2nd Robot in Manual Operation Mode

LastUser.set

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <ProjectSettings xmlns="http://br-automation.co.at/AS/ProjectSettings">
   <ConfigurationManager ActiveConfigurationName="Config2" />
   <Print Footer="%cPage: %p" Header="%lProject: %n%c%x" />

Logical/Axises/GlobalAxis.var

@@ -5,9 +5,9 @@ VAR
 	gToolalarms : typAlarm; (*Werkzeugalarme*)
 	gCmdTightenBelt1Rob1 : BOOL; (*Spannen Band 1 Roboter 1*)
 	gCmdTightenBelt2Rob1 : BOOL; (*Spannen Band 2 Roboter 1*)
-	gCmdTightenBelt1Rob2 : BOOL; (*Spannen Band 1 Roboter 1*)
+	gCmdTightenBelt1Rob2 : BOOL; (*Spannen Band 1 Roboter 2*)
 	gCmdTightenBelt2Rob2 : BOOL; (*Spannen Band 2 Roboter 2*)
-	gCmdHoldDoorClosedRob1 : BOOL; (*Zuhaltung Roboter 1*)
+	gCmdHoldDoorClosedRob1 : BOOL; (*Zuhaltung Roboter 2*)
 	gCmdHoldDoorClosedRob2 : BOOL; (*Zuhaltung Roboter 1*)
 END_VAR
 (*//-----------------------------------------------------------------------------------------------------*)

Logical/Axises/GrindCtrl/GrindCtrl.st

@@ -320,7 +320,7 @@ PROGRAM _CYCLIC
   gbEnableNextStepBtn := bTransitionCondition AND (lMachine.enMode = enMACH_MANUAL);
   
   //Set Output Commands
-  lbHoldDoorClosed := (enStepAuto <> enAutoStep_WAIT_START);
+  lbHoldDoorClosed := (enStepAuto <> enAutoStep_WAIT_START) AND (lMachine.enMode = enMACH_AUTOMATIC);
   lbFinished := (enTool1State = enTool_TobeUnload);
 
   

Logical/Axises/GrindCtrl/GrindCtrlInit.st

@@ -11,7 +11,7 @@ PROGRAM _INIT
   lbTightenBelt1 ACCESS ADR (gCmdTightenBelt1Rob1);
   lbTightenBelt2 ACCESS ADR (gCmdTightenBelt2Rob1);
   lbIncreaseCounter ACCESS ADR (gbRob1CountUp);
-  lbHoldDoorClosed ACCESS ADR (gbCmdCloseDoorRobot1);
+  lbHoldDoorClosed ACCESS ADR (gCmdHoldDoorClosedRob1);
   lbDoorIsClosedHolded ACCESS  ADR (gbOuHoldDoorClosedRob1);
   lbFinished ACCESS ADR (gbFinihedRobot1);
   lbKeyReleasePart ACCESS ADR (gbInKeyReleasePart);

Logical/Axises/GrindCtrl2/GrindCtrl.st

@@ -13,10 +13,16 @@ PROGRAM _CYCLIC
     lMachine.bRequestHoming := FALSE;
   END_IF
   
+  
+  //FixME SafetySignals to use
   TON_SafetyOk.IN := lbSafetyOk;
   TON_SafetyOk.PT := t#500ms;
   TON_SafetyOk ();
-  
+
+  TON_SafetyOkDoorzone.IN := lbSafetyOkDoorZone;
+  TON_SafetyOkDoorzone.PT := t#1500ms;
+  TON_SafetyOkDoorzone ();
+    
   bSafetyOk := TON_SafetyOk.Q;
   IF NOT bSafetyOk THEN
     lABBRobot.Out.bSwitchMotorOn  := FALSE;
@@ -24,15 +30,25 @@ PROGRAM _CYCLIC
      
   //Correct Tool on Robot
   bToolOk := ((lenActivePrg = enROB_PRG_FKA) AND (lABBRobot.In.usToolCode = TOOLID_FKA)) OR
-             ((lenActivePrg = enROB_PRG_FFG) AND (lABBRobot.In.usToolCode = TOOLID_FFG));
+             ((lenActivePrg = enROB_PRG_FFG) AND (lABBRobot.In.usToolCode = TOOLID_FFG)) OR
-  
+             ((lenActivePrg = enROB_PRG_LUL) AND (lABBRobot.In.usToolCode = TOOLID_LUL)) OR
+             ((lenActivePrg = enROB_PRG_LUR) AND (lABBRobot.In.usToolCode = TOOLID_LUR)) OR
+             ((lenActivePrg = enROB_PRG_BAL) AND (lABBRobot.In.usToolCode = TOOLID_BAL)) OR
+             ((lenActivePrg = enROB_PRG_BAR) AND (lABBRobot.In.usToolCode = TOOLID_BAR)) OR
+             ((lenActivePrg = enROB_PRG_SPL) AND (lABBRobot.In.usToolCode = TOOLID_SPL)) OR
+             ((lenActivePrg = enROB_PRG_SPR) AND (lABBRobot.In.usToolCode = TOOLID_SPR)) OR
+             ((lenActivePrg = enROB_PRG_BEL) AND (lABBRobot.In.usToolCode = TOOLID_BEL)) OR
+             ((lenActivePrg = enROB_PRG_MAL) AND (lABBRobot.In.usToolCode = TOOLID_MAL)) OR
+             ((lenActivePrg = enROB_PRG_FoKo) AND (lABBRobot.In.usToolCode = TOOLID_FoKo));
+  bToolOk := (lenActivePrg = enROB_PRG_CBF);
   //Move Conditions  
-  MoveConditions.bEnableNegSlay1 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen;
+  MoveConditions.bEnableNegSlay1 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen AND NOT lbToolslay1IsOut;
-  MoveConditions.bEnablePosSlay1 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen;
+  MoveConditions.bEnablePosSlay1 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen AND NOT lbToolslay1IsIn;
-  MoveConditions.bEnableNegSlay2 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen;
+  MoveConditions.bEnableNegSlay2 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen AND NOT lbToolslay2IsOut;
-  MoveConditions.bEnablePosSlay2 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen;
+  MoveConditions.bEnablePosSlay2 := (lMachine.bSetupMode OR (lMachine.enMode = enMACH_JOG)) AND lbGateIsOpen AND NOT lbToolslay2IsIn;
   
   //Safety Door
+  MoveConditions.bEnableOpenGate := TRUE;
   MoveConditions.bEnableCloseGate := (lbToolslay1IsIn OR lbToolslay1IsOut) AND
                                      (lbToolslay2IsIn OR lbToolslay2IsOut);
   
@@ -64,6 +80,25 @@ PROGRAM _CYCLIC
     ManualCommands.bStartGrinder1 := FALSE;
   END_IF
   
+  //Reset Steps and Machine Commands
+  IF (lMachine.enMode <> enMACH_HOMEPOS) THEN
+    enStepHoming := enHomingStep_INIT;
+  END_IF
+  
+  IF (lMachine.enMode <> enMACH_AUTOMATIC) THEN
+    enStepAuto := enAutoStep_INIT;
+    IF (enTool1State = enTool_Loaded) THEN
+      enTool1State := enTool_Empty;
+    END_IF          
+  END_IF
+  
+  IF (lMachine.enMode <> enOldMachMode) THEN
+    lABBRobot.Out.bStart := FALSE;
+    lABBRobot.Out.bStartAtMain := FALSE;
+  END_IF
+  enOldMachMode := lMachine.enMode;
+  
+    
   //Jog Mode
   //==========================================================================================
   IF lMachine.enMode = enMACH_JOG THEN
@@ -75,7 +110,32 @@ PROGRAM _CYCLIC
     ELSIF ManualCommands.bReleaseBeltGrinder1 THEN    
       lbTightenBelt1 := FALSE;    
     END_IF
+    
+    //Gate
+    IF ManualCommands.bOpenGate THEN
+      lbCloseGate := FALSE;
+    ELSIF ManualCommands.bCloseGate THEN
+      lbCloseGate := TRUE;
+    END_IF
+    
+    //Table1
+    IF ManualCommands.bJogNegSlay1 AND MoveConditions.bEnableNegSlay1 THEN
+      liSetSpeedTable1 := SPEED_TABLE;
+    ELSIF ManualCommands.bJogPosSlay1 AND MoveConditions.bEnablePosSlay1 THEN
+      liSetSpeedTable1 := -SPEED_TABLE;
+    ELSE
+      liSetSpeedTable1 := 0;
+    END_IF
 
+    //Table1
+    IF ManualCommands.bJogNegSlay2 AND MoveConditions.bEnableNegSlay2 THEN
+      liSetSpeedTable2 := -SPEED_TABLE;
+    ELSIF ManualCommands.bJogPosSlay2 AND MoveConditions.bEnablePosSlay2 THEN
+      liSetSpeedTable2 := SPEED_TABLE;
+    ELSE
+      liSetSpeedTable2 := 0;
+    END_IF
+    
   //Homing Mode
   //==========================================================================================
   ELSIF (lMachine.enMode = enMACH_HOMEPOS) THEN
@@ -97,7 +157,7 @@ PROGRAM _CYCLIC
       //---------------------------
   	  enHomingStep_WAIT_START:
         udCycletime := 0; 
-        bTransitionCondition := EDGEPOS (lbStartKey1 OR lbStartKey2);
+        bTransitionCondition := EDGEPOS (lbStartKey1 OR lbStartKey2) AND bSafetyOk;
 
         IF  bTransitionCondition THEN
           enStepHoming := enHomingStep_WAIT_MOTORS_ON;
@@ -109,12 +169,10 @@ PROGRAM _CYCLIC
   	  enHomingStep_WAIT_MOTORS_ON:
         IF NOT lABBRobot.In.bEStop AND NOT lABBRobot.In.bMotorsOn THEN
           lABBRobot.Out.bSwitchMotorOn := TRUE;
-          lABBRobot.Out.bStart := TRUE;
         END_IF
 
         IF lABBRobot.In.bMotorsOn THEN
           lABBRobot.Out.bSwitchMotorOn := FALSE;
-          lABBRobot.Out.bStart := FALSE;
           enStepHoming := enHomingStep_WAIT_IN_CYCLE;
           udSteptime := 0;
         END_IF
@@ -124,15 +182,17 @@ PROGRAM _CYCLIC
   	  enHomingStep_WAIT_IN_CYCLE:
         IF NOT lABBRobot.In.bProgramRun THEN
           lABBRobot.Out.bStartAtMain := TRUE;
+          lABBRobot.Out.bStart := TRUE;
         END_IF
         
         IF lABBRobot.In.bProgramRun THEN
           lABBRobot.Out.bStartAtMain := FALSE;
+          lABBRobot.Out.bStart := FALSE;
           enStepHoming := enHomingStep_START_HOME;
           udSteptime := 0;
         END_IF
 
-      //Start Grind
+      //Start Homing of Robot
       //---------------------------
   	  enHomingStep_START_HOME:
         lABBRobot.Out.usProgNr := ROB_PRG_HOME;
@@ -150,14 +210,25 @@ PROGRAM _CYCLIC
           enStepHoming := enHomingStep_INIT;
           udSteptime := 0;
         END_IF
-          
+
+      //Check Tools / Tables
+      //---------------------------
+      //enHomingStep_CHK_TOOLS:
+        //Table 1
+                  
     END_CASE;
     
   //Automatic Mode
   //==========================================================================================
   ELSIF (lMachine.enMode = enMACH_AUTOMATIC) THEN
-    IF (enStepAuto = enAutoStep_WAIT_START) AND EDGENEG (gbInStartKey1Rob1) AND NOT gbInKeyReleasePart AND bToolOk THEN
+    IF (enStepAuto = enAutoStep_WAIT_START) AND EDGENEG (gbInStartKey2Rob2) THEN
-      enTool1State := enTool_Loaded;
+      IF NOT bToolOk THEN
+        lMachineAlarms.Alarm[3] := TRUE; // Bad Tool
+      ELSIF lbKeyReleasePart THEN
+        lMachineAlarms.Alarm[5] := TRUE; // Tool not Locked
+      ELSE
+        enTool1State := enTool_Loaded;
+      END_IF
     END_IF
     
     IF gbInKeyReleasePart THEN
@@ -168,6 +239,11 @@ PROGRAM _CYCLIC
       lenActivePrg := enProgramSelection;
     END_IF
     
+    //Estop during Automatic
+    IF NOT bSafetyOk AND (enStepAuto > enAutoStep_WAIT_START) THEN
+      enStepAuto := enAutoStep_WAIT_RESTART;
+      bRestarted := FALSE;
+    END_IF
     //Robot Automatic
     //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
     CASE enStepAuto OF
@@ -175,7 +251,8 @@ PROGRAM _CYCLIC
       //---------------------------
   	  enAutoStep_INIT:
         lABBRobot.Out.usProgNr := ROB_PRG_IDLE;
-        bTransitionCondition :=  lABBRobot.In.bWZChangePart; // NOT lMachine.bRequestHoming AND bMachineIsInHomepos
+        bTransitionCondition :=  lABBRobot.In.bWZChangePart AND lABBRobot.In.bAutomatic AND NOT lABBRobot.In.bEStop; // NOT lMachine.bRequestHoming AND bMachineIsInHomepos
+        bRestarted := FALSE;
         IF NOT  lABBRobot.In.bWZChangePart THEN
           lMachine.bRequestHoming := TRUE;
         END_IF
@@ -184,15 +261,31 @@ PROGRAM _CYCLIC
           udSteptime := 0;
         END_IF
 
+      //Wait for Restart after E-Stop:
+      //---------------------------
+      enAutoStep_WAIT_RESTART:
+        bTransitionCondition := bSafetyOk AND lMachine.bRestartOK;
+        
+        IF NOT lMachine.bRestartOK THEN
+          enStepAuto := enAutoStep_INIT;        
+        ELSIF bTransitionCondition THEN
+          enStepAuto := enAutoStep_WAIT_MOTORS_ON;
+          udSteptime := 0;
+          udCycletime := 0;
+          bRestarted := FALSE;
+        END_IF
+      
       //Wait for Start
       //---------------------------
   	  enAutoStep_WAIT_START:
         lbTightenBelt1 := NOT lbKeySwitchDoor;
+        lbTightenBelt2 := NOT lbKeySwitchDoor;
         bTransitionCondition := (udSteptime > 500) AND lABBRobot.In.bWZChangePart AND bSafetyOk AND lbTightenBelt1 AND
                                 (((enTool1State = enTool_Loaded)) OR ((enTool2State = enTool_Loaded)));
 
                                 
         IF  bTransitionCondition THEN
+          lMachine.bRestartOK := TRUE;
           enStepAuto := enAutoStep_WAIT_MOTORS_ON;
           udSteptime := 0;
           udCycletime := 0; 
@@ -215,7 +308,7 @@ PROGRAM _CYCLIC
       //---------------------------
   	  enAutoStep_WAIT_IN_CYCLE:
         IF NOT lABBRobot.In.bProgramRun THEN
-          lABBRobot.Out.bStartAtMain := TRUE;
+          lABBRobot.Out.bStartAtMain := bRestarted;
           lABBRobot.Out.bStart := TRUE;
         END_IF
         
@@ -250,30 +343,52 @@ PROGRAM _CYCLIC
           
     END_CASE;
   END_IF;
+  
+  //Disable Restart
+  IF (lMachine.enMode <> enMACH_AUTOMATIC) OR NOT lABBRobot.In.bAutomatic OR NOT lMachine.bMachineON THEN  
+    lMachine.bRestartOK := FALSE;
+  END_IF
 
   gbEnableNextStepBtn := bTransitionCondition AND (lMachine.enMode = enMACH_MANUAL);
   
   //Set Output Commands
-  lbHoldDoorClosed := (enStepAuto <> enAutoStep_WAIT_START);
+  lbHoldDoorClosed := (enStepAuto <> enAutoStep_WAIT_START) AND (lMachine.enMode = enMACH_AUTOMATIC);
   lbFinished := (enTool1State = enTool_TobeUnload);
 
   
   //Start Grinder 1
-  IF (gABBRobot1.In.bGrinder1On OR ManualCommands.bStartGrinder1) AND lMachine.bMachineON THEN
+  IF (lABBRobot.In.bGrinder1On OR ManualCommands.bStartGrinder1) AND lMachine.bMachineON THEN
-    liSetSpeedGrinder1 := giSpeedGrinder1;
+    IF bInverseGrinderRotation THEN
+      liSetSpeedGrinder1 := -giSpeedGrinder1;
+    ELSE
+      liSetSpeedGrinder1 := giSpeedGrinder1;
+    END_IF;
   ELSE
     liSetSpeedGrinder1 := 0;
   END_IF;  
 
+  //Start Grinder 2
+  lAxisGrinder2.Para.JogMode := enAxJOG;
+  lAxisGrinder2.Move.bJogPos := lAxisGrinder2.DriveStatus.bControllerStatus AND (lABBRobot.In.bGrinder2On OR ManualCommands.bStartGrinder2) AND lMachine.bMachineON AND lbDoorIsClosedHolded AND TON_SafetyOkDoorzone.Q;
   
+  //Alarms
+  //=====================================================
+  IF bToolOk OR (lMachine.enMode <> enMACH_AUTOMATIC) THEN
+    lMachineAlarms.Alarm[3] := FALSE; // Bad Tool
+  END_IF
   
-   //Steptime Control
+  IF NOT lbKeyReleasePart OR (lMachine.enMode <> enMACH_AUTOMATIC) THEN
-   //Motors On
+    lMachineAlarms.Alarm[5] := FALSE; // Tool not Locked
-   lMachineAlarms.Alarm[100] := ((enStepHoming = enHomingStep_WAIT_MOTORS_ON) OR (enStepAuto = enAutoStep_WAIT_MOTORS_ON)) 
+  END_IF
-                                AND (udSteptime > 15000);
+
-   //Prg Run
+  
-   lMachineAlarms.Alarm[101] := ((enStepHoming = enHomingStep_WAIT_IN_CYCLE) OR (enStepAuto = enAutoStep_WAIT_IN_CYCLE)) 
+  //Steptime Control
-                                AND (udSteptime > 15000);
+  //Motors On
+  lMachineAlarms.Alarm[100] := ((enStepHoming = enHomingStep_WAIT_MOTORS_ON) OR (enStepAuto = enAutoStep_WAIT_MOTORS_ON)) 
+                               AND (udSteptime > 15000);
+  //Prg Run
+  lMachineAlarms.Alarm[101] := ((enStepHoming = enHomingStep_WAIT_IN_CYCLE) OR (enStepAuto = enAutoStep_WAIT_IN_CYCLE)) 
+                               AND (udSteptime > 15000);
     
     
 END_PROGRAM

Logical/Axises/GrindCtrl2/GrindCtrl.typ

@@ -4,6 +4,7 @@ TYPE
 	typ_enStepAuto : 
 		( (*Schrittkette*)
 		enAutoStep_INIT := 0, (*Grundstellung pr<70>fen*)
+		enAutoStep_WAIT_RESTART, (*Auf Neustart Warten*)
 		enAutoStep_WAIT_START, (*Auf Start warten (Geladenes Teil / Schutztzor geschlossen)*)
 		enAutoStep_WAIT_MOTORS_ON, (*Pr<50>fen ob Roboter Motoren EIN*)
 		enAutoStep_WAIT_IN_CYCLE, (*Pr<50>fen ob Roboter im Zyklus*)
@@ -17,7 +18,8 @@ TYPE
 		enHomingStep_WAIT_MOTORS_ON, (*Pr<50>fen ob Roboter Motoren EIN*)
 		enHomingStep_WAIT_IN_CYCLE, (*Referenzwerte Laden*)
 		enHomingStep_START_HOME, (*Programm Grundstellung starten*)
-		enHomingStep_WAIT_FINISHED (*Warten bis Grundstellung erreicht*)
+		enHomingStep_WAIT_FINISHED, (*Warten bis Grundstellung erreicht*)
+		enHomingStep_CHK_TOOLS (*Werkzeuge und Tische pr<70>fen*)
 		);
 	typ_enToolState : 
 		( (*Werkzeugstatus*)

Logical/Axises/GrindCtrl2/GrindCtrl.var

@@ -2,7 +2,8 @@
 (*//Dynamic Vars*)
 VAR
 	lMachine : REFERENCE TO typMachine;
-	lbSafetyOk : REFERENCE TO BOOL;
+	lbSafetyOk : REFERENCE TO BOOL; (*Safety Workzone is Ok*)
+	lbSafetyOkDoorZone : REFERENCE TO BOOL; (*Safety Workzone is Ok*)
 	lbGateIsOpen : REFERENCE TO BOOL;
 	lbGateIsClosed : REFERENCE TO BOOL;
 	lbToolslay1IsOut : REFERENCE TO BOOL;
@@ -13,6 +14,7 @@ VAR
 	lbTightenBelt2 : REFERENCE TO BOOL;
 	lbIncreaseCounter : REFERENCE TO BOOL;
 	lbHoldDoorClosed : REFERENCE TO BOOL;
+	lbCloseGate : REFERENCE TO BOOL;
 	lbDoorIsClosedHolded : REFERENCE TO BOOL;
 	lbFinished : REFERENCE TO BOOL;
 	lbKeyReleasePart : REFERENCE TO BOOL;
@@ -21,6 +23,8 @@ VAR
 	lbKeySwitchDoor : REFERENCE TO BOOL;
 	liSetSpeedGrinder1 : REFERENCE TO INT;
 	liSetSpeedGrinder2 : REFERENCE TO INT;
+	liSetSpeedTable1 : REFERENCE TO INT;
+	liSetSpeedTable2 : REFERENCE TO INT;
 	lABBRobot : REFERENCE TO TypABBInterface;
 	lAxisGrinder2 : REFERENCE TO typAxis; (*Axis Datastruct *)
 	lMachineAlarms : REFERENCE TO typAlarm; (*Maschinenalarme*)
@@ -30,15 +34,18 @@ END_VAR
 VAR CONSTANT
 	ROB_PRG_IDLE : USINT := 0;
 	ROB_PRG_HOME : USINT := 1;
+	SPEED_TABLE : INT := 500;
 END_VAR
 (*//Local Vars*)
 VAR
+	bInverseGrinderRotation : BOOL := FALSE;
 	bTransitionCondition : BOOL;
 	bSafetyOk : BOOL;
 	bSafetyOkToolSlay1 : BOOL;
 	bSafetyOkFP : BOOL;
 	bToolOk : BOOL;
 	bStop : BOOL;
+	bRestarted : BOOL; (*Zyklus neu gestartet*)
 	bHalt : BOOL;
 	bEnableNextStep : BOOL; (*N<>chsten Schritt (Semiautomatik) Freigeben*)
 	usi : USINT;
@@ -52,11 +59,12 @@ VAR
 END_VAR
 VAR RETAIN
 	enProgramSelection : typ_enPrograms; (*Programmvorwahl*)
-	enTool1State : typ_enToolState; (*Werkzeugstatus*)
+	enTool1State : typ_enToolState; (*Werkzeugstatus Werkzeug 1*)
-	enTool2State : typ_enToolState; (*Werkzeugstatus*)
+	enTool2State : typ_enToolState; (*Werkzeugstatus Werkzeug 2*)
 END_VAR
 VAR
 	enStepAuto : typ_enStepAuto; (*Schrittkette Automatik*)
+	enOldMachMode : enMACHMODE;
 	enStepHoming : typ_enStepHoming; (*Schrittkette Grundstellung*)
 	lPressParamActTool1 : REFERENCE TO typ_PressParam; (*Positionen aktuelles Werkzeug*)
 	lPressParamActTool2 : REFERENCE TO typ_PressParam; (*Positionen aktuelles Werkzeug*)
@@ -64,5 +72,6 @@ END_VAR
 (*//FUBS*)
 VAR
 	TON_SafetyOk : TON;
+	TON_SafetyOkDoorzone : TON;
 	FUB_AsArLogWrite : AsArLogWrite;
 END_VAR

