valve

A515 Water valve off

A518 shred valve action

A520 cleaning nozzle

K2 – A/E521——528

K3 – A/E529——536

Variable: F819: used to control the sending of A25 robot water flow is normal

IF NOT MIT_VW_WASS AND ($FLAG[F_O_WASSER] OR OHNE_VW_WAS) AND NOT $FLAG[F_KWY01EIN] THEN without water, with F820 or OHNE_VW_WAS, without F819 water valve start

IF NOT $IN[I_BD01ND] OR (NOT $IN[I_BD02ND] AND $FLAG[F_MIT_RIP2]) OR (NOT $IN[I_BD03ND] AND $FLAG[F_MIT_RIP3]) THEN 没有低压

$OUT[O_R_Med_ein]= FALSE no A25

ELSE

$OUT[O_R_Med_ein]= TRUE A25 with low pressure

ENDIF

IF ($OUT[O_R_PFO] AND $OUT[O_R_SAK]) THEN

WITHOUT_VW_WAS=FALSE

ELSE

WITHOUT_VW_WAS=TRUE

ENDIF

ENDIF

$FLAG[F_O_WASSER] : F820 without water

MIT_VW_WASS: with water control unit

$IN[I_BD01ND]: E516 Controlled low voltage

$IN[I_BD02ND]: E524 Controlled low voltage

$FLAG[F_MIT_RIP2]: F142 with the second RIP

$OUT[O_R_PFO]: A15 original position

$OUT[O_R_SAK]: A16 is on track

* The robot that does not need water does not use F819 but uses F820, and sends A25 when E516 pressure is satisfied

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When using F819, MIT_VW_WASS (water control unit) will be activated to control A513 to turn on the water, or A515 to turn off the water.

IF $OUT[O_R_RK100] AND NOT WASSERSTOE AND NOT WASSER_EIN AND NOT $FLAG[281] AND NOT $FLAG[283] THEN

Boiling water condition 1: A10 robot starts, there is no water flow failure, the water has not started, there is no F281 and F283 (turn off the water F volume)

Or F819 and F820 have both, and the water can be boiled without water failure.

F820 without water control unit

WASSER_EIN: water start

SWITCH WA_ZUSTAND

Case 1 boiling water

;Water ON

$OUT[O_KYP01WA]=FALSE

$OUT[O_KYP01WE]=TRUE

$OUT[O_KYP02WA]=FALSE

$OUT[O_KYP02WE]=TRUE

$OUT[O_KYP03WA]=FALSE

$OUT[O_KYP03WE]=TRUE

WATER_IN=TRUE

;$TIMER_STOP[T_WATER_ON]=FALSE

Case 2 off water

;Water OFF

$OUT[O_KYP01WA]=TRUE

$OUT[O_KYP01WE]=FALSE

$OUT[O_KYP02WA]=TRUE

$OUT[O_KYP02WE]=FALSE

$OUT[O_KYP03WA]=TRUE

$OUT[O_KYP03WE]=FALSE

WATER_IN=FALSE

WASSERSTOE: WATER FAILURE

IF ($IN[I_BV01WMIN] AND NOT $IN[I_BV01WMAX]) OR ($IN[I_BV02WMIN] AND NOT $IN[I_BV02WMAX]) OR ($IN[I_BV03WMIN] AND NOT $IN[I_BV03WMAX]) THEN

;Evaluation error maximum flow in which RIP

W_MAX_RIP1=$IN[I_BV01WMIN] AND NOT $IN[I_BV01WMAX]

W_MAX_RIP2=$IN[I_BV02WMIN] AND NOT $IN[I_BV02WMAX]

W_MAX_RIP3=$IN[I_BV03WMIN] AND NOT $IN[I_BV03WMAX]

$TIMER_STOP[T_WATER_STO]=FALSE

Water pressure detection cannot be done without high pressure water circuit.

IF ($TIMER[T_WASSER_STO]>WA_STOER_Z) THEN water failure timeout T25>4000

WASSERSTOE=TRUE

$FLAG[F_T_WA_WSTOE]=TRUE water failure

$TIMER_STOP[T_WASSER_STO]=TRUE

$OUT[O_KYP01WA]=TRUE turn off water

$OUT[O_KYP01WE]=FALSE

$OUT[O_KYP02WA]=TRUE

$OUT[O_KYP02WE]=FALSE

$OUT[O_KYP03WA]=TRUE

$OUT[O_KYP03WE]=FALSE

Editor: Huang Fei

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