Logical/Axises/GrindCtrl2/GrindCtrlInit.st

@@ -1,16 +1,19 @@
 PROGRAM _INIT
+  bInverseGrinderRotation := TRUE;
   lMachine ACCESS ADR (gMachine2);
   lbSafetyOk ACCESS ADR (gbSPLCInWorkzoneOkRob2);
+  lbSafetyOkDoorZone ACCESS ADR (gbSPLCInDoorzoneOkRob2);
   lbGateIsClosed ACCESS ADR (gbSInGateClosedRob2);
   lbGateIsOpen ACCESS ADR (gbInGateIsOpenRob2);
   lbToolslay1IsIn ACCESS ADR (gbInToolSlay1InRob2);
   lbToolslay1IsOut ACCESS ADR (gbInToolSlay1OutRob2);
   lbToolslay2IsIn ACCESS ADR (gbInToolSlay2InRob2);
-  lbToolslay2IsOut ACCESS ADR (gbInToolSlay1OutRob2);
+  lbToolslay2IsOut ACCESS ADR (gbInToolSlay2OutRob2);
   lbTightenBelt1 ACCESS ADR (gCmdTightenBelt1Rob2);
   lbTightenBelt2 ACCESS ADR (gCmdTightenBelt2Rob2);
   lbIncreaseCounter ACCESS ADR (gbRob2CountUp);
-  lbHoldDoorClosed ACCESS ADR (gbCmdCloseDoorRobot2);
+  lbCloseGate ACCESS ADR (gbCmdCloseGateRobot2);
+  lbHoldDoorClosed ACCESS ADR (gCmdHoldDoorClosedRob2);
   lbDoorIsClosedHolded ACCESS ADR (gbOuHoldDoorClosedRob2);
   lbFinished ACCESS ADR (gbFinihedRobot2);
   lbKeyReleasePart ACCESS ADR (gbInKeyReleasePart2);
@@ -20,6 +23,8 @@ PROGRAM _INIT
   lenActivePrg ACCESS ADR (genActivePrgRob2);
   liSetSpeedGrinder1 ACCESS ADR (gAxR2G1.Out.iLFR_Setpointspeed);
 //  liSetSpeedGrinder2 ACCESS ADR (gAxR1G2.
+  liSetSpeedTable1 ACCESS ADR (gAxR2T1.Out.iLFR_Setpointspeed);
+  liSetSpeedTable2 ACCESS ADR (gAxR2T2.Out.iLFR_Setpointspeed);
   lMachineAlarms ACCESS ADR (gMachineAlarms2);
   lABBRobot ACCESS ADR (gABBRobot2);
   lAxisGrinder2	ACCESS ADR (gAxis[1]);

Logical/Axises/PartCount/PartCount.st

@@ -32,5 +32,9 @@ PROGRAM _CYCLIC
   END_IF   
   udCurrentShiftCounterRob2 := gudPartCountOverallRob2[genActivePrgRob2];
   
+  IF bResetShiftcounterRob2 THEN 
+    bResetShiftcounterRob2 := FALSE;
+    gudPartCountShiftRob2[genActivePrgRob2] := 0;
+  END_IF
   
 END_PROGRAM

Logical/Axises/PartCount/PartCount.var

@@ -1,5 +1,6 @@
 VAR
 	bResetShiftcounterRob1 : BOOL;
+	bResetShiftcounterRob2 : BOOL;
 	udCurrentShiftCounterRob1 : UDINT;
 	udCurrentShiftCounterRob2 : UDINT;
 END_VAR

Logical/GlobalVars/Global.var

@@ -23,30 +23,8 @@ VAR
 	gbSPLCOuResetEstopRob2 : BOOL; (*Safety PLC Reset Nothalt Roboter 2*)
 	gbSPLCOuResetWorkzoneRob1 : BOOL; (*Safety PLC Reset Sicherheit Einlegebereich Roboter 1*)
 	gbSPLCOuResetWorkzoneRob2 : BOOL; (*Safety PLC Reset Sicherheit Einlegebereich Roboter 2*)
-	gbSPLCOuHWSafetyDoor1Rob1OK : BOOL; (*Safety PLC kein Fehler HW*)
+	gbSPLCOuResetDoorzoneRob1 : BOOL; (*Safety PLC Reset T<>rkreis Roboter 1*)
-	gbSPLCOuHWSafetyDoor2Rob1OK : BOOL; (*Safety PLC kein Fehler HW*)
+	gbSPLCOuResetDoorzoneRob2 : BOOL; (*Safety PLC Reset T<>rkreis Roboter 2*)
-	gbSPLCOuHWSafetyDoor1Rob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyDoor2Rob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyEStop1Rob1OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyEStop2Rob1OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyEStop1Rob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyEStop2Rob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyToolSlayRob1OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyToolSlayRob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyGrindersRob1OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWSafetyGrindersRob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWMainValveRob1OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWValveCloseGateRob1OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWMainValveRob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuHWValveCloseGateRob2OK : BOOL; (*Safety PLC kein Fehler HW*)
-	gbSPLCOuReleaseSafeOutputRob1 : BOOL; (*Safety PLC Release Nothalt*)
-	gbSPLCOuReleaseSafeOutputRob2 : BOOL; (*Safety PLC Release Nothalt*)
-	gbSPLCOuReleaseSafeDoorOuRob1 : BOOL; (*Safety PLC Release T<>rkreis Roboter 1*)
-	gbSPLCOuReleaseSafeDoorOuRob2 : BOOL; (*Safety PLC Release T<>rkreis Roboter 2*)
-	gbSPLCOuResetDoorzoneRob1 : BOOL; (*Safety PLCE Reset T<>rkreis Roboter 1*)
-	gbSPLCOuResetDoorzoneRob2 : BOOL; (*Safety PLCE Reset T<>rkreis Roboter 2*)
-	gbSPLCOuReleaseWorkzoneOuRob1 : BOOL; (*Safety PLC Release Einlegebereich Roboter 1*)
-	gbSPLCOuReleaseWorkzoneOuRob2 : BOOL; (*Safety PLC Release Einlegebereich Roboter 2*)
 END_VAR
 (*Signals from Safe PLC*)
 (*----------------------------------------------------------------------------------------------------------------*)
@@ -81,6 +59,7 @@ VAR
 	gbInToolSlay1InRob1 : BOOL; (*Toolslay 1 Robot 1 is In (LI2)*)
 	gbInGateIsOpenRob1 : BOOL; (*ToolGate Robot 1 is Closed (LI4)*)
 	gbInKeyReleaseToolRob1 : BOOL; (*Temporary Key Release Gripper Robot 1 (LI5)*)
+	gbOuOpenBrakeR1T1 : BOOL;
 END_VAR
 (*----------------------------------------------------------------------------------------------------------------*)
 (*IF3.ST5 - Acopos P74 (Robot 1 / Toolslay 2)*)
@@ -91,6 +70,7 @@ VAR
 	gbInToolSlay2OutRob1 : BOOL; (*Toolslay 2 Robot 1 is Out (LI1)*)
 	gbInToolSlay2InRob1 : BOOL; (*Toolslay 2 Robot 1 is In (LI2)*)
 	gbInKeyReleasePart : BOOL; (*Temporary Key Release Part Robot 1 (LI5)*)
+	gbOuOpenBrakeR1T2 : BOOL;
 END_VAR
 (*----------------------------------------------------------------------------------------------------------------*)
 (*IF3.ST6 - Acopos P74 (Robot 2 / Toolslay 1)*)
@@ -102,6 +82,7 @@ VAR
 	gbInToolSlay1InRob2 : BOOL; (*Toolslay 1 Robot 2 is In (LI2)*)
 	gbInKeyReleaseToolRob2 : BOOL; (*Temporary Key Release Gripper Robot 2 (LI5)*)
 	gbInGateIsOpenRob2 : BOOL; (*ToolGate Robot 2 is Closed (LI4)*)
+	gbOuOpenBrakeR2T1 : BOOL;
 END_VAR
 (*----------------------------------------------------------------------------------------------------------------*)
 (*IF3.ST7 - Acopos P74 (Robot 2 / Toolslay 2)*)
@@ -112,6 +93,7 @@ VAR
 	gbInToolSlay2OutRob2 : BOOL; (*Toolslay 2 Robot 2 is Out (LI1)*)
 	gbInToolSlay2InRob2 : BOOL; (*Toolslay 2 Robot 2 is In (LI2)*)
 	gbInKeyReleasePart2 : BOOL; (*Temporary Key Release Part Robot 2 (LI5)*)
+	gbOuOpenBrakeR2T2 : BOOL;
 END_VAR
 (*----------------------------------------------------------------------------------------------------------------*)
 (*IF3.ST7  - ACP P74 Belt 1*)
@@ -230,6 +212,7 @@ END_VAR
 (*IF1.ST7 - SO4110*)
 (*----------------------------------------------------------------------------------------------------------------*)
 VAR
+	gbST7ModuleOk : BOOL;
 	gbSOuSafetyAfterDoor1Rob1 : BOOL; (*Sicherer Ausgang 01 - Hauptsch<63>tz Kanal 1 Sicherheit nach T<>r Roboter 1*)
 	gbSOuSafetyAfterDoor2Rob1 : BOOL; (*Sicherer Ausgang 02 - Hauptsch<63>tz Kanal 2 Sicherheit nach T<>r Roboter 1*)
 	gbSOuSafetyAfterDoor1Rob2 : BOOL; (*Sicherer Ausgang 03 - Hauptsch<63>tz Kanal 1 Sicherheit nach T<>r Roboter 2*)
@@ -244,6 +227,7 @@ END_VAR
 (*IF1.ST8 - SO4110*)
 (*----------------------------------------------------------------------------------------------------------------*)
 VAR
+	gbST8ModuleOk : BOOL;
 	gbSOuSafetyAfterEStop1Rob1 : BOOL; (*Sicherer Ausgang 01 - Hauptsch<63>tz Kanal 1 Sicherheit nach Nothalt Roboter 1*)
 	gbSOuSafetyAfterEStop2Rob1 : BOOL; (*Sicherer Ausgang 02 - Hauptsch<63>tz Kanal 2 Sicherheit nach Nothalt Roboter 1*)
 	gbSOuSafetyAfterEStop1Rob2 : BOOL; (*Sicherer Ausgang 03 - Hauptsch<63>tz Kanal 1 Sicherheit nach Nothalt Roboter 2*)
@@ -258,6 +242,7 @@ END_VAR
 (*IF1.ST9 - SO4110*)
 (*----------------------------------------------------------------------------------------------------------------*)
 VAR
+	gbST9ModuleOk : BOOL;
 	gbSOuSafetyToolSlayRob1 : BOOL; (*Sicherer Ausgang 01 - Sicherheit Werkzeugschlitten Roboter 1*)
 	gbSOuSafetyToolSlayRob2 : BOOL; (*Sicherer Ausgang 02 - Sicherheit Werkzeugschlitten Roboter 2*)
 	gbSOuSafetyGrindersRob1 : BOOL; (*Sicherer Ausgang 03 - Sicherheit Schleifmaschinen Roboter 1*)
@@ -272,6 +257,7 @@ END_VAR
 (*IF1.ST10 - SO4110*)
 (*----------------------------------------------------------------------------------------------------------------*)
 VAR
+	gbST10ModuleOk : BOOL;
 	gbSOuMainValveRob1 : BOOL; (*Sicherer Ausgang 01 - Hauptventil Roboter 1*)
 	gbSOuValveCloseGateRob1 : BOOL; (*Sicherer Ausgang 02 - Schutztor schlie<69>en Roboter 1*)
 	gbSOuMainValveRob2 : BOOL; (*Sicherer Ausgang 03 - Hauptventil Roboter 2*)

Logical/Machine/GlobalMachine.typ

@@ -16,7 +16,7 @@ TYPE
 		usBtnSetupmode2 : USINT;
 		usLabelSetupmode1 : USINT;
 		usLabelSetupmode2 : USINT;
-		usLayersMainpage : ARRAY[1..7]OF USINT;
+		usLayersMainpage : ARRAY[1..16]OF USINT;
 		usLayersIOState : ARRAY[1..7]OF USINT;
 	END_STRUCT;
 	typVCCommands : 	STRUCT 

Logical/Machine/GlobalMachine.var

@@ -14,8 +14,8 @@ VAR
 	gbEnableNextStepBtn : BOOL;
 	gbAirOk1 : BOOL;
 	gbAirOk2 : BOOL;
-	gbCmdCloseDoorRobot1 : BOOL;
+	gbCmdCloseGateRobot1 : BOOL; (*Schutztor schlie<69>en Roboter 1*)
-	gbCmdCloseDoorRobot2 : BOOL;
+	gbCmdCloseGateRobot2 : BOOL; (*Schutztor schlie<69>en Roboter 2*)
 	gbFinihedRobot1 : BOOL;
 	gbFinihedRobot2 : BOOL;
 END_VAR

Logical/Machine/Grinders/Grinders.st

@@ -1,5 +1,6 @@
 PROGRAM _CYCLIC
   // Robot 1 Grinder 1
+  //===============================================================
   //Enable IF Module is OK
   gAxR1G1.Out.bCmd01_DisableVoltage := gAxR1G1.bModuleOK;
   gAxR1G1.Out.bCmd02_QuickStop := gAxR1G1.bModuleOK;
@@ -28,12 +29,7 @@ PROGRAM _CYCLIC
   //Speed
   gAxis[0].Para.rJogVelocity := 2000.0 + 8 * USINT_TO_REAL (gABBRobot1.In.usvGrinder2);
   gAxis[0].Para.rAcceleration := 8000.0;
-  gAxis[0].Para.rDeceleration := 8000.0;
+  gAxis[0].Para.rDeceleration := 8000.0;  
-  gAxis[1].Para.rJogVelocity := 2000.0 + 8 * USINT_TO_REAL (gABBRobot2.In.usvGrinder2);
-  gAxis[1].Para.rAcceleration := 8000.0;
-  gAxis[1].Para.rDeceleration := 8000.0;
-  
-  
   
   //Preassure Grinder 1
   //Robot Values 0-200 := 0-100 in 0.5% Steps  Valve Max value is 8000 (8192)
@@ -44,4 +40,45 @@ PROGRAM _CYCLIC
   giOuPressureR1G2 := gABBRobot1.In.uspGrinder2 * iPreassureStep;
 
   
+  
+  // Robot 2 Grinder 1
+  //===============================================================
+  //Enable IF Module is OK
+  gAxR2G1.Out.bCmd01_DisableVoltage := gAxR2G1.bModuleOK;
+  gAxR2G1.Out.bCmd02_QuickStop := gAxR2G1.bModuleOK;
+  
+  //Power Up
+  IF gAxR2G1.In.bStat00_ReadytoSwitchOn AND gMachine2.bMachineON THEN
+    gAxR2G1.Out.bCmd00_SwitchOn := TRUE;
+    gAxR2G1.Out.bCmd03_EnableOperation := TRUE;
+  END_IF
+  
+  IF NOT gMachine2.bMachineON OR gAxR2G1.In.bStat06_SwitchedOnDisabled THEN
+    gAxR2G1.Out.bCmd00_SwitchOn := FALSE;
+    gAxR2G1.Out.bCmd03_EnableOperation := FALSE;
+  END_IF
+
+  //Reset Error 
+  gAxR2G1.Out.bCmd07_ResetFault := FALSE;
+  
+  //Belt
+  gbOuBeltLooseGrind1Rob2 := NOT gCmdTightenBelt1Rob2 AND gbSPLCInDoorzoneOkRob2;
+  gbOuBeltTightenGrind1Rob2 := gCmdTightenBelt1Rob2 AND gbSPLCInDoorzoneOkRob2;
+
+  gbOuBeltLooseGrind2Rob2 := NOT gCmdTightenBelt1Rob2;// AND gbSPLCInDoorzoneOkRob2;
+  gbOuBeltTightenGrind2Rob2 := gCmdTightenBelt1Rob2;//FixMe AND gbSPLCInDoorzoneOkRob2;
+
+  //Speed
+  gAxis[1].Para.rJogVelocity := 2000.0 + 8 * USINT_TO_REAL (gABBRobot2.In.usvGrinder2);
+  gAxis[1].Para.rAcceleration := 8000.0;
+  gAxis[1].Para.rDeceleration := 8000.0;
+    
+  //Preassure Grinder 1
+  //Robot Values 0-200 := 0-100 in 0.5% Steps  Valve Max value is 8000 (8192)
+  giOuPressureR2G1 := gABBRobot2.In.uspGrinder1 * iPreassureStep;
+
+  
+  //Preassure Grinder 2
+  giOuPressureR2G2 := gABBRobot2.In.uspGrinder2 * iPreassureStep;
+  
 END_PROGRAM

Logical/Machine/Package.pkg

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<?AutomationStudio Version=4.1.6.81 SP?>
+<?AutomationStudio Version=4.1.8.44 SP?>
 <Package xmlns="http://br-automation.co.at/AS/Package">
   <Objects>
     <Object Type="File">GlobalMachine.typ</Object>

Logical/Machine/machine/machine.st

@@ -115,7 +115,7 @@ END_IF
 
 //Reset Machine Modes
 IF (gMachine1.enMode = enMACH_HOMEPOS) OR (gMachine1.enMode = enMACH_AUTOMATIC) THEN
-  IF gMachineAlarms1.Alarm[7] THEN
+  IF gMachineAlarms1.Alarm[6] THEN
     gMachine1.enMode := enMACH_NOOP;
   END_IF
 END_IF
@@ -142,6 +142,14 @@ ELSE
   gMachine2.enMode := enMACH_JOG;
 END_IF
 
+//Reset Machine Modes
+IF (gMachine2.enMode = enMACH_HOMEPOS) OR (gMachine2.enMode = enMACH_AUTOMATIC) THEN
+  IF gMachineAlarms2.Alarm[6] THEN
+    gMachine2.enMode := enMACH_NOOP;
+  END_IF
+END_IF
+
+
 //On/OFF
 IF EDGEPOS (gbInCtrlOnRob2) THEN
   gMachine2.bMachineON := TRUE;
@@ -164,15 +172,22 @@ IF (gusCurrentOpLayer < 3) THEN
 END_IF
 //Layer 2 Common Machine Information Robot 1
 gStatusVCControls.usLayersMainpage[2] := SHL (BOOL_TO_USINT (NOT gMachine1.bMachineON), VC_HIDE_BITPOS);                                
-//Layer 3 Manual Operation 
+//Layer 3 Manual Operation Robot 1
-//gusVCCStatusTool[1] := SHL (BOOL_TO_USINT (gusCurrentTool <> 1), VC_HIDE_BITPOS); 
-//gusVCCStatusTool[2] := SHL (BOOL_TO_USINT (gusCurrentTool <> 2), VC_HIDE_BITPOS); 
-//gusVCCStatusTool[3] := SHL (BOOL_TO_USINT (gusCurrentTool <> 3), VC_HIDE_BITPOS); 
 gStatusVCControls.usLayersMainpage[3] := SHL (BOOL_TO_USINT (NOT gMachine1.bMachineON OR (gMachine1.enMode <> enMACH_JOG) OR (gusCurrentOpLayer <> 3)), VC_HIDE_BITPOS);                                
 //Layer 4 Automatic Opteration Robot 1
 gStatusVCControls.usLayersMainpage[4] := SHL (BOOL_TO_USINT (NOT gMachine1.bMachineON OR (gMachine1.enMode <> enMACH_AUTOMATIC)), VC_HIDE_BITPOS);                                
 //Layer 5 Homing Robot 1
 gStatusVCControls.usLayersMainpage[5] := SHL (BOOL_TO_USINT (NOT gMachine1.bMachineON OR (gMachine1.enMode <> enMACH_HOMEPOS)), VC_HIDE_BITPOS);                 
+//Layer 6 Common always active
+//Layer 7 Common Machine Information Robot 2
+gStatusVCControls.usLayersMainpage[7] := SHL (BOOL_TO_USINT (NOT gMachine2.bMachineON), VC_HIDE_BITPOS);                                
+//Layer 8 Manual Operation Robot 2
+gStatusVCControls.usLayersMainpage[8] := SHL (BOOL_TO_USINT (NOT gMachine2.bMachineON OR (gMachine2.enMode <> enMACH_JOG) OR (gusCurrentOpLayer <> 3)), VC_HIDE_BITPOS);                                
+//Layer 9 Automatic Opteration Robot 2
+gStatusVCControls.usLayersMainpage[9] := SHL (BOOL_TO_USINT (NOT gMachine2.bMachineON OR (gMachine2.enMode <> enMACH_AUTOMATIC)), VC_HIDE_BITPOS);                                
+//Layer 10 Homing Robot 2
+gStatusVCControls.usLayersMainpage[10] := SHL (BOOL_TO_USINT (NOT gMachine2.bMachineON OR (gMachine2.enMode <> enMACH_HOMEPOS)), VC_HIDE_BITPOS);                 
+
                
 IF (gusCurrentOpLayerIO < 2) THEN
   gusCurrentOpLayerIO := 2;
@@ -267,7 +282,8 @@ gbSPLCOuResetWorkzoneRob2 := (EDGENEG (gbInStartKey1Rob2) OR EDGENEG (gbInStartK
 //FixMe Temporary Mode
 gbSPLCOuResetDoorzoneRob1 := (EDGENEG (gbInStartKey1Rob1) OR EDGENEG (gbInStartKey2Rob1) OR EDGENEG (gbIDoorKey2Rob1)) AND gMachine1.bMachineON;
 //gbSPLCOuResetDoorzoneRob1 := EDGENEG (gbIDoorKey2Rob1) AND gMachine1.bMachineON;
-gbSPLCOuResetDoorzoneRob2 := EDGENEG (gbIDoorKey2Rob2) AND gMachine2.bMachineON;
+gbSPLCOuResetDoorzoneRob2 := (EDGENEG (gbInStartKey1Rob2) OR EDGENEG (gbInStartKey2Rob2) OR EDGENEG (gbIDoorKey2Rob2)) AND gMachine2.bMachineON;
+//gbSPLCOuResetDoorzoneRob2 := EDGENEG (gbIDoorKey2Rob2) AND gMachine2.bMachineON;
 
 
 bSafetyError := FALSE;
@@ -278,7 +294,7 @@ FOR usi := 10 TO 33 DO
 END_FOR
 
 
-//Temporary Operation of Valves on Robot1
+//Temporary Operation of Valves on Robot1 and 2
 TON_ReleaseToolRob1.IN :=  gbInKeyReleaseToolRob1 AND gMachine1.bMachineON;
 TON_ReleaseToolRob1.PT := t#2s;
 TON_ReleaseToolRob1 ();
@@ -290,6 +306,17 @@ IF EDGEPOS (gbInKeyReleaseToolRob1) THEN
 END_IF  
 gABBRobot1.Out.bReleasePart := gbInKeyReleasePart AND gMachine1.bMachineON;
 
+TON_ReleaseToolRob2.IN :=  gbInKeyReleaseToolRob2 AND gMachine2.bMachineON;
+TON_ReleaseToolRob2.PT := t#2s;
+TON_ReleaseToolRob2 ();
+IF TON_ReleaseToolRob2.Q THEN
+  gABBRobot2.Out.bReleaseTool := TRUE;
+END_IF
+IF EDGEPOS (gbInKeyReleaseToolRob2) THEN
+  gABBRobot2.Out.bReleaseTool := FALSE;
+END_IF  
+gABBRobot2.Out.bReleasePart := gbInKeyReleasePart2 AND gMachine2.bMachineON;
+
 
 TOF_ResetAxisErrors1.IN := EDGEPOS (gbSPLCInDoorzoneOkRob1);
 TOF_ResetAxisErrors1.PT := t#3s;
@@ -344,6 +371,8 @@ IF NOT gMachine2.bMachineON OR gAxR2T1.In.bStat06_SwitchedOnDisabled THEN
   gAxR2T1.Out.bCmd03_EnableOperation := FALSE;
 END_IF
 
+gbOuOpenBrakeR2T1 := (gAxR2T1.Out.iLFR_Setpointspeed <> 0);
+
 //Robot 2 Toolslay 1
 //---------------------------------------
 //Enable IF Module is OK
@@ -359,11 +388,12 @@ IF NOT gMachine2.bMachineON OR gAxR2T2.In.bStat06_SwitchedOnDisabled THEN
   gAxR2T2.Out.bCmd00_SwitchOn := FALSE;
   gAxR2T2.Out.bCmd03_EnableOperation := FALSE;
 END_IF
+gbOuOpenBrakeR2T1 := (gAxR2T2.Out.iLFR_Setpointspeed <> 0);
 
 
 //Reset Error 
-gAxR1T1.Out.bCmd07_ResetFault := FALSE;
+gAxR2T1.Out.bCmd07_ResetFault := FALSE;
-
+gAxR2T2.Out.bCmd07_ResetFault := FALSE;
 
 
 //Handle Door Access
@@ -378,10 +408,14 @@ IF EDGEPOS (gbSPLCInDoorzoneOkRob1) THEN
   bOpenDoorRob1 := FALSE;
 END_IF
 
-IF EDGEPOS (gbIDoorKey1Rob2) THEN
+
+IF EDGEPOS (gbIDoorKey1Rob2 AND lMachine2.bMachineON) THEN
   bOpenDoorRob2 := NOT bOpenDoorRob2;
 END_IF;
-IF NOT lMachine2.bMachineON OR NOT gbSPLCInDoorzoneOkRob2 THEN
+IF EDGEPOS (gbIDoorLockedRob2) THEN
+  bOpenDoorRob2 := FALSE;
+END_IF;
+IF NOT lMachine2.bMachineON OR gbIDoorKey1Rob2 THEN
   bOpenDoorRob2 := TRUE;
 END_IF;
 IF EDGEPOS (gbSPLCInDoorzoneOkRob2) THEN
@@ -435,6 +469,11 @@ TON_Finished1 ();
 
 gbOuLampGreenSignalTowerRob2 := lMachine2.bMachineON;
 gbOuLampRedSignalTowerRob2 :=  NOT gbSPLCInEstopOkRob2 OR (NOT gbSPLCInWorkzoneOkRob1 AND bBlink0_5);
+gbOuAlarmSignalTowerRob2 :=  gbFinihedRobot2 AND NOT TON_Finished2.Q;
+
+TON_Finished2.IN := gbFinihedRobot2;
+TON_Finished2.PT := t#800ms;
+TON_Finished2 ();
 
 
 FUB_AsArLogWrite ();

Logical/Safety/SafetyAlarms/SafetyAlarms.st

@@ -49,7 +49,6 @@ IF (genST7StatDO1 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[12] := FALSE;
 END_IF
-gbSPLCOuHWSafetyDoor1Rob1OK := NOT gSafetyAlarm.Alarm[12];
 
 //Netzsch<EFBFBD>tz 2 Roboter 1 T<EFBFBD>r
 IF (genST7StatDO2 = enSDO_RELEASE_ERROR2) THEN
@@ -67,7 +66,6 @@ IF (genST7StatDO2 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[15] := FALSE;
 END_IF
-gbSPLCOuHWSafetyDoor2Rob1OK := NOT gSafetyAlarm.Alarm[15];
 
 //Netzsch<EFBFBD>tz 1 Roboter 2 T<EFBFBD>r
 IF (genST7StatDO3 = enSDO_RELEASE_ERROR2) THEN
@@ -85,7 +83,6 @@ IF (genST7StatDO1 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[18] := FALSE;
 END_IF
-gbSPLCOuHWSafetyDoor1Rob2OK := NOT gSafetyAlarm.Alarm[18];
 
 //Netzsch<EFBFBD>tz 2 Roboter 2 T<EFBFBD>r
 IF (genST7StatDO4 = enSDO_RELEASE_ERROR2) THEN
@@ -103,7 +100,6 @@ IF (genST7StatDO4 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[21] := FALSE;
 END_IF
-gbSPLCOuHWSafetyDoor2Rob2OK := NOT gSafetyAlarm.Alarm[21];
 
 //Netzsch<EFBFBD>tz 1 Roboter 1 Not-Halt
 IF (genST8StatDO1 = enSDO_RELEASE_ERROR2) THEN
@@ -121,7 +117,6 @@ IF (genST8StatDO1 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[24] := FALSE;
 END_IF
-gbSPLCOuHWSafetyEStop1Rob1OK :=  NOT gSafetyAlarm.Alarm[24];
 
 //Netzsch<EFBFBD>tz 2 Roboter 1 Not-Halt
 IF (genST8StatDO2 = enSDO_RELEASE_ERROR2) THEN
@@ -139,7 +134,6 @@ IF (genST8StatDO2 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[27] := FALSE;
 END_IF
-gbSPLCOuHWSafetyEStop2Rob1OK := NOT gSafetyAlarm.Alarm[27];
 
 //Netzsch<EFBFBD>tz 1 Roboter 2 Not-Halt
 IF (genST8StatDO3 = enSDO_RELEASE_ERROR2) THEN
@@ -157,7 +151,6 @@ IF (genST8StatDO1 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[30] := FALSE;
 END_IF
-gbSPLCOuHWSafetyEStop1Rob2OK := NOT gSafetyAlarm.Alarm[30];
 
 //Netzsch<EFBFBD>tz 2 Roboter 2 Not-Halt
 IF (genST8StatDO4 = enSDO_RELEASE_ERROR2) THEN
@@ -175,7 +168,6 @@ IF (genST8StatDO4 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[33] := FALSE;
 END_IF
-gbSPLCOuHWSafetyEStop2Rob2OK := NOT gSafetyAlarm.Alarm[21];
 
 //Sicherheit Werkzeugschlitten Roboter 1
 IF (genST9StatDO1 = enSDO_RELEASE_ERROR2) THEN
@@ -193,7 +185,6 @@ IF (genST9StatDO1 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[36] := FALSE;
 END_IF
-gbSPLCOuHWSafetyToolSlayRob1OK :=  NOT gSafetyAlarm.Alarm[36];
 
 //Sicherheit Werkzeugschlitten Roboter 2
 IF (genST9StatDO2 = enSDO_RELEASE_ERROR2) THEN
@@ -211,7 +202,6 @@ IF (genST9StatDO2 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[39] := FALSE;
 END_IF
-gbSPLCOuHWSafetyToolSlayRob2OK :=  NOT gSafetyAlarm.Alarm[39];
 
 //Sicherheit Schleifmaschinen Roboter 1
 IF (genST9StatDO3 = enSDO_RELEASE_ERROR2) THEN
@@ -229,7 +219,6 @@ IF (genST9StatDO3 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[42] := FALSE;
 END_IF
-gbSPLCOuHWSafetyGrindersRob1OK :=  NOT gSafetyAlarm.Alarm[42];
 
 //Sicherheit Schleifmaschinen Roboter 2
 IF (genST9StatDO4 = enSDO_RELEASE_ERROR2) THEN
@@ -247,7 +236,6 @@ IF (genST9StatDO4 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[45] := FALSE;
 END_IF
-gbSPLCOuHWSafetyGrindersRob2OK :=  NOT gSafetyAlarm.Alarm[45];
 
 //Sicherheit Hauptventil Roboter 1
 IF (genST10StatDO1 = enSDO_RELEASE_ERROR2) THEN
@@ -265,25 +253,23 @@ IF (genST10StatDO1 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[48] := FALSE;
 END_IF
-gbSPLCOuHWMainValveRob1OK :=  NOT gSafetyAlarm.Alarm[48];
 
 //Sicherheit Ventil Schutztor Roboter 1
-IF (genST10StatDO1 = enSDO_RELEASE_ERROR2) THEN
+IF (genST10StatDO2 = enSDO_RELEASE_ERROR2) THEN
   gSafetyAlarm.Alarm[49] := TRUE;
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[49] := FALSE;
 END_IF
-IF (genST10StatDO1 = enSDO_LOCK_ERROR) THEN
+IF (genST10StatDO2 = enSDO_LOCK_ERROR) THEN
   gSafetyAlarm.Alarm[50] := TRUE;
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[50] := FALSE;
 END_IF
-IF (genST10StatDO1 = enSDO_HW_ERROR) THEN
+IF (genST10StatDO2 = enSDO_HW_ERROR) THEN
   gSafetyAlarm.Alarm[51] := TRUE;
 ELSIF gbInResetKeyRob1 THEN
   gSafetyAlarm.Alarm[51] := FALSE;
 END_IF
-gbSPLCOuHWValveCloseGateRob1OK :=  NOT gSafetyAlarm.Alarm[51];
 
 //Sicherheit Hauptventil Roboter 2
 IF (genST10StatDO3 = enSDO_RELEASE_ERROR2) THEN
@@ -301,26 +287,23 @@ IF (genST10StatDO3 = enSDO_HW_ERROR) THEN
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[54] := FALSE;
 END_IF
-gbSPLCOuHWMainValveRob2OK :=  NOT gSafetyAlarm.Alarm[54];
 
 //Sicherheit Ventil Schutztor Roboter 2
-IF (genST10StatDO3 = enSDO_RELEASE_ERROR2) THEN
+IF (genST10StatDO4 = enSDO_RELEASE_ERROR2) THEN
   gSafetyAlarm.Alarm[55] := TRUE;
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[55] := FALSE;
 END_IF
-IF (genST10StatDO3 = enSDO_LOCK_ERROR) THEN
+IF (genST10StatDO4 = enSDO_LOCK_ERROR) THEN
   gSafetyAlarm.Alarm[56] := TRUE;
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[56] := FALSE;
 END_IF
-IF (genST10StatDO3 = enSDO_HW_ERROR) THEN
+IF (genST10StatDO4 = enSDO_HW_ERROR) THEN
   gSafetyAlarm.Alarm[57] := TRUE;
 ELSIF gbInResetKeyRob2 THEN
   gSafetyAlarm.Alarm[57] := FALSE;
 END_IF
-gbSPLCOuHWMainValveRob2OK :=  NOT gSafetyAlarm.Alarm[57];
-gbSPLCOuHWValveCloseGateRob2OK := TRUE;
 
 
 
@@ -331,15 +314,15 @@ gSafetyAlarm.Alarm[101] := gbInEStopPressedRob2 AND gMachine2.bMachineON;
 //Nothalt bet<EFBFBD>tigt Roboter 1
 gSafetyAlarm.Alarm[102] := NOT gbInEStopPressedRob1 AND NOT gbSInEStopOkRob1 AND gMachine1.bMachineON;
 //Nothalt bet<EFBFBD>tigt Roboter 2
-gSafetyAlarm.Alarm[103] := NOT gbInEStopPressedRob1 AND NOT gbSInEStopOkRob1 AND gMachine2.bMachineON;
+gSafetyAlarm.Alarm[103] := NOT gbInEStopPressedRob2 AND NOT gbSInEStopOkRob2 AND gMachine2.bMachineON;
 //Lichtvorhang Roboter 1
 gSafetyAlarm.Alarm[104] := TON_LightCurtain1.Q AND gMachine1.bMachineON;
 //Lichtvorhang Roboter 2
 gSafetyAlarm.Alarm[105] := TON_LightCurtain2.Q AND gMachine2.bMachineON;
 //Roboter 1 Not-Aus
-gSafetyAlarm.Alarm[106] := gABBRobot1.In.bEStop AND gMachine1.bMachineON;
+gSafetyAlarm.Alarm[106] := NOT gbInEStopPressedRob1 AND gABBRobot1.In.bEStop AND gMachine1.bMachineON;
 //Roboter 2 Not-Aus
-gSafetyAlarm.Alarm[107] := gABBRobot2.In.bEStop AND gMachine2.bMachineON;
+gSafetyAlarm.Alarm[107] := NOT gbInEStopPressedRob2 AND gABBRobot2.In.bEStop AND gMachine2.bMachineON;
 
 
 END_PROGRAM

Logical/Safety/SafetyStates/SafetyStates.st

@@ -69,19 +69,7 @@ TOF_ST10_Ch4_WaitAfterError.PT := t#200ms;
 TOF_ST10_Ch4_WaitAfterError ();
 
 
-//Release Signals only if noe Release Error is active
+
-gbSPLCOuReleaseSafeOutputRob1 := gMachine1.bMachineON AND gbSPLCInEstopOkRob1
-                                  AND NOT gSafetyAlarm.Alarm[22] AND NOT gSafetyAlarm.Alarm[25];
-gbSPLCOuReleaseSafeOutputRob2 := gMachine1.bMachineON AND gbSPLCInEstopOkRob2
-                                  AND NOT gSafetyAlarm.Alarm[28] AND NOT gSafetyAlarm.Alarm[31];
-gbSPLCOuReleaseSafeDoorOuRob1 := gMachine1.bMachineON AND gbSPLCInWorkzoneOkRob1
-                                  AND NOT gSafetyAlarm.Alarm[10] AND NOT gSafetyAlarm.Alarm[13]
-                                  AND NOT gSafetyAlarm.Alarm[34] AND NOT  gSafetyAlarm.Alarm[40]
-                                  AND NOT gSafetyAlarm.Alarm[46];
-gbSPLCOuReleaseSafeDoorOuRob2 := gMachine1.bMachineON AND gbSPLCInWorkzoneOkRob1
-                                  AND NOT gSafetyAlarm.Alarm[16] AND NOT gSafetyAlarm.Alarm[19]
-                                  AND NOT gSafetyAlarm.Alarm[37] AND NOT  gSafetyAlarm.Alarm[43]
-                                  AND NOT gSafetyAlarm.Alarm[52];
 //Enable Signals to HW
 //ST7
 gbSOuSafetyAfterDoor1Rob1 := gMachine1.bMachineON AND gbSPLCInWorkzoneOkRob1;
@@ -110,12 +98,12 @@ gbSOuMainValveRob2 := gMachine2.bMachineONDel AND NOT TOF_ST10_Ch2_WaitAfterErro
 IF NOT gMachine1.bMachineON THEN
   gbSOuValveCloseGateRob1 := FALSE;
 ELSE
-  gbSOuValveCloseGateRob1 := gbCmdCloseDoorRobot1;
+  gbSOuValveCloseGateRob1 := gbCmdCloseGateRobot1;
 END_IF
 IF NOT gMachine1.bMachineON THEN
   gbSOuValveCloseGateRob2 := FALSE;
 ELSE
-  gbSOuValveCloseGateRob2 := gbCmdCloseDoorRobot2;
+  gbSOuValveCloseGateRob2 := gbCmdCloseGateRobot2;
 END_IF
 
 

Logical/VCShared/AlarmGroups/AlarmSystem.alcfg

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <AlarmSystem xmlns="http://br-automation.co.at/AS/VC/Project">
   <Property Name="HistoryLength" Value="1000"/>
   <Property Name="SnippetBufferSize" Value="150"/>

Logical/VCShared/ControlVersion.cvinfo

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <ComponentVersions xmlns="http://br-automation.co.at/AS/VC/Project">
   <ComponentVersion>
     <Property Name="ClassId" Value="0x00000500"/>

Logical/VCShared/DataSources/DataSource.dso

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <DataSource xmlns="http://br-automation.co.at/AS/VC/Project" Name="DataSource">
   <Property Name="AutoRefresh" Value="False"/>
   <Property Name="DefaultUpdateTime" Value="200"/>
@@ -385,6 +385,15 @@
           <Property Name="UserID" Value="None"/>
           <Property Name="VCType" Value="INTEGER"/>
         </DataPoint>
+        <DataPoint Name="bRestartOK">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="BOOL"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="BOOL"/>
+        </DataPoint>
       </Folder>
       <Folder Name="gStatusVCControls">
         <Property Name="Description" Value=""/>
@@ -392,7 +401,7 @@
         <DataPoint Name="usLayersMainpage">
           <Property Name="ConnectedBySharedResource" Value="False"/>
           <Property Name="Description" Value=""/>
-          <Property Name="PLCType" Value="USINT[1..7]"/>
+          <Property Name="PLCType" Value="USINT[1..16]"/>
           <Property Name="UpdateTime" Value="Default"/>
           <Property Name="UserID" Value="None"/>
           <Property Name="VCType" Value="INTEGER[]"/>
@@ -432,6 +441,42 @@
             <Property Name="UserID" Value="None"/>
             <Property Name="VCType" Value="INTEGER"/>
           </DataPoint>
+          <DataPoint Name="usLayersMainpage[7]">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="USINT"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="INTEGER"/>
+          </DataPoint>
+          <DataPoint Name="usLayersMainpage[8]">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="USINT"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="INTEGER"/>
+          </DataPoint>
+          <DataPoint Name="usLayersMainpage[9]">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="USINT"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="INTEGER"/>
+          </DataPoint>
+          <DataPoint Name="usLayersMainpage[10]">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="USINT"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="INTEGER"/>
+          </DataPoint>
         </DataPoint>
         <DataPoint Name="usLayersIOState">
           <Property Name="ConnectedBySharedResource" Value="False"/>
@@ -609,6 +654,60 @@
             <Property Name="UserID" Value="None"/>
             <Property Name="VCType" Value="BOOL"/>
           </DataPoint>
+          <DataPoint Name="bJogNegSlay1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bJogPosSlay1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bJogNegSlay2">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bJogPosSlay2">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bCloseGate">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bOpenGate">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
         </Folder>
         <DataPoint Name="enProgramSelection">
           <Property Name="ConnectedBySharedResource" Value="False"/>
@@ -671,6 +770,24 @@
           <Property Name="UserID" Value="None"/>
           <Property Name="VCType" Value="BOOL"/>
         </DataPoint>
+        <DataPoint Name="udCurrentShiftCounterRob2">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="UDINT"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="INTEGER"/>
+        </DataPoint>
+        <DataPoint Name="bResetShiftcounterRob2">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="BOOL"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="BOOL"/>
+        </DataPoint>
       </Folder>
       <DataPoint Name="gudPartCountShiftRob1">
         <Property Name="ConnectedBySharedResource" Value="False"/>
@@ -1517,6 +1634,201 @@
           </Folder>
         </Folder>
       </Folder>
+      <Folder Name="GrindCtrl2">
+        <Property Name="Description" Value=""/>
+        <Property Name="FolderType" Value="Program"/>
+        <DataPoint Name="udCycletimeLast">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="DPLimit" Value="Default"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="UDINT"/>
+          <Property Name="PLCUnit" Value="Source[relative:UnitGroup].Unit[PLC_Unit]"/>
+          <Property Name="UnitGroup" Value="Source[global].UnitGroup[milliseconds]"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="SCALED"/>
+        </DataPoint>
+        <Folder Name="StatusVCControls">
+          <Property Name="Description" Value=""/>
+          <Property Name="FolderType" Value="Struct"/>
+          <DataPoint Name="usPrgSelection">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="USINT"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="INTEGER"/>
+          </DataPoint>
+          <DataPoint Name="usTightenBeltGrinder1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="USINT"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="INTEGER"/>
+          </DataPoint>
+          <DataPoint Name="usReleaseBeltGrinder1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="USINT"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="INTEGER"/>
+          </DataPoint>
+        </Folder>
+        <DataPoint Name="enProgramSelection">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="typ_enPrograms"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="INTEGER"/>
+        </DataPoint>
+        <DataPoint Name="enTool1State">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="typ_enToolState"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="INTEGER"/>
+        </DataPoint>
+        <DataPoint Name="enTool2State">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="typ_enToolState"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="INTEGER"/>
+        </DataPoint>
+        <DataPoint Name="enStepAuto">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="typ_enStepAuto"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="INTEGER"/>
+        </DataPoint>
+        <DataPoint Name="enStepHoming">
+          <Property Name="ConnectedBySharedResource" Value="False"/>
+          <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+          <Property Name="Description" Value=""/>
+          <Property Name="PLCType" Value="typ_enStepHoming"/>
+          <Property Name="UpdateTime" Value="Default"/>
+          <Property Name="UserID" Value="None"/>
+          <Property Name="VCType" Value="INTEGER"/>
+        </DataPoint>
+        <Folder Name="ManualCommands">
+          <Property Name="Description" Value=""/>
+          <Property Name="FolderType" Value="Struct"/>
+          <DataPoint Name="bJogNegSlay1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bJogPosSlay1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bJogNegSlay2">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bJogPosSlay2">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bCloseGate">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bOpenGate">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bStartGrinder1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bStartGrinder2">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bTightenBeltGrinder1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+          <DataPoint Name="bReleaseBeltGrinder1">
+            <Property Name="ConnectedBySharedResource" Value="False"/>
+            <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+            <Property Name="Description" Value=""/>
+            <Property Name="PLCType" Value="BOOL"/>
+            <Property Name="UpdateTime" Value="Default"/>
+            <Property Name="UserID" Value="None"/>
+            <Property Name="VCType" Value="BOOL"/>
+          </DataPoint>
+        </Folder>
+      </Folder>
+      <DataPoint Name="genActivePrgRob2">
+        <Property Name="ConnectedBySharedResource" Value="False"/>
+        <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
+        <Property Name="Description" Value=""/>
+        <Property Name="PLCType" Value="typ_enPrograms"/>
+        <Property Name="UpdateTime" Value="Default"/>
+        <Property Name="UserID" Value="None"/>
+        <Property Name="VCType" Value="INTEGER"/>
+      </DataPoint>
     </Folder>
     <Folder Name="GlobalVars">
       <Property Name="Description" Value=""/>
@@ -1547,6 +1859,7 @@
       </DataPoint>
       <DataPoint Name="giOuPressureR2G1">
         <Property Name="ConnectedBySharedResource" Value="False"/>
+        <Property Name="ConnectingVisus" Value="Visualization\Visu1"/>
         <Property Name="DPLimit" Value="Default"/>
         <Property Name="Description" Value=""/>
         <Property Name="PLCType" Value="INT"/>

Logical/VCShared/Languages.vcr

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <Languages xmlns="http://br-automation.co.at/AS/VC/Project">
   <Property Name="Default" Value="de"/>
   <Property Name="FallBackLanguage" Value="None"/>

Logical/VCShared/Package.vcp

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <Project xmlns="http://br-automation.co.at/AS/VC/Project">
   <Property Name="EnableEvents" Value="False"/>
   <Property Name="SharedTargetResourceRoot" Value=""/>

Logical/Visualization/Visu1/Package.vcp

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <Project xmlns="http://br-automation.co.at/AS/VC/Project">
   <Property Name="Backlight" Value="False"/>
   <Property Name="BeepKey" Value="False"/>

Logical/Visualization/Visu1/Palette.vcr

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <Palette xmlns="http://br-automation.co.at/AS/VC/Project">
   <PaletteColor Index="0" Value="#000000"/>
   <PaletteColor Index="1" Value="#0000AA"/>

Logical/Visualization/Visu1/VirtualKeys.vcvk

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<?AutomationStudio Version="4.1.6.81 SP"?>
+<?AutomationStudio Version="4.1.8.44 SP"?>
 <KeyMapping xmlns="http://br-automation.co.at/AS/VC/Project">
   <VirtualKey Name="TP_ALPHA_Quest">
     <Property Name="Description" Value=""/>
@@ -1867,4 +1867,48 @@
     <Property Name="Description" Value=""/>
     <Property Name="VirtualKey_LED" Value="False"/>
   </VirtualKey>
+  <VirtualKey Name="ResetCounter2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManTightBelt1R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManReleaseBelt1R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManStartGrnd1R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManStartGrnd2R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManDoor1DownR2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManDoor2DownRw">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManJogNegSlay1R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManJogPosSlay2R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManJogPosSlay1R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
+  <VirtualKey Name="ManJogNegSlay2R2">
+    <Property Name="Description" Value=""/>
+    <Property Name="VirtualKey_LED" Value="False"/>
+  </VirtualKey>
 </KeyMapping>

Physical/Config2/Hardware.hw

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<?AutomationStudio Version=4.1.6.81 SP?>
+<?AutomationStudio Version=4.1.8.44 SP?>
 <Hardware xmlns="http://br-automation.co.at/AS/Hardware">
   <Module Name="6PPT30.0702-20W" Type="6PPT30.0702-20W" Version="1.0.0.6">
     <Connection Connector="ETH1" TargetModule="X20CP1583" TargetConnector="IF2" NodeNumber="1" />
@@ -32,6 +32,11 @@
     <Parameter ID="ACC" Value="1" />
     <Parameter ID="DEC" Value="1" />
     <Parameter ID="CTT" Value="0" />
+    <Parameter ID="NPR" Value="37" />
+    <Parameter ID="COS" Value="70" />
+    <Parameter ID="UNS" Value="400" />
+    <Parameter ID="NCR" Value="11" />
+    <Parameter ID="NSP" Value="1380" />
     <Parameter ID="QSTD" Value="2" />
   </Module>
   <Module Name="8I74xxxxxxx.01P-1a" Type="8I74xxxxxxx.01P-1" Version="1.1.5.0" Description="Toolslay 2 Rob 1">
@@ -42,6 +47,11 @@
     <Parameter ID="ACC" Value="1" />
     <Parameter ID="DEC" Value="1" />
     <Parameter ID="CTT" Value="0" />
+    <Parameter ID="NPR" Value="37" />
+    <Parameter ID="COS" Value="70" />
+    <Parameter ID="UNS" Value="400" />
+    <Parameter ID="NCR" Value="11" />
+    <Parameter ID="NSP" Value="1380" />
     <Parameter ID="QSTD" Value="2" />
   </Module>
   <Module Name="8I74xxxxxxx.01P-1b" Type="8I74xxxxxxx.01P-1" Version="1.1.5.0" Description="Toolslay 1 Rob 2">
@@ -51,6 +61,11 @@
     <Parameter ID="ACC" Value="1" />
     <Parameter ID="DEC" Value="1" />
     <Parameter ID="CTT" Value="0" />
+    <Parameter ID="NPR" Value="37" />
+    <Parameter ID="COS" Value="70" />
+    <Parameter ID="UNS" Value="400" />
+    <Parameter ID="NCR" Value="11" />
+    <Parameter ID="NSP" Value="1380" />
     <Parameter ID="QSTD" Value="2" />
   </Module>
   <Module Name="8I74xxxxxxx.01P-1c" Type="8I74xxxxxxx.01P-1" Version="1.1.5.0" Description="Toolslay 2 Rob 2">
@@ -61,6 +76,11 @@
     <Parameter ID="ACC" Value="1" />
     <Parameter ID="DEC" Value="1" />
     <Parameter ID="CTT" Value="0" />
+    <Parameter ID="NPR" Value="37" />
+    <Parameter ID="COS" Value="70" />
+    <Parameter ID="UNS" Value="400" />
+    <Parameter ID="NCR" Value="11" />
+    <Parameter ID="NSP" Value="1380" />
     <Parameter ID="QSTD" Value="2" />
   </Module>
   <Module Name="8I74xxxxxxx.01P-1d" Type="8I74xxxxxxx.01P-1" Version="1.1.5.0" Description="Grinder 1 (Big) Rob 1">
@@ -82,6 +102,15 @@
     <Connection Connector="PLK1" TargetModule="8I74xxxxxxx.01P-1d" TargetConnector="PLK2" NodeNumber="9" />
     <Parameter ID="FunctionModel" Value="Standard" />
     <Parameter ID="Supervision" Value="off" />
+    <Parameter ID="ACC" Value="3" />
+    <Parameter ID="DEC" Value="3" />
+    <Parameter ID="NPR" Value="300" />
+    <Parameter ID="COS" Value="81" />
+    <Parameter ID="UNS" Value="400" />
+    <Parameter ID="NCR" Value="63" />
+    <Parameter ID="NSP" Value="1455" />
+    <Parameter ID="TCT" Value="0" />
+    <Parameter ID="STT" Value="3" />
   </Module>
   <Module Name="8LSA37.R2030D000-3" Type="8LSA37.R2030D000-3" Version="1.0.5.34">
     <Connection Connector="MT" TargetModule="8V1045.00-2" TargetConnector="MT1" />

Physical/Config2/X20CP1583/Cpu.sw

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<?AutomationStudio Version=4.1.6.81 SP?>
+<?AutomationStudio Version=4.1.8.44 SP?>
 <SwConfiguration CpuAddress="SL1" xmlns="http://br-automation.co.at/AS/SwConfiguration">
   <TaskClass Name="Cyclic#1" />
   <TaskClass Name="Cyclic#2" />
@@ -80,13 +80,13 @@
     <BinaryObject Name="vcpfx20" Source="" Memory="UserROM" Language="Binary" />
     <BinaryObject Name="vctcal" Source="" Memory="UserROM" Language="Binary" />
     <BinaryObject Name="vcnet" Source="" Memory="UserROM" Language="Binary" />
-    <BinaryObject Name="Acp10map" Source="" Memory="UserROM" Language="Binary" />
-    <BinaryObject Name="acp10cfg" Source="" Memory="UserROM" Language="Binary" />
-    <BinaryObject Name="iomap" Source="" Memory="UserROM" Language="Binary" />
-    <BinaryObject Name="asfw" Source="" Memory="SystemROM" Language="Binary" />
-    <BinaryObject Name="arconfig" Source="" Memory="SystemROM" Language="Binary" />
-    <BinaryObject Name="ashwd" Source="" Memory="SystemROM" Language="Binary" />
     <BinaryObject Name="sysconf" Source="" Memory="SystemROM" Language="Binary" />
+    <BinaryObject Name="ashwd" Source="" Memory="SystemROM" Language="Binary" />
+    <BinaryObject Name="arconfig" Source="" Memory="SystemROM" Language="Binary" />
+    <BinaryObject Name="asfw" Source="" Memory="SystemROM" Language="Binary" />
+    <BinaryObject Name="iomap" Source="" Memory="UserROM" Language="Binary" />
+    <BinaryObject Name="acp10cfg" Source="" Memory="UserROM" Language="Binary" />
+    <BinaryObject Name="Acp10map" Source="" Memory="UserROM" Language="Binary" />
   </Binaries>
   <Libraries>
     <LibraryObject Name="standard" Source="" Memory="UserROM" Language="Binary" Debugging="true" />

Physical/Config2/X20CP1583/IoMap.iom

@@ -23,24 +23,6 @@ VAR_CONFIG
 	gbSPLCOuResetEstopRob2 AT %QX."X20SL8000".BOOL102;
 	gbSPLCOuResetWorkzoneRob1 AT %QX."X20SL8000".BOOL103;
 	gbSPLCOuResetWorkzoneRob2 AT %QX."X20SL8000".BOOL104;
-	gbSPLCOuHWSafetyDoor1Rob1OK AT %QX."X20SL8000".BOOL105;
-	gbSPLCOuHWSafetyDoor2Rob1OK AT %QX."X20SL8000".BOOL106;
-	gbSPLCOuHWSafetyDoor1Rob2OK AT %QX."X20SL8000".BOOL107;
-	gbSPLCOuHWSafetyDoor2Rob2OK AT %QX."X20SL8000".BOOL108;
-	gbSPLCOuHWSafetyEStop1Rob1OK AT %QX."X20SL8000".BOOL109;
-	gbSPLCOuHWSafetyEStop2Rob1OK AT %QX."X20SL8000".BOOL110;
-	gbSPLCOuHWSafetyEStop1Rob2OK AT %QX."X20SL8000".BOOL111;
-	gbSPLCOuHWSafetyEStop2Rob2OK AT %QX."X20SL8000".BOOL112;
-	gbSPLCOuHWSafetyToolSlayRob1OK AT %QX."X20SL8000".BOOL113;
-	gbSPLCOuHWSafetyToolSlayRob2OK AT %QX."X20SL8000".BOOL114;
-	gbSPLCOuHWSafetyGrindersRob1OK AT %QX."X20SL8000".BOOL115;
-	gbSPLCOuHWSafetyGrindersRob2OK AT %QX."X20SL8000".BOOL116;
-	gbSPLCOuHWMainValveRob1OK AT %QX."X20SL8000".BOOL117;
-	gbSPLCOuHWValveCloseGateRob1OK AT %QX."X20SL8000".BOOL118;
-	gbSPLCOuHWMainValveRob2OK AT %QX."X20SL8000".BOOL119;
-	gbSPLCOuHWValveCloseGateRob2OK AT %QX."X20SL8000".BOOL120;
-	gbSPLCOuReleaseSafeOutputRob1 AT %QX."X20SL8000".BOOL121;
-	gbSPLCOuReleaseSafeOutputRob2 AT %QX."X20SL8000".BOOL122;
 	gbSPLCInEstopOkRob1 AT %IX."X20SL8000".BOOL001;
 	gbSPLCInEstopOkRob2 AT %IX."X20SL8000".BOOL002;
 	gbSPLCInWorkzoneOkRob1 AT %IX."X20SL8000".BOOL003;
@@ -178,8 +160,6 @@ VAR_CONFIG
 	gbOuDoorMGBLED2Rob2 AT %QX."X20DO9322a".DigitalOutput09;
 	gbOuDQuickStopGrind2Rob1 AT %QX."X20DO9322b".DigitalOutput06;
 	gbOuDQuickStopGrind2Rob2 AT %QX."X20DO9322c".DigitalOutput06;
-	gbSPLCOuReleaseSafeDoorOuRob1 AT %QX."X20SL8000".BOOL123;
-	gbSPLCOuReleaseSafeDoorOuRob2 AT %QX."X20SL8000".BOOL124;
 	gbInEStopPressedRob1 AT %IX."X20DI9371b".DigitalInput11;
 	gbInEStopPressedRob2 AT %IX."X20DI9371b".DigitalInput12;
 	gbInStartKey1Rob1 AT %IX."X20DI9371a".DigitalInput04;
@@ -198,15 +178,10 @@ VAR_CONFIG
 	gbInKeyReleasePart AT %IX."8I74xxxxxxx.01P-1a".IL1R_Input_Bool_04;
 	gbInToolSlay1OutRob1 AT %IX."8I74xxxxxxx.01P-1".IL1R_Input_Bool_00;
 	gbInToolSlay1InRob1 AT %IX."8I74xxxxxxx.01P-1".IL1R_Input_Bool_01;
-	gbInGateIsOpenRob1 AT %IX."8I74xxxxxxx.01P-1".IL1R_Input_Bool_03;
 	gbInToolSlay2OutRob1 AT %IX."8I74xxxxxxx.01P-1a".IL1R_Input_Bool_00;
 	gbInToolSlay2InRob1 AT %IX."8I74xxxxxxx.01P-1a".IL1R_Input_Bool_01;
-	gbSPLCOuResetDoorzoneRob1 AT %QX."X20SL8000".BOOL125;
-	gbSPLCOuResetDoorzoneRob2 AT %QX."X20SL8000".BOOL126;
 	gbSPLCInDoorzoneOkRob1 AT %IX."X20SL8000".BOOL005;
 	gbSPLCInDoorzoneOkRob2 AT %IX."X20SL8000".BOOL006;
-	gbSPLCOuReleaseWorkzoneOuRob1 AT %QX."X20SL8000".BOOL127;
-	gbSPLCOuReleaseWorkzoneOuRob2 AT %QX."X20SL8000".BOOL128;
 	gAxR1G1.bModuleOK AT %IX."8I74xxxxxxx.01P-1d".ModuleOk;
 	gAxR1G1.In.bStat00_ReadytoSwitchOn AT %IX."8I74xxxxxxx.01P-1d".ETAD_Input_Bool_00;
 	gAxR1G1.In.bStat01_SwitchedOnReady AT %IX."8I74xxxxxxx.01P-1d".ETAD_Input_Bool_01;
@@ -403,7 +378,6 @@ VAR_CONFIG
 	gAxR2T1.In.uiTHR_ThermalStatMotor AT %IW."8I74xxxxxxx.01P-1b".THR_Input;
 	gbInToolSlay1OutRob2 AT %IX."8I74xxxxxxx.01P-1b".IL1R_Input_Bool_00;
 	gbInToolSlay1InRob2 AT %IX."8I74xxxxxxx.01P-1b".IL1R_Input_Bool_01;
-	gbInGateIsOpenRob2 AT %IX."8I74xxxxxxx.01P-1b".IL1R_Input_Bool_03;
 	gAxR2T1.In.uiErrorCode AT %IW."8I74xxxxxxx.01P-1b".ERRD_Input;
 	gAxR2T1.In.iLastFault AT %IW."8I74xxxxxxx.01P-1b".LFT_Input;
 	gAxR2T2.bModuleOK AT %IX."8I74xxxxxxx.01P-1c".ModuleOk;
@@ -519,4 +493,17 @@ VAR_CONFIG
 	gAxR2G1.Out.iLFR_Setpointspeed AT %QW."8I74xxxxxxx.01P-1e".LFRD_Output;
 	gAxR2G1.Out.bCmi00_FactorySettings AT %QX."8I74xxxxxxx.01P-1e".CMI_Output_Bool_00;
 	gAxR2G1.Out.bCmi01_SaveToEEPROM AT %QX."8I74xxxxxxx.01P-1e".CMI_Output_Bool_01;
+	gbInGateIsOpenRob2 AT %IX."8I74xxxxxxx.01P-1c".IL1R_Input_Bool_05;
+	gbInGateIsOpenRob1 AT %IX."8I74xxxxxxx.01P-1".IL1R_Input_Bool_05;
+	gbSPLCOuResetDoorzoneRob1 AT %QX."X20SL8000".BOOL105;
+	gbSPLCOuResetDoorzoneRob2 AT %QX."X20SL8000".BOOL106;
+	gbST7ModuleOk AT %IX."X20SO4110".ModuleOk;
+	gbST8ModuleOk AT %IX."X20SO4110a".ModuleOk;
+	gbST9ModuleOk AT %IX."X20SO4110b".ModuleOk;
+	gbST10ModuleOk AT %IX."X20SO4110c".ModuleOk;
+	gbOuOpenBrakeR1T1 AT %QX."8I74xxxxxxx.01P-1".OL1R_Output_Bool_02;
+	gbOuOpenBrakeR1T2 AT %QX."8I74xxxxxxx.01P-1a".OL1R_Output_Bool_02;
+	gbOuOpenBrakeR2T1 AT %QX."8I74xxxxxxx.01P-1b".OL1R_Output_Bool_02;
+	gbOuOpenBrakeR2T2 AT %QX."8I74xxxxxxx.01P-1c".OL1R_Output_Bool_02;
+	gbInKeyReleaseToolRob2 AT %IX."8I74xxxxxxx.01P-1b".IL1R_Input_Bool_04;
 END_VAR

Physical/Config2/X20CP1583/SafeLOGIC-1/BusNavigator.bnc

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<?AutomationStudio Version=4.1.6.81 SP?>
+<?AutomationStudio Version=4.1.8.44 SP?>
 <BusConfiguration Version="4.0" ARVersion="V4.08" SafetyRelease="1.6" Communication="/IF=tcpip /LOPO=11159 /SA=101 /RT=1000 /AM=* /SDT=5 /DAIP=192.168.30.79 /REPO=11159 /ANSL=1 /PT=11169 /PORT=50000">
   <Module ID="IF3.ST1" Name="X20SL8000" Hardware="X20SL8000" SafeLogicID="1" SafeModuleID="1" HWC_Revision="1.6.5.0" FrontFoto="X20SL8000.front.png" Icon="hw_x20sl.ico" HWTypeCode="5" HWC_LastEdit="12.11.2014 14:14:04" ProjectSL="1" Description-de="X20 SafeLOGIC, POWERLINK V2, 24V" Description-en="X20 SafeLOGIC, POWERLINK V2, 24V" AdditionalSADR="20" CommissioningLocal="1" PasswordSupport="true" FunctionMode="1" TypicalSafeInputSize="1" TypicalSafeOutputSize="1" TypicalInputSize="132" TypicalOutputSize="132" CRC-de="570432085" CRC-en="852658896" CRC-fr="3081900840" CRC-data="591144801" CRC-default="2333503117" FromSafetyRelease="1.6" ToSafetyRelease="1.6">
     <Template ID="TableSources" Type="UDINT">
@@ -307,30 +307,8 @@
         <Channel ID="02" ASVariable="gbSPLCOuResetEstopRob2" />
         <Channel ID="03" ASVariable="gbSPLCOuResetWorkzoneRob1" />
         <Channel ID="04" ASVariable="gbSPLCOuResetWorkzoneRob2" />
-        <Channel ID="05" ASVariable="gbSPLCOuHWSafetyDoor1Rob1OK" />
+        <Channel ID="05" ASVariable="gbSPLCOuResetDoorzoneRob1" />
-        <Channel ID="06" ASVariable="gbSPLCOuHWSafetyDoor2Rob1OK" />
+        <Channel ID="06" ASVariable="gbSPLCOuResetDoorzoneRob2" />
-        <Channel ID="07" ASVariable="gbSPLCOuHWSafetyDoor1Rob2OK" />
-        <Channel ID="08" ASVariable="gbSPLCOuHWSafetyDoor2Rob2OK" />
-        <Channel ID="09" ASVariable="gbSPLCOuHWSafetyEStop1Rob1OK" />
-        <Channel ID="10" ASVariable="gbSPLCOuHWSafetyEStop2Rob1OK" />
-        <Channel ID="11" ASVariable="gbSPLCOuHWSafetyEStop1Rob2OK" />
-        <Channel ID="12" ASVariable="gbSPLCOuHWSafetyEStop2Rob2OK" />
-        <Channel ID="13" ASVariable="gbSPLCOuHWSafetyToolSlayRob1OK" />
-        <Channel ID="14" ASVariable="gbSPLCOuHWSafetyToolSlayRob2OK" />
-        <Channel ID="15" ASVariable="gbSPLCOuHWSafetyGrindersRob1OK" />
-        <Channel ID="16" ASVariable="gbSPLCOuHWSafetyGrindersRob2OK" />
-        <Channel ID="17" ASVariable="gbSPLCOuHWMainValveRob1OK" />
-        <Channel ID="18" ASVariable="gbSPLCOuHWValveCloseGateRob1OK" />
-        <Channel ID="19" ASVariable="gbSPLCOuHWMainValveRob2OK" />
-        <Channel ID="20" ASVariable="gbSPLCOuHWValveCloseGateRob2OK" />
-        <Channel ID="21" ASVariable="gbSPLCOuReleaseSafeOutputRob1" />
-        <Channel ID="22" ASVariable="gbSPLCOuReleaseSafeOutputRob2" />
-        <Channel ID="23" ASVariable="gbSPLCOuReleaseSafeDoorOuRob1" />
-        <Channel ID="24" ASVariable="gbSPLCOuReleaseSafeDoorOuRob2" />
-        <Channel ID="25" ASVariable="gbSPLCOuResetDoorzoneRob1" />
-        <Channel ID="26" ASVariable="gbSPLCOuResetDoorzoneRob2" />
-        <Channel ID="27" ASVariable="gbSPLCOuReleaseWorkzoneOuRob1" />
-        <Channel ID="28" ASVariable="gbSPLCOuReleaseWorkzoneOuRob2" />
       </Mapping>
     </Channel>
     <Channel ID="BOOLext1" Repeat="256" Direction="IN" Type="BOOL" Group="CPU_SafeLOGIC" Digits="3" Active="0" />

Physical/Config2/X20CP1583/SafeLOGIC-1/BusNavigator.bns

@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="utf-8"?>
-<?AutomationStudio Version=4.1.6.81 SP?>
+<?AutomationStudio Version=4.1.8.44 SP?>
 <BusConfiguration Version="4.0" ARVersion="V4.08" SafetyRelease="1.6" Communication="/IF=tcpip /LOPO=11159 /SA=101 /RT=1000 /AM=* /SDT=5 /DAIP=192.168.30.79 /REPO=11159 /ANSL=1 /PT=11169 /PORT=50000">
   <Module ID="IF3.ST1" Name="X20SL8000" Hardware="X20SL8000" SafeLogicID="1" SafeModuleID="1" HWC_Revision="1.6.5.0" FrontFoto="X20SL8000.front.png" Icon="hw_x20sl.ico" HWTypeCode="5" HWC_LastEdit="12.11.2014 14:14:04" ProjectSL="1" Description-de="X20 SafeLOGIC, POWERLINK V2, 24V" Description-en="X20 SafeLOGIC, POWERLINK V2, 24V" AdditionalSADR="20" CommissioningLocal="1" PasswordSupport="true" FunctionMode="1" TypicalSafeInputSize="1" TypicalSafeOutputSize="1" TypicalInputSize="132" TypicalOutputSize="132" CRC-de="570432085" CRC-en="852658896" CRC-fr="3081900840" CRC-data="591144801" CRC-default="2333503117" FromSafetyRelease="1.6" ToSafetyRelease="1.6">
     <Template ID="TableSources" Type="UDINT">
@@ -307,30 +307,8 @@
         <Channel ID="02" ASVariable="gbSPLCOuResetEstopRob2" />
         <Channel ID="03" ASVariable="gbSPLCOuResetWorkzoneRob1" />
         <Channel ID="04" ASVariable="gbSPLCOuResetWorkzoneRob2" />
-        <Channel ID="05" ASVariable="gbSPLCOuHWSafetyDoor1Rob1OK" />
+        <Channel ID="05" ASVariable="gbSPLCOuResetDoorzoneRob1" />
-        <Channel ID="06" ASVariable="gbSPLCOuHWSafetyDoor2Rob1OK" />
+        <Channel ID="06" ASVariable="gbSPLCOuResetDoorzoneRob2" />
-        <Channel ID="07" ASVariable="gbSPLCOuHWSafetyDoor1Rob2OK" />
-        <Channel ID="08" ASVariable="gbSPLCOuHWSafetyDoor2Rob2OK" />
-        <Channel ID="09" ASVariable="gbSPLCOuHWSafetyEStop1Rob1OK" />
-        <Channel ID="10" ASVariable="gbSPLCOuHWSafetyEStop2Rob1OK" />
-        <Channel ID="11" ASVariable="gbSPLCOuHWSafetyEStop1Rob2OK" />
-        <Channel ID="12" ASVariable="gbSPLCOuHWSafetyEStop2Rob2OK" />
-        <Channel ID="13" ASVariable="gbSPLCOuHWSafetyToolSlayRob1OK" />
-        <Channel ID="14" ASVariable="gbSPLCOuHWSafetyToolSlayRob2OK" />
-        <Channel ID="15" ASVariable="gbSPLCOuHWSafetyGrindersRob1OK" />
-        <Channel ID="16" ASVariable="gbSPLCOuHWSafetyGrindersRob2OK" />
-        <Channel ID="17" ASVariable="gbSPLCOuHWMainValveRob1OK" />
-        <Channel ID="18" ASVariable="gbSPLCOuHWValveCloseGateRob1OK" />
-        <Channel ID="19" ASVariable="gbSPLCOuHWMainValveRob2OK" />
-        <Channel ID="20" ASVariable="gbSPLCOuHWValveCloseGateRob2OK" />
-        <Channel ID="21" ASVariable="gbSPLCOuReleaseSafeOutputRob1" />
-        <Channel ID="22" ASVariable="gbSPLCOuReleaseSafeOutputRob2" />
-        <Channel ID="23" ASVariable="gbSPLCOuReleaseSafeDoorOuRob1" />
-        <Channel ID="24" ASVariable="gbSPLCOuReleaseSafeDoorOuRob2" />
-        <Channel ID="25" ASVariable="gbSPLCOuResetDoorzoneRob1" />
-        <Channel ID="26" ASVariable="gbSPLCOuResetDoorzoneRob2" />
-        <Channel ID="27" ASVariable="gbSPLCOuReleaseWorkzoneOuRob1" />
-        <Channel ID="28" ASVariable="gbSPLCOuReleaseWorkzoneOuRob2" />
       </Mapping>
     </Channel>
     <Channel ID="BOOLext1" Repeat="256" Direction="IN" Type="BOOL" Group="CPU_SafeLOGIC" Digits="3" Active="0" />

Physical/Config2/X20CP1583/SafeLOGIC-1/BusNavigator.iom

@@ -6,30 +6,8 @@
 			<Channel Name="BOOL102" Mapping="NSIX0.1" Variable="gbSPLCOuResetEstopRob2" Address="gbSPLCOuResetEstopRob2" SODIndex="0x2500" SODSubIndex="0x1" />
 			<Channel Name="BOOL103" Mapping="NSIX0.2" Variable="gbSPLCOuResetWorkzoneRob1" Address="gbSPLCOuResetWorkzoneRob1" SODIndex="0x2500" SODSubIndex="0x1" />
 			<Channel Name="BOOL104" Mapping="NSIX0.3" Variable="gbSPLCOuResetWorkzoneRob2" Address="gbSPLCOuResetWorkzoneRob2" SODIndex="0x2500" SODSubIndex="0x1" />
-			<Channel Name="BOOL105" Mapping="NSIX0.4" Variable="gbSPLCOuHWSafetyDoor1Rob1OK" Address="gbSPLCOuHWSafetyDoor1Rob1OK" SODIndex="0x2500" SODSubIndex="0x1" />
+			<Channel Name="BOOL105" Mapping="NSIX0.4" Variable="gbSPLCOuResetDoorzoneRob1" Address="gbSPLCOuResetDoorzoneRob1" SODIndex="0x2500" SODSubIndex="0x1" />
-			<Channel Name="BOOL106" Mapping="NSIX0.5" Variable="gbSPLCOuHWSafetyDoor2Rob1OK" Address="gbSPLCOuHWSafetyDoor2Rob1OK" SODIndex="0x2500" SODSubIndex="0x1" />
+			<Channel Name="BOOL106" Mapping="NSIX0.5" Variable="gbSPLCOuResetDoorzoneRob2" Address="gbSPLCOuResetDoorzoneRob2" SODIndex="0x2500" SODSubIndex="0x1" />
-			<Channel Name="BOOL107" Mapping="NSIX0.6" Variable="gbSPLCOuHWSafetyDoor1Rob2OK" Address="gbSPLCOuHWSafetyDoor1Rob2OK" SODIndex="0x2500" SODSubIndex="0x1" />
-			<Channel Name="BOOL108" Mapping="NSIX0.7" Variable="gbSPLCOuHWSafetyDoor2Rob2OK" Address="gbSPLCOuHWSafetyDoor2Rob2OK" SODIndex="0x2500" SODSubIndex="0x1" />
-			<Channel Name="BOOL109" Mapping="NSIX1.0" Variable="gbSPLCOuHWSafetyEStop1Rob1OK" Address="gbSPLCOuHWSafetyEStop1Rob1OK" SODIndex="0x2500" SODSubIndex="0x2" />
-			<Channel Name="BOOL110" Mapping="NSIX1.1" Variable="gbSPLCOuHWSafetyEStop2Rob1OK" Address="gbSPLCOuHWSafetyEStop2Rob1OK" SODIndex="0x2500" SODSubIndex="0x3" />
-			<Channel Name="BOOL111" Mapping="NSIX1.2" Variable="gbSPLCOuHWSafetyEStop1Rob2OK" Address="gbSPLCOuHWSafetyEStop1Rob2OK" SODIndex="0x2500" SODSubIndex="0x4" />
-			<Channel Name="BOOL112" Mapping="NSIX1.3" Variable="gbSPLCOuHWSafetyEStop2Rob2OK" Address="gbSPLCOuHWSafetyEStop2Rob2OK" SODIndex="0x2500" SODSubIndex="0x5" />
-			<Channel Name="BOOL113" Mapping="NSIX1.4" Variable="gbSPLCOuHWSafetyToolSlayRob1OK" Address="gbSPLCOuHWSafetyToolSlayRob1OK" SODIndex="0x2500" SODSubIndex="0x6" />
-			<Channel Name="BOOL114" Mapping="NSIX1.5" Variable="gbSPLCOuHWSafetyToolSlayRob2OK" Address="gbSPLCOuHWSafetyToolSlayRob2OK" SODIndex="0x2500" SODSubIndex="0x7" />
-			<Channel Name="BOOL115" Mapping="NSIX1.6" Variable="gbSPLCOuHWSafetyGrindersRob1OK" Address="gbSPLCOuHWSafetyGrindersRob1OK" SODIndex="0x2500" SODSubIndex="0x8" />
-			<Channel Name="BOOL116" Mapping="NSIX1.7" Variable="gbSPLCOuHWSafetyGrindersRob2OK" Address="gbSPLCOuHWSafetyGrindersRob2OK" SODIndex="0x2500" SODSubIndex="0x9" />
-			<Channel Name="BOOL117" Mapping="NSIX2.0" Variable="gbSPLCOuHWMainValveRob1OK" Address="gbSPLCOuHWMainValveRob1OK" SODIndex="0x2500" SODSubIndex="0xA" />
-			<Channel Name="BOOL118" Mapping="NSIX2.1" Variable="gbSPLCOuHWValveCloseGateRob1OK" Address="gbSPLCOuHWValveCloseGateRob1OK" SODIndex="0x2500" SODSubIndex="0xB" />
-			<Channel Name="BOOL119" Mapping="NSIX2.2" Variable="gbSPLCOuHWMainValveRob2OK" Address="gbSPLCOuHWMainValveRob2OK" SODIndex="0x2500" SODSubIndex="0xC" />
-			<Channel Name="BOOL120" Mapping="NSIX2.3" Variable="gbSPLCOuHWValveCloseGateRob2OK" Address="gbSPLCOuHWValveCloseGateRob2OK" SODIndex="0x2500" SODSubIndex="0xD" />
-			<Channel Name="BOOL121" Mapping="NSIX2.4" Variable="gbSPLCOuReleaseSafeOutputRob1" Address="gbSPLCOuReleaseSafeOutputRob1" SODIndex="0x2500" SODSubIndex="0xE" />
-			<Channel Name="BOOL122" Mapping="NSIX2.5" Variable="gbSPLCOuReleaseSafeOutputRob2" Address="gbSPLCOuReleaseSafeOutputRob2" SODIndex="0x2500" SODSubIndex="0xF" />
-			<Channel Name="BOOL123" Mapping="NSIX2.6" Variable="gbSPLCOuReleaseSafeDoorOuRob1" Address="gbSPLCOuReleaseSafeDoorOuRob1" SODIndex="0x2500" SODSubIndex="0x10" />
-			<Channel Name="BOOL124" Mapping="NSIX2.7" Variable="gbSPLCOuReleaseSafeDoorOuRob2" Address="gbSPLCOuReleaseSafeDoorOuRob2" SODIndex="0x2500" SODSubIndex="0x11" />
-			<Channel Name="BOOL125" Mapping="NSIX3.0" Variable="gbSPLCOuResetDoorzoneRob1" Address="gbSPLCOuResetDoorzoneRob1" SODIndex="0x2500" SODSubIndex="0x12" />
-			<Channel Name="BOOL126" Mapping="NSIX3.1" Variable="gbSPLCOuResetDoorzoneRob2" Address="gbSPLCOuResetDoorzoneRob2" SODIndex="0x2500" SODSubIndex="0x13" />
-			<Channel Name="BOOL127" Mapping="NSIX3.2" Variable="gbSPLCOuReleaseWorkzoneOuRob1" Address="gbSPLCOuReleaseWorkzoneOuRob1" SODIndex="0x2500" SODSubIndex="0x14" />
-			<Channel Name="BOOL128" Mapping="NSIX3.3" Variable="gbSPLCOuReleaseWorkzoneOuRob2" Address="gbSPLCOuReleaseWorkzoneOuRob2" SODIndex="0x2500" SODSubIndex="0x15" />
 			<Channel Name="BOOL001" Mapping="NSQX0.0" Variable="gbSPLCInEstopOkRob1" Address="gbSPLCInEstopOkRob1" SODIndex="0x2580" SODSubIndex="0x1" />
 			<Channel Name="BOOL002" Mapping="NSQX0.1" Variable="gbSPLCInEstopOkRob2" Address="gbSPLCInEstopOkRob2" SODIndex="0x2580" SODSubIndex="0x1" />
 			<Channel Name="BOOL003" Mapping="NSQX0.2" Variable="gbSPLCInWorkzoneOkRob1" Address="gbSPLCInWorkzoneOkRob1" SODIndex="0x2580" SODSubIndex="0x1" />
@@ -44,10 +22,13 @@
 			<Channel Name="SafeTwoChannelInput0708" Mapping="SIX19.7" Variable="gbSInEStopOkRob2" Address="gbSInEStopOkRob2" SODIndex="0x6000" SODSubIndex="0x3" />
 			<Channel Name="SafeTwoChannelInput0910" Mapping="SIX20.0" Variable="gbSInGateClosedRob1" Address="gbSInGateClosedRob1" SODIndex="0x6000" SODSubIndex="0x4" />
 			<Channel Name="SafeTwoChannelInput1112" Mapping="SIX20.1" Variable="gbSInLightBarOkRob1" Address="gbSInLightBarOkRob1" SODIndex="0x6000" SODSubIndex="0x4" />
+			<Channel Name="SafeTwoChannelInput1314" Mapping="SIX20.2" Variable="gbSInBumperOkRob1" Address="gbSInBumperOkRob1" SODIndex="0x6000" SODSubIndex="0x4" />
 			<Channel Name="SafeTwoChannelInput1516" Mapping="SIX20.3" Variable="gbSInGateClosedRob2" Address="gbSInGateClosedRob2" SODIndex="0x6000" SODSubIndex="0x4" />
 			<Channel Name="SafeTwoChannelInput1718" Mapping="SIX20.4" Variable="gbSInLightBarOkRob2" Address="gbSInLightBarOkRob2" SODIndex="0x6000" SODSubIndex="0x4" />
+			<Channel Name="SafeTwoChannelInput1920" Mapping="SIX20.5" Variable="gbSInBumperOkRob2" Address="gbSInBumperOkRob2" SODIndex="0x6000" SODSubIndex="0x4" />
 		</Module>
 		<Module Name="SL1.SM3" Hardware="X20SO4110" SafeLogicID="1" SafeModuleID="3" SISize="1" SOSize="1" NSISize="1" NSOSize="1" SIOffset="25" SOOffset="13" NSIOffset="132" NSOOffset="132" ConnectionValidBitNumber="1" HWTypeCode="43" >
+			<Channel Name="SafeModuleOk" Mapping="SIX29.1" Variable="bSSM3Ok" />
 			<Channel Name="SafeDigitalOutput01" Mapping="SQX13.0" Variable="gbOuSafetyAfterDoor1Rob1" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="SafeDigitalOutput02" Mapping="SQX13.1" Variable="gbOuSafetyAfterDoor2Rob1" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="SafeDigitalOutput03" Mapping="SQX13.2" Variable="gbOuSafetyAfterDoor1Rob2" SODIndex="0x6200" SODSubIndex="0x1" />
@@ -58,6 +39,7 @@
 			<Channel Name="ReleaseOutput04" Mapping="NSQX132.3" Variable="gbOuSafetyAfterDoor2Rob2Rel" SODIndex="0x6200" SODSubIndex="0x2" />
 		</Module>
 		<Module Name="SL1.SM4" Hardware="X20SO4110" SafeLogicID="1" SafeModuleID="4" SISize="1" SOSize="1" NSISize="1" NSOSize="1" SIOffset="26" SOOffset="14" NSIOffset="133" NSOOffset="133" ConnectionValidBitNumber="2" HWTypeCode="43" >
+			<Channel Name="SafeModuleOk" Mapping="SIX29.2" Variable="bSSM4Ok" />
 			<Channel Name="SafeDigitalOutput01" Mapping="SQX14.0" Variable="gbSOuSafetyAfterEStop1Rob1" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="SafeDigitalOutput02" Mapping="SQX14.1" Variable="gbSOuSafetyAfterEStop2Rob1" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="SafeDigitalOutput03" Mapping="SQX14.2" Variable="gbSOuSafetyAfterEStop1Rob2" SODIndex="0x6200" SODSubIndex="0x1" />
@@ -68,6 +50,7 @@
 			<Channel Name="ReleaseOutput04" Mapping="NSQX133.3" Variable="gbOuSafetyAfterEStop2Rob2Rel" SODIndex="0x6200" SODSubIndex="0x2" />
 		</Module>
 		<Module Name="SL1.SM5" Hardware="X20SO4110" SafeLogicID="1" SafeModuleID="5" SISize="1" SOSize="1" NSISize="1" NSOSize="1" SIOffset="27" SOOffset="15" NSIOffset="134" NSOOffset="134" ConnectionValidBitNumber="3" HWTypeCode="43" >
+			<Channel Name="SafeModuleOk" Mapping="SIX29.3" Variable="bSSM5Ok" />
 			<Channel Name="SafeDigitalOutput01" Mapping="SQX15.0" Variable="gbOuSafetyToolslayRob1" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="SafeDigitalOutput02" Mapping="SQX15.1" Variable="gbOuSafetyToolslayRob2" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="SafeDigitalOutput03" Mapping="SQX15.2" Variable="gbOuSafetyGrindersRob1" SODIndex="0x6200" SODSubIndex="0x1" />
@@ -78,9 +61,14 @@
 			<Channel Name="ReleaseOutput04" Mapping="NSQX134.3" Variable="gbOuSafetyGrindersRob2Rel" SODIndex="0x6200" SODSubIndex="0x2" />
 		</Module>
 		<Module Name="SL1.SM6" Hardware="X20SO4110" SafeLogicID="1" SafeModuleID="6" SISize="1" SOSize="1" NSISize="1" NSOSize="1" SIOffset="28" SOOffset="16" NSIOffset="135" NSOOffset="135" ConnectionValidBitNumber="4" HWTypeCode="43" >
+			<Channel Name="SafeModuleOk" Mapping="SIX29.4" Variable="bSSM6Ok" />
 			<Channel Name="SafeDigitalOutput01" Mapping="SQX16.0" Variable="gbOuMainValveRob1" SODIndex="0x6200" SODSubIndex="0x1" />
+			<Channel Name="SafeDigitalOutput02" Mapping="SQX16.1" Variable="gbOuCloseGateRob1" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="SafeDigitalOutput03" Mapping="SQX16.2" Variable="gbOuMainValveRob2" SODIndex="0x6200" SODSubIndex="0x1" />
+			<Channel Name="SafeDigitalOutput04" Mapping="SQX16.3" Variable="gbOuCloseGateRob2" SODIndex="0x6200" SODSubIndex="0x1" />
 			<Channel Name="ReleaseOutput01" Mapping="NSQX135.0" Variable="gbOuMainValveRob1Rel" SODIndex="0x6200" SODSubIndex="0x2" />
+			<Channel Name="ReleaseOutput02" Mapping="NSQX135.1" Variable="gbOuCloseGateRob1Rel" SODIndex="0x6200" SODSubIndex="0x2" />
 			<Channel Name="ReleaseOutput03" Mapping="NSQX135.2" Variable="gbOuMainValveRob2Rel" SODIndex="0x6200" SODSubIndex="0x2" />
+			<Channel Name="ReleaseOutput04" Mapping="NSQX135.3" Variable="gbOuCloseGateRob2Rel" SODIndex="0x6200" SODSubIndex="0x2" />
 		</Module>
 </IOOffsets>

Physical/Config2/X20CP1583/SafeLOGIC-1/BusNavigator.set

@@ -12,7 +12,7 @@ SortColumn=0
 SADRWidth=100
 DescriptionWidth=100
 ChannelWidth=250
-SplitterPosition=612
+SplitterPosition=738
 StateWidth=100
 SDVarWidth=189
 [Manual]

Physical/Config2/X20CP1583/SafeLOGIC-1/BusNavigator.txt

@@ -32,7 +32,7 @@ Idx/Sub  Chnl  Off/Size
 0xC400, 0x02, long,     0x00006065 (24677), 
 0xC400, 0x03, long,     0x00001DC0 (7616), 
 0xC400, 0x04, long,     0x00010100 (65792), 
-0xC400, 0x07, long,     0x55B60D85 (1437994373), 
+0xC400, 0x07, long,     0x563A0591 (1446643089), 
 0xC400, 0x08, short,    0x0008 (8), 
 0xC400, 0x0A, long,     0x00000000 (0), 
 0xC400, 0x0B, s_dom,    0x00000000 (0), 
@@ -41,7 +41,7 @@ Idx/Sub  Chnl  Off/Size
   0x100C, 0x02, byte,     0x05 (5), 
   0x101B, 0x01, byte,     0x00 (0), 
   0x100D, 0x00, long,     0x00002710 (10000), NoCrc
-  0x1018, 0x07, long,     0x55B60D85 (1437994373), NoCrc
+  0x1018, 0x07, long,     0x563A0591 (1446643089), NoCrc
   0x1200, 0x01, short,    0x0001 (1), NoCrc
   0x1200, 0x02, short,    0x0001 (1), NoCrc
   0x1200, 0x03, byte,     0x02 (2), 
@@ -179,7 +179,7 @@ Idx/Sub  Chnl  Off/Size
     0x04, 0x00, 0x1D, 0x00, 0x04, 0x00, 0x00, 0x00, 
     NoCrc
   0x1018, 0x06, stru_bnc, 0x0100, 
-    0x85, 0x0D, 0xB6, 0x55, 0xAA, 0x69, 0x3F, 0xD9, 
+    0x91, 0x05, 0x3A, 0x56, 0xAA, 0x69, 0x3F, 0xD9, 
     0xB8, 0x39, 0x69, 0xDF, 0xB7, 0x27, 0xDD, 0x99, 
     0x17, 0x30, 0xC6, 0x05, 0x2D, 0x02, 0xC0, 0x39, 
     0x45, 0xC5, 0x9D, 0xA3, 0x0B, 0x82, 0xDE, 0x68, 
@@ -219,7 +219,7 @@ Idx/Sub  Chnl  Off/Size
 0xC401, 0x02, long,     0x00006065 (24677), 
 0xC401, 0x03, long,     0x0000AEC8 (44744), 
 0xC401, 0x04, long,     0x00010100 (65792), 
-0xC401, 0x07, long,     0x55B60D85 (1437994373), 
+0xC401, 0x07, long,     0x563A0591 (1446643089), 
 0xC401, 0x08, short,    0x0008 (8), 
 0xC401, 0x0A, long,     0x00000000 (0), 
 0xC401, 0x0B, s_dom,    0x00000000 (0), 
@@ -227,7 +227,7 @@ Idx/Sub  Chnl  Off/Size
   0x100C, 0x01, long,     0x0001D4C0 (120000), 
   0x100C, 0x02, byte,     0x05 (5), 
   0x100D, 0x00, long,     0x00002710 (10000), NoCrc
-  0x1018, 0x07, long,     0x55B60D85 (1437994373), NoCrc
+  0x1018, 0x07, long,     0x563A0591 (1446643089), NoCrc
   0x1200, 0x01, short,    0x0001 (1), NoCrc
   0x1200, 0x02, short,    0x0001 (1), NoCrc
   0x1200, 0x03, byte,     0x02 (2), 
@@ -256,8 +256,8 @@ Idx/Sub  Chnl  Off/Size
     0xA0, 0x86, 0x01, 0x00, 0x01, 0x02, 0x02, 0x10, 
     0x27, 0x00, 0x00, 0xA0, 0x86, 0x01, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 
-    0x00, 0x00, 0xA0, 0x86, 0x01, 0x00, 0x00, 0x00, 
+    0x00, 0x00, 0xA0, 0x86, 0x01, 0x00, 0xF0, 0x49, 
-    0x00, 0x00, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 
+    0x02, 0x00, 0x01, 0x04, 0x00, 0x00, 0x00, 0x00, 
     0x00, 0xA0, 0x86, 0x01, 0x00, 0x00, 0x00, 0x00, 
     0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 
     0xA0, 0x86, 0x01, 0x00, 0x60, 0xE3, 0x16, 0x00, 
@@ -268,14 +268,14 @@ Idx/Sub  Chnl  Off/Size
     0x02, 0x10, 0x27, 0x00, 0x00, 0xA0, 0x86, 0x01, 
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01, 0x00, 
     0x00, 0x00, 0x00, 0x00, 0xA0, 0x86, 0x01, 0x00, 
-    0x00, 0x00, 0x00, 0x00, 0x01, 0x02, 0x00, 0x00, 
+    0xF0, 0x49, 0x02, 0x00, 0x01, 0x02, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0xA0, 0x86, 0x01, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0x00, 
   0x2001, 0x00, stru_bnc, 0x003E, 
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0x00, 0x01, 0x01, 0x01, 0x01, 
-    0x01, 0x01, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 
+    0x01, 0x01, 0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
     0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 
@@ -305,7 +305,7 @@ Idx/Sub  Chnl  Off/Size
   0xC000, 0x08, long,     0x60000808 (1610614792), 
   0xC000, 0x00, byte,     0x08 (8), 
   0x1018, 0x06, stru_bnc, 0x0008, 
-    0x85, 0x0D, 0xB6, 0x55, 0x8D, 0xB0, 0x25, 0x2B, 
+    0x91, 0x05, 0x3A, 0x56, 0xC7, 0x9D, 0x25, 0x26, 
     NoCrc
   
   >> End of Module
@@ -314,7 +314,7 @@ Idx/Sub  Chnl  Off/Size
 0xC402, 0x02, long,     0x00006065 (24677), 
 0xC402, 0x03, long,     0x00001DBE (7614), 
 0xC402, 0x04, long,     0x00010100 (65792), 
-0xC402, 0x07, long,     0x55B60D85 (1437994373), 
+0xC402, 0x07, long,     0x563A0591 (1446643089), 
 0xC402, 0x08, short,    0x0008 (8), 
 0xC402, 0x0A, long,     0x00000000 (0), 
 0xC402, 0x0B, s_dom,    0x00000000 (0), 
@@ -322,7 +322,7 @@ Idx/Sub  Chnl  Off/Size
   0x100C, 0x01, long,     0x0001D4C0 (120000), 
   0x100C, 0x02, byte,     0x05 (5), 
   0x100D, 0x00, long,     0x00002710 (10000), NoCrc
-  0x1018, 0x07, long,     0x55B60D85 (1437994373), NoCrc
+  0x1018, 0x07, long,     0x563A0591 (1446643089), NoCrc
   0x1200, 0x01, short,    0x0001 (1), NoCrc
   0x1200, 0x02, short,    0x0001 (1), NoCrc
   0x1200, 0x03, byte,     0x02 (2), 
@@ -353,7 +353,7 @@ Idx/Sub  Chnl  Off/Size
   0xC000, 0x01, long,     0x60000108 (1610613000), 
   0xC000, 0x00, byte,     0x01 (1), 
   0x1018, 0x06, stru_bnc, 0x0008, 
-    0x85, 0x0D, 0xB6, 0x55, 0x0C, 0xF0, 0x84, 0xBE, 
+    0x91, 0x05, 0x3A, 0x56, 0x0C, 0xF0, 0x84, 0xBE, 
     NoCrc
   
   >> End of Module
@@ -362,7 +362,7 @@ Idx/Sub  Chnl  Off/Size
 0xC403, 0x02, long,     0x00006065 (24677), 
 0xC403, 0x03, long,     0x00001DBE (7614), 
 0xC403, 0x04, long,     0x00010100 (65792), 
-0xC403, 0x07, long,     0x55B60D85 (1437994373), 
+0xC403, 0x07, long,     0x563A0591 (1446643089), 
 0xC403, 0x08, short,    0x0008 (8), 
 0xC403, 0x0A, long,     0x00000000 (0), 
 0xC403, 0x0B, s_dom,    0x00000000 (0), 
@@ -370,12 +370,12 @@ Idx/Sub  Chnl  Off/Size
   0x100C, 0x01, long,     0x0001D4C0 (120000), 
   0x100C, 0x02, byte,     0x05 (5), 
   0x100D, 0x00, long,     0x00002710 (10000), NoCrc
-  0x1018, 0x07, long,     0x55B60D85 (1437994373), NoCrc
+  0x1018, 0x07, long,     0x563A0591 (1446643089), NoCrc
   0x1200, 0x01, short,    0x0001 (1), NoCrc
   0x1200, 0x02, short,    0x0001 (1), NoCrc
   0x1200, 0x03, byte,     0x02 (2), 
   0x2000, 0x00, stru_bnc, 0x0008, 
-    0x02, 0x00, 0x08, 0x00, 0x00, 0x0F, 0x00, 0x00, 
+    0x02, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 
     
   0x2001, 0x00, stru_bnc, 0x0008, 
     0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 
@@ -401,7 +401,7 @@ Idx/Sub  Chnl  Off/Size
   0xC000, 0x01, long,     0x60000108 (1610613000), 
   0xC000, 0x00, byte,     0x01 (1), 
   0x1018, 0x06, stru_bnc, 0x0008, 
-    0x85, 0x0D, 0xB6, 0x55, 0xD2, 0x4E, 0x81, 0x79, 
+    0x91, 0x05, 0x3A, 0x56, 0xBE, 0x63, 0xEA, 0x18, 
     NoCrc
   
   >> End of Module
@@ -410,7 +410,7 @@ Idx/Sub  Chnl  Off/Size
 0xC404, 0x02, long,     0x00006065 (24677), 
 0xC404, 0x03, long,     0x00001DBE (7614), 
 0xC404, 0x04, long,     0x00010100 (65792), 
-0xC404, 0x07, long,     0x55B60D85 (1437994373), 
+0xC404, 0x07, long,     0x563A0591 (1446643089), 
 0xC404, 0x08, short,    0x0008 (8), 
 0xC404, 0x0A, long,     0x00000000 (0), 
 0xC404, 0x0B, s_dom,    0x00000000 (0), 
@@ -418,7 +418,7 @@ Idx/Sub  Chnl  Off/Size
   0x100C, 0x01, long,     0x0001D4C0 (120000), 
   0x100C, 0x02, byte,     0x05 (5), 
   0x100D, 0x00, long,     0x00002710 (10000), NoCrc
-  0x1018, 0x07, long,     0x55B60D85 (1437994373), NoCrc
+  0x1018, 0x07, long,     0x563A0591 (1446643089), NoCrc
   0x1200, 0x01, short,    0x0001 (1), NoCrc
   0x1200, 0x02, short,    0x0001 (1), NoCrc
   0x1200, 0x03, byte,     0x02 (2), 
@@ -449,7 +449,7 @@ Idx/Sub  Chnl  Off/Size
   0xC000, 0x01, long,     0x60000108 (1610613000), 
   0xC000, 0x00, byte,     0x01 (1), 
   0x1018, 0x06, stru_bnc, 0x0008, 
-    0x85, 0x0D, 0xB6, 0x55, 0xD4, 0xF6, 0x9C, 0x01, 
+    0x91, 0x05, 0x3A, 0x56, 0xD4, 0xF6, 0x9C, 0x01, 
     NoCrc
   
   >> End of Module
@@ -458,7 +458,7 @@ Idx/Sub  Chnl  Off/Size
 0xC405, 0x02, long,     0x00006065 (24677), 
 0xC405, 0x03, long,     0x00001DBE (7614), 
 0xC405, 0x04, long,     0x00010100 (65792), 
-0xC405, 0x07, long,     0x55B60D85 (1437994373), 
+0xC405, 0x07, long,     0x563A0591 (1446643089), 
 0xC405, 0x08, short,    0x0008 (8), 
 0xC405, 0x0A, long,     0x00000000 (0), 
 0xC405, 0x0B, s_dom,    0x00000000 (0), 
@@ -466,7 +466,7 @@ Idx/Sub  Chnl  Off/Size
   0x100C, 0x01, long,     0x0001D4C0 (120000), 
   0x100C, 0x02, byte,     0x05 (5), 
   0x100D, 0x00, long,     0x00002710 (10000), NoCrc
-  0x1018, 0x07, long,     0x55B60D85 (1437994373), NoCrc
+  0x1018, 0x07, long,     0x563A0591 (1446643089), NoCrc
   0x1200, 0x01, short,    0x0001 (1), NoCrc
   0x1200, 0x02, short,    0x0001 (1), NoCrc
   0x1200, 0x03, byte,     0x02 (2), 
@@ -474,7 +474,7 @@ Idx/Sub  Chnl  Off/Size
     0x02, 0x00, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 
     
   0x2001, 0x00, stru_bnc, 0x0008, 
-    0x01, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 
+    0x01, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 
     
   0x1400, 0x01, short,    0x000A (10), 
   0x1400, 0x02, long,     0x00000032 (50), 
@@ -497,7 +497,7 @@ Idx/Sub  Chnl  Off/Size
   0xC000, 0x01, long,     0x60000108 (1610613000), 
   0xC000, 0x00, byte,     0x01 (1), 
   0x1018, 0x06, stru_bnc, 0x0008, 
-    0x85, 0x0D, 0xB6, 0x55, 0x17, 0x10, 0xB8, 0x63, 
+    0x91, 0x05, 0x3A, 0x56, 0x6A, 0x49, 0x07, 0x2A, 
     NoCrc
   
   >> End of Module

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/@$@$@$@$.SET

@@ -1,3 +1,3 @@
 [ONLINE]
 INFO_DLG_PLACEMENT=0,1,-1,-1,-1,-1,30,22,516,396
-CNTRL_DLG_PLACEMENT=0,1,1520,84,-1,-1,1317,222,1490,444
+CNTRL_DLG_PLACEMENT=0,1,1520,84,-1,-1,880,398,1053,620

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/CPU.ini

@@ -8,4 +8,4 @@ VarInOut=1
 Retain=0
 [CRC]
 RETAIN=1
-PROJECT=925417626
+PROJECT=3244313263

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00080.CIC

@@ -2,270 +2,348 @@
 T: PROGRAM Main
 FW: NO
 CI#: 80
-QSL: 238
+QSL: 320
 QJM: 0
 QJ: 0
 QR: 0
 *)
 		@NETWORK_BEGIN	
-@BPV 1 16 0		@FUORG 0	@3 2 VAR
+@BPV 1 68 0		LD	@TYP:1# 1
-@BPV 1 18 0		@FUPAR 0	@RV 50
+@BPV 1 1 0		ST	@IFBP 2.8
-@BPV 1 13 0			
-@BPV 1 19 0		@FUPAR 0	@RV 49
-@BPV 1 14 0			
-@BPV 1 15 0		@FURET 0	@IFBP 2.8
-@BPV 1 1 0			
-@BPV 1 16 0		@FUCA 0	
 @BPV 1 0 0		LD	@RV 1
 @BPV 1 2 0		ST	@IFBP 2.9
-@BPV 1 20 0		LD	@RV 37
+@BPV 1 12 0		LD	@RV 37
 @BPV 1 5 0		ST	@IFBP 2.12
 @BPV 1 10 0		CAL	@IFB 2
 @BPV 1 7 0		LD	@IFBP 2.14
-@BPV 1 24 0		ST	@RV 6
+@BPV 1 36 0		ST	@IV 1
-@BPV 1 25 0		ST	@RV 7
-@BPV 1 66 0		ST	@IV 1
-@BPV 1 1 0		@FPNOP	@IFBP 2.8
 @BPV 1 3 0		@FPNOP	@IFBP 2.10
 @BPV 1 4 0		@FPNOP	@IFBP 2.11
 @BPV 1 6 0		@FPNOP	@IFBP 2.13
 @BPV 1 8 0		@FPNOP	@IFBP 2.15
 @BPV 1 9 0		@FPNOP	@IFBP 2.16
-@BPV 1 23 0		@FUORG 1	@48 1 VAR
+@BPV 1 15 0		@FUORG 0	@48 1 VAR
-@BPV 1 7 0		@FUPAR 1	@IFBP 2.14
+@BPV 1 7 0		@FUPAR 0	@IFBP 2.14
-@BPV 1 21 0			
+@BPV 1 13 0			
-@BPV 1 22 0		@FURET 1	@RV 43
+@BPV 1 14 0		@FURET 0	@RV 43
-@BPV 1 32 0			
+@BPV 1 17 0			
-@BPV 1 23 0		@FUCA 1	
+@BPV 1 15 0		@FUCA 0	
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 1 38 0		@FUORG 0	@3 2 VAR
+@BPV 1 69 0		LD	@TYP:1# 1
-@BPV 1 33 0		@FUPAR 0	@RV 51
+@BPV 1 18 0		ST	@IFBP 7.8
-@BPV 1 35 0			
+@BPV 1 29 0		LD	@RV 19
-@BPV 1 34 0		@FUPAR 0	@RV 52
+@BPV 1 19 0		ST	@IFBP 7.9
-@BPV 1 36 0			
+@BPV 1 30 0		LD	@RV 38
-@BPV 1 37 0		@FURET 0	@IFBP 6.8
+@BPV 1 22 0		ST	@IFBP 7.12
-@BPV 1 39 0			
+@BPV 1 27 0		CAL	@IFB 7
-@BPV 1 38 0		@FUCA 0	
+@BPV 1 24 0		LD	@IFBP 7.14
-@BPV 1 51 0		LD	@RV 19
+@BPV 1 38 0		ST	@IV 6
-@BPV 1 40 0		ST	@IFBP 6.9
+@BPV 1 20 0		@FPNOP	@IFBP 7.10
-@BPV 1 53 0		LD	@RV 38
+@BPV 1 21 0		@FPNOP	@IFBP 7.11
-@BPV 1 43 0		ST	@IFBP 6.12
+@BPV 1 23 0		@FPNOP	@IFBP 7.13
-@BPV 1 48 0		CAL	@IFB 6
+@BPV 1 25 0		@FPNOP	@IFBP 7.15
-@BPV 1 45 0		LD	@IFBP 6.14
+@BPV 1 26 0		@FPNOP	@IFBP 7.16
-@BPV 1 54 0		ST	@RV 24
+@BPV 1 33 0		@FUORG 0	@48 1 VAR
-@BPV 1 55 0		ST	@RV 25
+@BPV 1 24 0		@FUPAR 0	@IFBP 7.14
-@BPV 1 68 0		ST	@IV 5
+@BPV 1 31 0			
-@BPV 1 39 0		@FPNOP	@IFBP 6.8
+@BPV 1 32 0		@FURET 0	@RV 44
-@BPV 1 41 0		@FPNOP	@IFBP 6.10
+@BPV 1 34 0			
-@BPV 1 42 0		@FPNOP	@IFBP 6.11
+@BPV 1 33 0		@FUCA 0	
-@BPV 1 44 0		@FPNOP	@IFBP 6.13
-@BPV 1 46 0		@FPNOP	@IFBP 6.15
-@BPV 1 47 0		@FPNOP	@IFBP 6.16
-@BPV 1 58 0		@FUORG 1	@48 1 VAR
-@BPV 1 45 0		@FUPAR 1	@IFBP 6.14
-@BPV 1 56 0			
-@BPV 1 57 0		@FURET 1	@RV 44
-@BPV 1 59 0			
-@BPV 1 58 0		@FUCA 1	
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 2 1 0		LD	@RV 65
+@BPV 1 58 0		LD	@RV 49
-@BPV 2 2 0		ST	@RV 12
+@BPV 1 51 0		ST	@IFBP 5.1
-@BPV 2 3 0		ST	@RV 13
+@BPV 1 57 0		LD	@IV 1
+@BPV 1 52 0		ST	@IFBP 5.2
+@BPV 1 55 0		CAL	@IFB 5
+@BPV 1 53 0		LD	@IFBP 5.3
+@BPV 1 42 0		ST	@RV 13
+@BPV 1 41 0		ST	@RV 12
+@BPV 1 54 0		LD	@IFBP 5.4
+@BPV 1 71 0		ST	@RV 6
+@BPV 1 72 0		ST	@RV 7
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 2 8 0		LD	@RV 66
+@BPV 1 62 0		LD	@RV 49
-@BPV 2 9 0		ST	@RV 30
+@BPV 1 63 0		ST	@IFBP 10.1
-@BPV 2 10 0		ST	@RV 31
+@BPV 1 61 0		LD	@IV 6
+@BPV 1 64 0		ST	@IFBP 10.2
+@BPV 1 67 0		CAL	@IFB 10
+@BPV 1 65 0		LD	@IFBP 10.3
+@BPV 1 44 0		ST	@RV 31
+@BPV 1 43 0		ST	@RV 30
+@BPV 1 66 0		LD	@IFBP 10.4
+@BPV 1 84 0		ST	@RV 24
+@BPV 1 85 0		ST	@RV 25
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 2 23 0		LD	@RV 67
+@BPV 2 18 0		@FUORG 0	@26 2 VAR
-@BPV 2 15 0		ST	@RV 14
+@BPV 2 13 0		@FUPAR 0	@RV 53
-@BPV 2 16 0		ST	@RV 15
+@BPV 2 15 0			
-@BPV 2 19 0		ST	@RV 18
+@BPV 2 14 0		@FUPAR 0	@IV 1
-@BPV 2 21 0		ST	@RV 16
+@BPV 2 16 0			
+@BPV 2 17 0		@FURET 0	@IFBP 19.9
+@BPV 2 2 0			
+@BPV 2 18 0		@FUCA 0	
+@BPV 2 12 0		LD	@TYP:1# 1
+@BPV 2 1 0		ST	@IFBP 19.8
+@BPV 2 59 0		LD	@RV 41
+@BPV 2 5 0		ST	@IFBP 19.12
+@BPV 2 10 0		CAL	@IFB 19
+@BPV 2 7 0		LD	@IFBP 19.14
+@BPV 2 21 0		ST	@IFBP 20.2
+@BPV 2 2 0		@FPNOP	@IFBP 19.9
+@BPV 2 3 0		@FPNOP	@IFBP 19.10
+@BPV 2 4 0		@FPNOP	@IFBP 19.11
+@BPV 2 6 0		@FPNOP	@IFBP 19.13
+@BPV 2 8 0		@FPNOP	@IFBP 19.15
+@BPV 2 9 0		@FPNOP	@IFBP 19.16
+@BPV 2 50 0		LD	@RV 52
+@BPV 2 20 0		ST	@IFBP 20.1
+@BPV 2 24 0		CAL	@IFB 20
+@BPV 2 22 0		LD	@IFBP 20.3
+@BPV 2 29 0		ST	@RV 56
+@BPV 2 23 0		LD	@IFBP 20.4
+@BPV 2 27 0		ST	@RV 54
+@BPV 2 21 0		@FPNOP	@IFBP 20.2
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 2 43 0		LD	@RV 69
+@BPV 2 35 0		@FUORG 0	@26 2 VAR
-@BPV 2 41 0		ST	@RV 17
+@BPV 2 36 0		@FUPAR 0	@RV 58
+@BPV 2 32 0			
+@BPV 2 31 0		@FUPAR 0	@IV 6
+@BPV 2 33 0			
+@BPV 2 34 0		@FURET 0	@IFBP 21.9
+@BPV 2 38 0			
+@BPV 2 35 0		@FUCA 0	
+@BPV 2 49 0		LD	@TYP:1# 1
+@BPV 2 37 0		ST	@IFBP 21.8
+@BPV 2 60 0		LD	@RV 42
+@BPV 2 41 0		ST	@IFBP 21.12
+@BPV 2 46 0		CAL	@IFB 21
+@BPV 2 43 0		LD	@IFBP 21.14
+@BPV 2 52 0		ST	@IFBP 22.2
+@BPV 2 38 0		@FPNOP	@IFBP 21.9
+@BPV 2 39 0		@FPNOP	@IFBP 21.10
+@BPV 2 40 0		@FPNOP	@IFBP 21.11
+@BPV 2 42 0		@FPNOP	@IFBP 21.13
+@BPV 2 44 0		@FPNOP	@IFBP 21.15
+@BPV 2 45 0		@FPNOP	@IFBP 21.16
+@BPV 2 58 0		LD	@RV 52
+@BPV 2 51 0		ST	@IFBP 22.1
+@BPV 2 55 0		CAL	@IFB 22
+@BPV 2 53 0		LD	@IFBP 22.3
+@BPV 2 30 0		ST	@RV 57
+@BPV 2 54 0		LD	@IFBP 22.4
+@BPV 2 28 0		ST	@RV 55
+@BPV 2 52 0		@FPNOP	@IFBP 22.2
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 2 24 0		LD	@RV 68
+@BPV 3 35 0		@FUORG 0	@38 2 VAR
-@BPV 2 17 0		ST	@RV 32
+@BPV 3 25 0		@FUPAR 0	@RV 4
-@BPV 2 18 0		ST	@RV 33
+@BPV 3 32 0			
-@BPV 2 20 0		ST	@RV 36
+@BPV 3 24 0		@FUPAR 0	@RV 3
-@BPV 2 22 0		ST	@RV 34
+@BPV 3 33 0			
-		@NETWORK_END	
+@BPV 3 34 0		@FURET 0	@PAR 1
-		@NETWORK_BEGIN	
+@BPV 3 35 0		@FUCA 0	
-@BPV 2 45 0		LD	@RV 70
+@BPV 3 31 0		@FUORG 1	@26 3 VAR
-@BPV 2 42 0		ST	@RV 35
+@BPV 3 28 0		@FUPAR 1	@RET 0
-		@NETWORK_END	
+@BPV 3 22 0		@FUPAR 1	@RV 2
-		@NETWORK_BEGIN	
+@BPV 3 29 0			
-@BPV 3 13 0		@FUORG 0	@3 5 VAR
+@BPV 3 38 0		@FUPAR 1	@IV 1
-@BPV 3 0 0		@FUPAR 0	@RV 53
+@BPV 3 37 0			
-@BPV 3 10 0			
+@BPV 3 30 0		@FURET 1	@IFBP 3.9
-@BPV 3 1 0		@FUPAR 0	@RV 54
+@BPV 3 1 0			
-@BPV 3 11 0			
+@BPV 3 31 0		@FUCA 1	
-@BPV 3 2 0		@FUPAR 0	@RV 56
+@BPV 3 98 0		LD	@TYP:1# 1
-@BPV 3 14 0			
+@BPV 3 0 0		ST	@IFBP 3.8
-@BPV 3 3 0		@FUPAR 0	@RV 57
+@BPV 3 63 0		LD	@RV 39
-@BPV 3 15 0			
+@BPV 3 4 0		ST	@IFBP 3.12
-@BPV 3 4 0		@FUPAR 0	@RV 58
+@BPV 3 9 0		CAL	@IFB 3
-@BPV 3 16 0			
+@BPV 3 6 0		LD	@IFBP 3.14
-@BPV 3 12 0		@FURET 0	@IFBP 3.8
+@BPV 3 75 0		ST	@IFBP 11.2
-@BPV 3 24 0			
+@BPV 3 90 0		ST	@IFBP 12.2
-@BPV 3 13 0		@FUCA 0	
+@BPV 3 102 0		ST	@IFBP 13.2
-@BPV 3 59 0		@FUORG 1	@38 2 VAR
+@BPV 3 1 0		@FPNOP	@IFBP 3.9
-@BPV 3 49 0		@FUPAR 1	@RV 4
+@BPV 3 2 0		@FPNOP	@IFBP 3.10
-@BPV 3 56 0			
+@BPV 3 3 0		@FPNOP	@IFBP 3.11
-@BPV 3 48 0		@FUPAR 1	@RV 3
+@BPV 3 5 0		@FPNOP	@IFBP 3.13
-@BPV 3 57 0			
+@BPV 3 7 0		@FPNOP	@IFBP 3.15
-@BPV 3 58 0		@FURET 1	@PAR 2
+@BPV 3 8 0		@FPNOP	@IFBP 3.16
-@BPV 3 59 0		@FUCA 1	
+@BPV 3 111 0		LD	@RV 52
-@BPV 3 55 0		@FUORG 2	@26 3 VAR
+@BPV 3 101 0		ST	@IFBP 13.1
-@BPV 3 52 0		@FUPAR 2	@RET 1
+@BPV 3 105 0		CAL	@IFB 13
-@BPV 3 46 0		@FUPAR 2	@RV 2
+@BPV 3 103 0		LD	@IFBP 13.3
-@BPV 3 53 0			
+@BPV 3 115 0		ST	@RV 16
-@BPV 3 64 0		@FUPAR 2	@IV 1
+@BPV 3 104 0		LD	@IFBP 13.4
-@BPV 3 63 0			
+@BPV 3 107 0		ST	@RV 5
-@BPV 3 54 0		@FURET 2	@IFBP 3.9
+@BPV 3 102 0		@FPNOP	@IFBP 13.2
-@BPV 3 25 0			
+@BPV 3 95 0		LD	@RV 51
-@BPV 3 55 0		@FUCA 2	
+@BPV 3 89 0		ST	@IFBP 12.1
-@BPV 3 118 0		LD	@RV 39
+@BPV 3 93 0		CAL	@IFB 12
-@BPV 3 28 0		ST	@IFBP 3.12
+@BPV 3 91 0		LD	@IFBP 12.3
-@BPV 3 33 0		CAL	@IFB 3
+@BPV 3 114 0		ST	@RV 18
-@BPV 3 30 0		LD	@IFBP 3.14
+@BPV 3 92 0		LD	@IFBP 12.4
-@BPV 3 90 0		ST	@RV 8
+@BPV 3 99 0		ST	@RV 10
-@BPV 3 91 0		ST	@RV 9
+@BPV 3 90 0		@FPNOP	@IFBP 12.2
-@BPV 3 94 0		ST	@RV 10
+@BPV 3 73 0		LD	@RV 50
-@BPV 3 96 0		ST	@RV 5
+@BPV 3 74 0		ST	@IFBP 11.1
-@BPV 3 24 0		@FPNOP	@IFBP 3.8
+@BPV 3 78 0		CAL	@IFB 11
-@BPV 3 25 0		@FPNOP	@IFBP 3.9
+@BPV 3 76 0		LD	@IFBP 11.3
-@BPV 3 26 0		@FPNOP	@IFBP 3.10
+@BPV 3 113 0		ST	@RV 15
-@BPV 3 27 0		@FPNOP	@IFBP 3.11
+@BPV 3 112 0		ST	@RV 14
-@BPV 3 29 0		@FPNOP	@IFBP 3.13
+@BPV 3 77 0		LD	@IFBP 11.4
-@BPV 3 31 0		@FPNOP	@IFBP 3.15
+@BPV 3 58 0		ST	@RV 8
-@BPV 3 32 0		@FPNOP	@IFBP 3.16
+@BPV 3 84 0		ST	@RV 9
-@BPV 3 86 0		@FUORG 3	@48 1 VAR
+@BPV 3 75 0		@FPNOP	@IFBP 11.2
-@BPV 3 30 0		@FUPAR 3	@IFBP 3.14
+@BPV 3 54 0		@FUORG 2	@48 1 VAR
-@BPV 3 84 0			
+@BPV 3 6 0		@FUPAR 2	@IFBP 3.14
-@BPV 3 85 0		@FURET 3	@RV 47
+@BPV 3 52 0			
-@BPV 3 120 0			
+@BPV 3 53 0		@FURET 2	@RV 47
-@BPV 3 86 0		@FUCA 3	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-@BPV 3 20 0		@FUORG 0	@3 5 VAR
-@BPV 3 5 0		@FUPAR 0	@RV 59
-@BPV 3 17 0			
-@BPV 3 6 0		@FUPAR 0	@RV 60
-@BPV 3 18 0			
-@BPV 3 7 0		@FUPAR 0	@RV 62
-@BPV 3 21 0			
-@BPV 3 8 0		@FUPAR 0	@RV 63
-@BPV 3 22 0			
-@BPV 3 9 0		@FUPAR 0	@RV 64
-@BPV 3 23 0			
-@BPV 3 19 0		@FURET 0	@IFBP 7.8
-@BPV 3 35 0			
-@BPV 3 20 0		@FUCA 0	
-@BPV 3 68 0		@FUORG 1	@38 2 VAR
-@BPV 3 51 0		@FUPAR 1	@RV 22
 @BPV 3 65 0			
-@BPV 3 50 0		@FUPAR 1	@RV 21
+@BPV 3 54 0		@FUCA 2	
-@BPV 3 66 0			
-@BPV 3 67 0		@FURET 1	@PAR 2
-@BPV 3 68 0		@FUCA 1	
-@BPV 3 72 0		@FUORG 2	@26 3 VAR
-@BPV 3 69 0		@FUPAR 2	@RET 1
-@BPV 3 47 0		@FUPAR 2	@RV 20
-@BPV 3 70 0			
-@BPV 3 73 0		@FUPAR 2	@IV 5
-@BPV 3 74 0			
-@BPV 3 71 0		@FURET 2	@IFBP 7.9
-@BPV 3 36 0			
-@BPV 3 72 0		@FUCA 2	
-@BPV 3 119 0		LD	@RV 40
-@BPV 3 39 0		ST	@IFBP 7.12
-@BPV 3 44 0		CAL	@IFB 7
-@BPV 3 41 0		LD	@IFBP 7.14
-@BPV 3 92 0		ST	@RV 26
-@BPV 3 93 0		ST	@RV 27
-@BPV 3 95 0		ST	@RV 28
-@BPV 3 97 0		ST	@RV 23
-@BPV 3 35 0		@FPNOP	@IFBP 7.8
-@BPV 3 36 0		@FPNOP	@IFBP 7.9
-@BPV 3 37 0		@FPNOP	@IFBP 7.10
-@BPV 3 38 0		@FPNOP	@IFBP 7.11
-@BPV 3 40 0		@FPNOP	@IFBP 7.13
-@BPV 3 42 0		@FPNOP	@IFBP 7.15
-@BPV 3 43 0		@FPNOP	@IFBP 7.16
-@BPV 3 89 0		@FUORG 3	@48 1 VAR
-@BPV 3 41 0		@FUPAR 3	@IFBP 7.14
-@BPV 3 87 0			
-@BPV 3 88 0		@FURET 3	@RV 48
-@BPV 3 121 0			
-@BPV 3 89 0		@FUCA 3	
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 4 20 0		@FUORG 0	@26 3 VAR
+@BPV 3 42 0		@FUORG 0	@38 2 VAR
+@BPV 3 27 0		@FUPAR 0	@RV 22
+@BPV 3 39 0			
+@BPV 3 26 0		@FUPAR 0	@RV 21
+@BPV 3 40 0			
+@BPV 3 41 0		@FURET 0	@PAR 1
+@BPV 3 42 0		@FUCA 0	
+@BPV 3 46 0		@FUORG 1	@26 3 VAR
+@BPV 3 43 0		@FUPAR 1	@RET 0
+@BPV 3 23 0		@FUPAR 1	@RV 20
+@BPV 3 44 0			
+@BPV 3 47 0		@FUPAR 1	@IV 6
+@BPV 3 48 0			
+@BPV 3 45 0		@FURET 1	@IFBP 8.9
+@BPV 3 12 0			
+@BPV 3 46 0		@FUCA 1	
+@BPV 3 170 0		LD	@TYP:1# 1
+@BPV 3 11 0		ST	@IFBP 8.8
+@BPV 3 64 0		LD	@RV 40
+@BPV 3 15 0		ST	@IFBP 8.12
+@BPV 3 20 0		CAL	@IFB 8
+@BPV 3 17 0		LD	@IFBP 8.14
+@BPV 3 127 0		ST	@IFBP 14.2
+@BPV 3 142 0		ST	@IFBP 15.2
+@BPV 3 152 0		ST	@IFBP 16.2
+@BPV 3 12 0		@FPNOP	@IFBP 8.9
+@BPV 3 13 0		@FPNOP	@IFBP 8.10
+@BPV 3 14 0		@FPNOP	@IFBP 8.11
+@BPV 3 16 0		@FPNOP	@IFBP 8.13
+@BPV 3 18 0		@FPNOP	@IFBP 8.15
+@BPV 3 19 0		@FPNOP	@IFBP 8.16
+@BPV 3 171 0		LD	@RV 52
+@BPV 3 151 0		ST	@IFBP 16.1
+@BPV 3 155 0		CAL	@IFB 16
+@BPV 3 153 0		LD	@IFBP 16.3
+@BPV 3 163 0		ST	@RV 34
+@BPV 3 154 0		LD	@IFBP 16.4
+@BPV 3 62 0		ST	@RV 23
+@BPV 3 152 0		@FPNOP	@IFBP 16.2
+@BPV 3 150 0		LD	@RV 51
+@BPV 3 141 0		ST	@IFBP 15.1
+@BPV 3 145 0		CAL	@IFB 15
+@BPV 3 143 0		LD	@IFBP 15.3
+@BPV 3 162 0		ST	@RV 36
+@BPV 3 144 0		LD	@IFBP 15.4
+@BPV 3 61 0		ST	@RV 28
+@BPV 3 142 0		@FPNOP	@IFBP 15.2
+@BPV 3 140 0		LD	@RV 50
+@BPV 3 126 0		ST	@IFBP 14.1
+@BPV 3 130 0		CAL	@IFB 14
+@BPV 3 128 0		LD	@IFBP 14.3
+@BPV 3 161 0		ST	@RV 33
+@BPV 3 160 0		ST	@RV 32
+@BPV 3 129 0		LD	@IFBP 14.4
+@BPV 3 59 0		ST	@RV 26
+@BPV 3 60 0		ST	@RV 27
+@BPV 3 127 0		@FPNOP	@IFBP 14.2
+@BPV 3 57 0		@FUORG 2	@48 1 VAR
+@BPV 3 17 0		@FUPAR 2	@IFBP 8.14
+@BPV 3 55 0			
+@BPV 3 56 0		@FURET 2	@RV 48
+@BPV 3 66 0			
+@BPV 3 57 0		@FUCA 2	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+@BPV 4 19 0		@FUORG 0	@26 3 VAR
 @BPV 4 14 0		@FUPAR 0	@RV 4
+@BPV 4 16 0			
+@BPV 4 20 0		@FUPAR 0	@RV 2
 @BPV 4 17 0			
-@BPV 4 22 0		@FUPAR 0	@RV 2
+@BPV 4 22 0		@FUPAR 0	@IV 1
-@BPV 4 18 0			
+@BPV 4 21 0			
-@BPV 4 24 0		@FUPAR 0	@IV 1
+@BPV 4 18 0		@FURET 0	@IFBP 4.9
-@BPV 4 23 0			
-@BPV 4 19 0		@FURET 0	@IFBP 8.9
 @BPV 4 1 0			
-@BPV 4 20 0		@FUCA 0	
+@BPV 4 19 0		@FUCA 0	
-@BPV 4 16 0		LD	@RV 55
+@BPV 4 54 0		LD	@TYP:1# 1
-@BPV 4 0 0		ST	@IFBP 8.8
+@BPV 4 0 0		ST	@IFBP 4.8
 @BPV 4 15 0		LD	@RV 41
-@BPV 4 4 0		ST	@IFBP 8.12
+@BPV 4 4 0		ST	@IFBP 4.12
-@BPV 4 9 0		CAL	@IFB 8
+@BPV 4 9 0		CAL	@IFB 4
-@BPV 4 6 0		LD	@IFBP 8.14
+@BPV 4 6 0		LD	@IFBP 4.14
-@BPV 4 25 0		ST	@RV 11
+@BPV 4 61 0		ST	@IFBP 17.2
-@BPV 4 1 0		@FPNOP	@IFBP 8.9
+@BPV 4 1 0		@FPNOP	@IFBP 4.9
-@BPV 4 2 0		@FPNOP	@IFBP 8.10
+@BPV 4 2 0		@FPNOP	@IFBP 4.10
-@BPV 4 3 0		@FPNOP	@IFBP 8.11
+@BPV 4 3 0		@FPNOP	@IFBP 4.11
-@BPV 4 5 0		@FPNOP	@IFBP 8.13
+@BPV 4 5 0		@FPNOP	@IFBP 4.13
-@BPV 4 7 0		@FPNOP	@IFBP 8.15
+@BPV 4 7 0		@FPNOP	@IFBP 4.15
-@BPV 4 8 0		@FPNOP	@IFBP 8.16
+@BPV 4 8 0		@FPNOP	@IFBP 4.16
+@BPV 4 80 0		LD	@RV 51
+@BPV 4 60 0		ST	@IFBP 17.1
+@BPV 4 64 0		CAL	@IFB 17
+@BPV 4 62 0		LD	@IFBP 17.3
+@BPV 4 83 0		ST	@RV 17
+@BPV 4 63 0		LD	@IFBP 17.4
+@BPV 4 66 0		ST	@RV 11
+@BPV 4 61 0		@FPNOP	@IFBP 17.2
 @BPV 4 13 0		@FUORG 1	@48 1 VAR
-@BPV 4 6 0		@FUPAR 1	@IFBP 8.14
+@BPV 4 6 0		@FUPAR 1	@IFBP 4.14
 @BPV 4 11 0			
 @BPV 4 12 0		@FURET 1	@RV 45
-@BPV 4 60 0			
+@BPV 4 47 0			
 @BPV 4 13 0		@FUCA 1	
 		@NETWORK_END	
 		@NETWORK_BEGIN	
-@BPV 4 43 0		@FUORG 0	@26 3 VAR
+@BPV 4 35 0		@FUORG 0	@26 3 VAR
-@BPV 4 30 0		@FUPAR 0	@RV 22
+@BPV 4 23 0		@FUPAR 0	@RV 22
-@BPV 4 38 0			
+@BPV 4 30 0			
-@BPV 4 33 0		@FUPAR 0	@RV 20
+@BPV 4 25 0		@FUPAR 0	@RV 20
-@BPV 4 39 0			
+@BPV 4 31 0			
-@BPV 4 34 0		@FUPAR 0	@IV 5
+@BPV 4 26 0		@FUPAR 0	@IV 6
-@BPV 4 41 0			
+@BPV 4 33 0			
-@BPV 4 40 0		@FURET 0	@IFBP 4.9
+@BPV 4 32 0		@FURET 0	@IFBP 9.9
-@BPV 4 45 0			
+@BPV 4 37 0			
-@BPV 4 43 0		@FUCA 0	
+@BPV 4 35 0		@FUCA 0	
-@BPV 4 32 0		LD	@RV 61
+@BPV 4 55 0		LD	@TYP:1# 1
-@BPV 4 44 0		ST	@IFBP 4.8
+@BPV 4 36 0		ST	@IFBP 9.8
-@BPV 4 31 0		LD	@RV 42
+@BPV 4 24 0		LD	@RV 42
-@BPV 4 48 0		ST	@IFBP 4.12
+@BPV 4 40 0		ST	@IFBP 9.12
-@BPV 4 53 0		CAL	@IFB 4
+@BPV 4 45 0		CAL	@IFB 9
-@BPV 4 50 0		LD	@IFBP 4.14
+@BPV 4 42 0		LD	@IFBP 9.14
-@BPV 4 35 0		ST	@RV 29
+@BPV 4 68 0		ST	@IFBP 18.2
-@BPV 4 45 0		@FPNOP	@IFBP 4.9
+@BPV 4 37 0		@FPNOP	@IFBP 9.9
-@BPV 4 46 0		@FPNOP	@IFBP 4.10
+@BPV 4 38 0		@FPNOP	@IFBP 9.10
-@BPV 4 47 0		@FPNOP	@IFBP 4.11
+@BPV 4 39 0		@FPNOP	@IFBP 9.11
-@BPV 4 49 0		@FPNOP	@IFBP 4.13
+@BPV 4 41 0		@FPNOP	@IFBP 9.13
-@BPV 4 51 0		@FPNOP	@IFBP 4.15
+@BPV 4 43 0		@FPNOP	@IFBP 9.15
-@BPV 4 52 0		@FPNOP	@IFBP 4.16
+@BPV 4 44 0		@FPNOP	@IFBP 9.16
-@BPV 4 42 0		@FUORG 1	@48 1 VAR
+@BPV 4 81 0		LD	@RV 51
-@BPV 4 50 0		@FUPAR 1	@IFBP 4.14
+@BPV 4 67 0		ST	@IFBP 18.1
-@BPV 4 36 0			
+@BPV 4 71 0		CAL	@IFB 18
-@BPV 4 37 0		@FURET 1	@RV 46
+@BPV 4 69 0		LD	@IFBP 18.3
-@BPV 4 61 0			
+@BPV 4 84 0		ST	@RV 35
-@BPV 4 42 0		@FUCA 1	
+@BPV 4 70 0		LD	@IFBP 18.4
+@BPV 4 27 0		ST	@RV 29
+@BPV 4 68 0		@FPNOP	@IFBP 18.2
+@BPV 4 34 0		@FUORG 1	@48 1 VAR
+@BPV 4 42 0		@FUPAR 1	@IFBP 9.14
+@BPV 4 28 0			
+@BPV 4 29 0		@FURET 1	@RV 46
+@BPV 4 48 0			
+@BPV 4 34 0		@FUCA 1	
 		@NETWORK_END	

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00080.CIW

@@ -1,7 +1,7 @@
 (*
 QWS: 00004
 *)
-00001	00058	POE\Main\EStop.gb
+00001	00062	POE\Main\EStop.gb
-00002	00020	POE\Main\Outputs.gb
+00002	00058	POE\Main\Gate.gb
-00003	00102	POE\Main\AStop.gb
+00003	00126	POE\Main\AStop.gb
-00004	00058	POE\Main\Workzone.gb
+00004	00074	POE\Main\Workzone.gb

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00080.DIT

@@ -2,11 +2,11 @@
 T: PROGRAM Main
 FW: NO
 CI#: 80
-QSL: 8
+QSL: 22
-QVE: 8
+QVE: 22
-QVPC: 8
+QVPC: 22
 QPar: 0
-QFBI: 6
+QFBI: 20
 *)
 @V 1 2 0
 ESTOP_OK_ROB1	1	VAR	@TYP:43
@@ -15,43 +15,127 @@ ESTOP_OK_ROB1	1	VAR	@TYP:43
 ;
 
 @V 1 3 0
-SF_EmergencyStop_V1_00_1	2	VAR	@FB:81
+SF_EmergencyStop_V1_00_1	2	VAR	@FB:82
 		     
 
 ;
 
 @V 1 4 0
-SF_EmergencyStop_V1_00_3	3	VAR	@FB:81
+SF_EmergencyStop_V1_00_3	3	VAR	@FB:82
 		     
 
 ;
 
 @V 1 5 0
-SF_EmergencyStop_V1_00_6	4	VAR	@FB:81
+SF_EmergencyStop_V1_00_5	4	VAR	@FB:82
 		     
 
 ;
 
-@V 1 7 0
+@V 1 6 0
-ESTOP_OK_ROB2	5	VAR	@TYP:43
+ReleaseDelayedEStopR1	5	VAR	@FB:81
 		     
 
 ;
 
 @V 1 8 0
-SF_EmergencyStop_V1_00_2	6	VAR	@FB:81
+ESTOP_OK_ROB2	6	VAR	@TYP:43
 		     
 
 ;
 
 @V 1 9 0
-SF_EmergencyStop_V1_00_4	7	VAR	@FB:81
+SF_EmergencyStop_V1_00_2	7	VAR	@FB:82
 		     
 
 ;
 
 @V 1 10 0
-SF_EmergencyStop_V1_00_5	8	VAR	@FB:81
+SF_EmergencyStop_V1_00_4	8	VAR	@FB:82
+		     
+
+;
+
+@V 1 11 0
+SF_EmergencyStop_V1_00_6	9	VAR	@FB:82
+		     
+
+;
+
+@V 1 12 0
+ReleaseDelayedEStopR2	10	VAR	@FB:81
+		     
+
+;
+
+@V 1 13 0
+ReleaseDelayedAfterDoorRob1	11	VAR	@FB:81
+		     
+
+;
+
+@V 1 14 0
+ReleaseDelayedGrindersRob1	12	VAR	@FB:81
+		     
+
+;
+
+@V 1 15 0
+ReleaseDelayed_MainValveRob1	13	VAR	@FB:81
+		     
+
+;
+
+@V 1 16 0
+ReleaseDelayedAfterDoorRob2	14	VAR	@FB:81
+		     
+
+;
+
+@V 1 17 0
+ReleaseDelayedGrindersRob2	15	VAR	@FB:81
+		     
+
+;
+
+@V 1 18 0
+ReleaseDelayed_MainValveRob2	16	VAR	@FB:81
+		     
+
+;
+
+@V 1 19 0
+ReleaseDelayedToolslayRob1	17	VAR	@FB:81
+		     
+
+;
+
+@V 1 20 0
+ReleaseDelayedToolslayRob2	18	VAR	@FB:81
+		     
+
+;
+
+@V 1 21 0
+SF_EmergencyStop_GateRob1	19	VAR	@FB:82
+		     
+
+;
+
+@V 1 22 0
+ReleaseDelayed_CloseGateRob1	20	VAR	@FB:81
+		     
+
+;
+
+@V 1 23 0
+SF_EmergencyStop_GateRob2	21	VAR	@FB:82
+		     
+
+;
+
+@V 1 24 0
+ReleaseDelayed_CloseGateRob2	22	VAR	@FB:81
 		     
 
 ;

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00080.DIW

@@ -1,8 +1,8 @@
 (*
 QWS: 00005
 *)
-00001	00008	POE\Main\Variables.vbb
+00001	00022	POE\Main\Variables.vbb
 00002	00000	POE\Main\EStop.gb
-00003	00000	POE\Main\Outputs.gb
+00003	00000	POE\Main\Gate.gb
 00004	00000	POE\Main\AStop.gb
 00005	00000	POE\Main\Workzone.gb

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00081.CIC

@@ -1,414 +1,34 @@
 (*
-T: FUNCTION_BLOCK SF_EmergencyStop_V1_00
+T: FUNCTION_BLOCK ReleaseDelayed
-FW: YES
+FW: NO
 CI#: 81
-QSL: 0
+QSL: 23
-QJM: 10
+QJM: 0
-QJ: 18
+QJ: 0
 QR: 0
 *)
 		@NETWORK_BEGIN	
-		@FUORG 0	@48 1 VAR
+@BPV 1 19 0		@FUORG 0	@26 2 VAR
-		@FUPAR 0	@IV 9
+@BPV 1 0 0		@FUPAR 0	@IV 2
-		@FURET 0	@IV 1
+@BPV 1 16 0			
-		@FUCA 0	
+@BPV 1 1 0		@FUPAR 0	@IV 1
-		@NETWORK_END	
+@BPV 1 17 0			
-		@NETWORK_BEGIN	
+@BPV 1 18 0		@FURET 0	@IV 4
-		@FUORG 0	@48 1 VAR
+@BPV 1 2 0			
-		@FUPAR 0	@IV 10
+@BPV 1 18 0		@FURET 0	@IV 6
-		@FURET 0	@IV 2
+@BPV 1 3 0			
-		@FUCA 0	
+@BPV 1 19 0		@FUCA 0	
-		@NETWORK_END	
+@BPV 1 5 0		@FUORG 1	@48 1 VAR
-		@NETWORK_BEGIN	
+@BPV 1 18 0		@FUPAR 1	@IV 6
-		@FUORG 0	@48 1 VAR
+@BPV 1 3 0			
-		@FUPAR 0	@IV 11
+@BPV 1 4 0		@FURET 1	@IFBP 5.1
-		@FURET 0	@IV 3
+@BPV 1 6 0			
-		@FUCA 0	
+@BPV 1 5 0		@FUCA 1	
-		@NETWORK_END	
+@BPV 1 15 0		LD	@TYP:12# 0S50000000
-		@NETWORK_BEGIN	
+@BPV 1 7 0		ST	@IFBP 5.2
-		LD	@IV 12
+@BPV 1 10 0		CAL	@IFB 5
-		ST	@IFBP 7.1
+@BPV 1 8 0		LD	@IFBP 5.4
-		CAL	@IFB 7
+@BPV 1 13 0		ST	@IV 3
-		LD	@IFBP 7.2
+@BPV 1 6 0		@FPNOP	@IFBP 5.1
-		ST	@IV 6
+@BPV 1 9 0		@FPNOP	@IFBP 5.3
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 8
-		@FUPAR 0	@IV 5
-		@FUPAR 0	@TYP:18# 16#0000
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#0000
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 17
-		@FUCA 0	
-		LD	@IV 17
-		JMPC	@LBL 1
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#8001
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 18
-		@FUCA 0	
-		LD	@IV 18
-		JMPC	@LBL 2
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#8002
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 19
-		@FUCA 0	
-		LD	@IV 19
-		JMPC	@LBL 3
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#8003
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 20
-		@FUCA 0	
-		LD	@IV 20
-		JMPC	@LBL 4
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#c001
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 21
-		@FUCA 0	
-		LD	@IV 21
-		JMPC	@LBL 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#8004
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 22
-		@FUCA 0	
-		LD	@IV 22
-		JMPC	@LBL 6
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#8005
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 23
-		@FUCA 0	
-		LD	@IV 23
-		JMPC	@LBL 7
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#c002
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 24
-		@FUCA 0	
-		LD	@IV 24
-		JMPC	@LBL 8
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@TYP:18# 16#8000
-		@FUPAR 0	@IV 4
-		@FURET 0	@IV 25
-		@FUCA 0	
-		LD	@IV 25
-		JMPC	@LBL 9
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 1		
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 8
-		@FUPAR 0	@TYP:18# 16#8001
-		@FUPAR 0	@TYP:18# 16#0000
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 2		
-		@NETWORK_BEGIN	
-		@FUORG 0	@3 2 VAR
-		@FUPAR 0	@IV 1
-		@FUPAR 0	@IV 2
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@1 3 VAR
-		@FUPAR 1	@RET 0
-		@FUPAR 1	@TYP:18# 16#8000
-		@FUPAR 1	@TYP:18# 16#8001
-		@FURET 1	@IV 4
-		@FUCA 1	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@14 1 VAR
-		@FUPAR 0	@IV 1
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@3 2 VAR
-		@FUPAR 1	@IV 2
-		@FUPAR 1	@RET 0
-		@FURET 1	@PAR 2
-		@FUCA 1	
-		@FUORG 2	@1 3 VAR
-		@FUPAR 2	@RET 1
-		@FUPAR 2	@TYP:18# 16#8004
-		@FUPAR 2	@IV 5
-		@FURET 2	@IV 4
-		@FUCA 2	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 2
-		@FUPAR 0	@IV 5
-		@FUPAR 0	@TYP:18# 16#8002
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 3		
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 1
-		@FUPAR 0	@TYP:18# 16#8003
-		@FUPAR 0	@TYP:18# 16#8002
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 4		
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 6
-		@FUPAR 0	@TYP:18# 16#8000
-		@FUPAR 0	@TYP:18# 16#8003
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 1
-		@FUPAR 0	@IV 5
-		@FUPAR 0	@TYP:18# 16#8002
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@14 1 VAR
-		@FUPAR 0	@IV 6
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@3 2 VAR
-		@FUPAR 1	@IV 12
-		@FUPAR 1	@RET 0
-		@FURET 1	@PAR 2
-		@FUCA 1	
-		@FUORG 2	@1 3 VAR
-		@FUPAR 2	@RET 1
-		@FUPAR 2	@TYP:18# 16#c001
-		@FUPAR 2	@IV 5
-		@FURET 2	@IV 4
-		@FUCA 2	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 5		
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 12
-		@FUPAR 0	@TYP:18# 16#c001
-		@FUPAR 0	@TYP:18# 16#8003
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 6		
-		@NETWORK_BEGIN	
-		@FUORG 0	@3 2 VAR
-		@FUPAR 0	@IV 1
-		@FUPAR 0	@IV 3
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@1 3 VAR
-		@FUPAR 1	@RET 0
-		@FUPAR 1	@TYP:18# 16#8000
-		@FUPAR 1	@TYP:18# 16#8004
-		@FURET 1	@IV 4
-		@FUCA 1	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@14 1 VAR
-		@FUPAR 0	@IV 3
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@3 2 VAR
-		@FUPAR 1	@IV 1
-		@FUPAR 1	@RET 0
-		@FURET 1	@PAR 2
-		@FUCA 1	
-		@FUORG 2	@1 3 VAR
-		@FUPAR 2	@RET 1
-		@FUPAR 2	@TYP:18# 16#8005
-		@FUPAR 2	@IV 5
-		@FURET 2	@IV 4
-		@FUCA 2	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 8		
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 12
-		@FUPAR 0	@TYP:18# 16#c002
-		@FUPAR 0	@TYP:18# 16#8005
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 7		
-		@NETWORK_BEGIN	
-		@FUORG 0	@15 2 VAR
-		@FUPAR 0	@IV 6
-		@FUPAR 0	@IV 3
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@1 3 VAR
-		@FUPAR 1	@RET 0
-		@FUPAR 1	@TYP:18# 16#8000
-		@FUPAR 1	@TYP:18# 16#8005
-		@FURET 1	@IV 4
-		@FUCA 1	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 1
-		@FUPAR 0	@IV 5
-		@FUPAR 0	@TYP:18# 16#8004
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 5
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@14 1 VAR
-		@FUPAR 0	@IV 6
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@3 2 VAR
-		@FUPAR 1	@IV 12
-		@FUPAR 1	@RET 0
-		@FURET 1	@PAR 2
-		@FUCA 1	
-		@FUORG 2	@1 3 VAR
-		@FUPAR 2	@RET 1
-		@FUPAR 2	@TYP:18# 16#c002
-		@FUPAR 2	@IV 5
-		@FURET 2	@IV 4
-		@FUCA 2	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@TYP:1# 1
-		JMPC	@LBL 10
-		@NETWORK_END	
-	@LBL 9		
-		@NETWORK_BEGIN	
-		@FUORG 0	@1 3 VAR
-		@FUPAR 0	@IV 1
-		@FUPAR 0	@TYP:18# 16#8000
-		@FUPAR 0	@TYP:18# 16#8004
-		@FURET 0	@IV 4
-		@FUCA 0	
-		@NETWORK_END	
-	@LBL 10		
-		@NETWORK_BEGIN	
-		@FUORG 0	@13 2 VAR
-		@FUPAR 0	@IV 4
-		@FUPAR 0	@TYP:18# 16#0000
-		@FURET 0	@IV 13
-		@FUCA 0	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@7 2 VAR
-		@FUPAR 0	@IV 4
-		@FUPAR 0	@TYP:18# 16#8000
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@47 1 VAR
-		@FUPAR 1	@RET 0
-		@FURET 1	@IV 14
-		@FUCA 1	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		@FUORG 0	@3 2 VAR
-		@FUPAR 0	@IV 4
-		@FUPAR 0	@TYP:18# 16#c000
-		@FURET 0	@PAR 1
-		@FUCA 0	
-		@FUORG 1	@7 2 VAR
-		@FUPAR 1	@RET 0
-		@FUPAR 1	@TYP:18# 16#c000
-		@FURET 1	@IV 15
-		@FUCA 1	
-		@NETWORK_END	
-		@NETWORK_BEGIN	
-		LD	@IV 4
-		ST	@IV 16
 		@NETWORK_END	

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00081.CIW

@@ -0,0 +1,4 @@
+(*
+QWS: 00001
+*)
+00001	00023	POE\ReleaseDelayed\ReleaseDelayed.gb

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00081.DIP

@@ -1,19 +1,14 @@
 (*
-T: FUNCTION_BLOCK SF_EmergencyStop_V1_00
+T: FUNCTION_BLOCK ReleaseDelayed
 FW: NO
 CI#: 81
-QSL: 25
+QSL: 6
-QVE: 25
+QVE: 6
-QVPC: 25
+QVPC: 6
-QPar: 9
+QPar: 4
 QFBI: 1
 *)
-Activate	@IV 8	@TYP:1	VAR_INPUT
+bOuRelease	@IV 3	@TYP:1	VAR_OUTPUT
-DiagCode	@IV 16	@TYP:18	VAR_OUTPUT
+bSInHwOk	@IV 1	@TYP:43	VAR_INPUT
-Error	@IV 15	@TYP:1	VAR_OUTPUT
+bSInSafeCtrl	@IV 2	@TYP:43	VAR_INPUT
-Ready	@IV 13	@TYP:1	VAR_OUTPUT
+bSOuSafeOut	@IV 4	@TYP:43	VAR_OUTPUT
-Reset	@IV 12	@TYP:1	VAR_INPUT
-S_AutoReset	@IV 11	@TYP:43	VAR_INPUT
-S_EStopIn	@IV 9	@TYP:43	VAR_INPUT
-S_EStopOut	@IV 14	@TYP:43	VAR_OUTPUT
-S_StartReset	@IV 10	@TYP:43	VAR_INPUT

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00081.DIT

@@ -1,159 +1,45 @@
 (*
-T: FUNCTION_BLOCK SF_EmergencyStop_V1_00
+T: FUNCTION_BLOCK ReleaseDelayed
-FW: YES	NO_VARIANT SF_EmergencyStop_V1_00 SKIP_NOTHING	
+FW: NO
 CI#: 81
-QSL: 0
+QSL: 6
-QVE: 25
+QVE: 6
-QVPC: 25
+QVPC: 6
-QPar: 9
+QPar: 4
 QFBI: 1
 *)
-
+@V 1 2 0
-InternalS_EStopIn	1	VAR	@TYP:1
+bSInHwOk	1	VAR_INPUT	@TYP:43
 		     
 
 ;
 
-
+@V 1 3 0
-InternalS_StartReset	2	VAR	@TYP:1
+bSInSafeCtrl	2	VAR_INPUT	@TYP:43
 		     
 
 ;
 
-
+@V 1 4 0
-InternalS_AutoReset	3	VAR	@TYP:1
+bOuRelease	3	VAR_OUTPUT	@TYP:1
 		     
 
 ;
 
-
+@V 1 5 0
-InternalState	4	VAR	@TYP:18
+bSOuSafeOut	4	VAR_OUTPUT	@TYP:43
 		     
 
 ;
 
-
+@V 1 6 0
-InternalState1	5	VAR	@TYP:18
+TONDelay	5	VAR	@FB:21
 		     
 
 ;
 
-
+@V 2 18 0
-Q_R_TRIG_Reset	6	VAR	@TYP:1
+__ReleaseDelayed@0	6	VAR	@TYP:43
-		     
-
-;
-
-
-R_TRIG_Reset	7	VAR	@FB:16
-		     
-
-;
-
-
-Activate	8	VAR_INPUT	@TYP:1
-		     
-
-;
-
-
-S_EStopIn	9	VAR_INPUT	@TYP:43
-		     
-
-;
-PFW: VAR
-
-S_StartReset	10	VAR_INPUT	@TYP:43
-		     
-
-;
-
-
-S_AutoReset	11	VAR_INPUT	@TYP:43
-		     
-
-;
-
-
-Reset	12	VAR_INPUT	@TYP:1
-		     
-
-;
-PFW: VAR
-
-Ready	13	VAR_OUTPUT	@TYP:1
-		     
-
-;
-
-
-S_EStopOut	14	VAR_OUTPUT	@TYP:43
-		     
-
-;
-
-
-Error	15	VAR_OUTPUT	@TYP:1
-		     
-
-;
-
-
-DiagCode	16	VAR_OUTPUT	@TYP:18
-		     
-
-;
-PFW: DIA
-
-__Code@0	17	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@1	18	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@2	19	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@3	20	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@4	21	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@5	22	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@6	23	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@7	24	VAR	@TYP:1
-		     
-
-;
-
-
-__Code@8	25	VAR	@TYP:1
 		     
 
 ;

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00081.DIW

@@ -0,0 +1,5 @@
+(*
+QWS: 00002
+*)
+00001	00005	POE\ReleaseDelayed\Variables.vbb
+00002	00001	POE\ReleaseDelayed\ReleaseDelayed.gb

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00082.DIP

@@ -0,0 +1,19 @@
+(*
+T: FUNCTION_BLOCK SF_EmergencyStop_V1_00
+FW: NO
+CI#: 82
+QSL: 25
+QVE: 25
+QVPC: 25
+QPar: 9
+QFBI: 1
+*)
+Activate	@IV 8	@TYP:1	VAR_INPUT
+DiagCode	@IV 16	@TYP:18	VAR_OUTPUT
+Error	@IV 15	@TYP:1	VAR_OUTPUT
+Ready	@IV 13	@TYP:1	VAR_OUTPUT
+Reset	@IV 12	@TYP:1	VAR_INPUT
+S_AutoReset	@IV 11	@TYP:43	VAR_INPUT
+S_EStopIn	@IV 9	@TYP:43	VAR_INPUT
+S_EStopOut	@IV 14	@TYP:43	VAR_OUTPUT
+S_StartReset	@IV 10	@TYP:43	VAR_INPUT

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ICI00082.DIT

@@ -0,0 +1,160 @@
+(*
+T: FUNCTION_BLOCK SF_EmergencyStop_V1_00
+FW: YES	NO_VARIANT SF_EmergencyStop_V1_00 SKIP_NOTHING	
+CI#: 82
+QSL: 0
+QVE: 25
+QVPC: 25
+QPar: 9
+QFBI: 1
+*)
+
+InternalS_EStopIn	1	VAR	@TYP:1
+		     
+
+;
+
+
+InternalS_StartReset	2	VAR	@TYP:1
+		     
+
+;
+
+
+InternalS_AutoReset	3	VAR	@TYP:1
+		     
+
+;
+
+
+InternalState	4	VAR	@TYP:18
+		     
+
+;
+
+
+InternalState1	5	VAR	@TYP:18
+		     
+
+;
+
+
+Q_R_TRIG_Reset	6	VAR	@TYP:1
+		     
+
+;
+
+
+R_TRIG_Reset	7	VAR	@FB:16
+		     
+
+;
+
+
+Activate	8	VAR_INPUT	@TYP:1
+		     
+
+;
+
+
+S_EStopIn	9	VAR_INPUT	@TYP:43
+		     
+
+;
+PFW: VAR
+
+S_StartReset	10	VAR_INPUT	@TYP:43
+		     
+
+;
+
+
+S_AutoReset	11	VAR_INPUT	@TYP:43
+		     
+
+;
+
+
+Reset	12	VAR_INPUT	@TYP:1
+		     
+
+;
+PFW: VAR
+
+Ready	13	VAR_OUTPUT	@TYP:1
+		     
+
+;
+
+
+S_EStopOut	14	VAR_OUTPUT	@TYP:43
+		     
+
+;
+
+
+Error	15	VAR_OUTPUT	@TYP:1
+		     
+
+;
+
+
+DiagCode	16	VAR_OUTPUT	@TYP:18
+		     
+
+;
+PFW: DIA
+
+__Code@0	17	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@1	18	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@2	19	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@3	20	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@4	21	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@5	22	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@6	23	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@7	24	VAR	@TYP:1
+		     
+
+;
+
+
+__Code@8	25	VAR	@TYP:1
+		     
+
+;
+

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/IR.LCI

@@ -1,11 +1,11 @@
 (*
 NUPG: 1
 NFWPG: 0
-NUFB: 0
+NUFB: 1
 NFWFB: 23
 NUFU: 0
 NFWFU: 57
-NTPOU: 81
+NTPOU: 82
 MODE: B
 IOCC: Y
 TSC: Y
@@ -93,5 +93,6 @@ FUNCTION	FW	00076	MUL	0x00000000
 FUNCTION	FW	00077	MUL_S	0x00000000	   	 
 FUNCTION_BLOCK	FW	00078	PULSE_GEN	0x00000000	   	 
 FUNCTION_BLOCK	FW	00079	PULSE_GEN_S	0x00000000	   	 
-FUNCTION_BLOCK	FW	00081	SF_EmergencyStop_V1_00	0x00000000	   	 
+FUNCTION_BLOCK	USER	00081	ReleaseDelayed	0x00000033	   	 
-PROGRAM	USER	00080	Main	0x00000026	   	 
+FUNCTION_BLOCK	FW	00082	SF_EmergencyStop_V1_00	0x00000000	   	 
+PROGRAM	USER	00080	Main	0x00000033	   	 

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/IR.LDI

@@ -1,13 +1,39 @@
 (*
 NPGI: 1
-NFBI: 6
+NFBI: 32
-NI: 7
+NI: 33
 NT: 1
 *)
 0	PROGRAM	00001	00080	00000	Main	Main	TASK
-1	FUNCTION_BLOCK	00002	00081	00002	SF_EmergencyStop_V1_00_1	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00002	00082	00002	SF_EmergencyStop_V1_00_1	SF_EmergencyStop_V1_00	
-1	FUNCTION_BLOCK	00003	00081	00003	SF_EmergencyStop_V1_00_3	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00003	00082	00003	SF_EmergencyStop_V1_00_3	SF_EmergencyStop_V1_00	
-1	FUNCTION_BLOCK	00004	00081	00004	SF_EmergencyStop_V1_00_6	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00004	00082	00004	SF_EmergencyStop_V1_00_5	SF_EmergencyStop_V1_00	
-1	FUNCTION_BLOCK	00005	00081	00006	SF_EmergencyStop_V1_00_2	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00005	00081	00005	ReleaseDelayedEStopR1	ReleaseDelayed	
-1	FUNCTION_BLOCK	00006	00081	00007	SF_EmergencyStop_V1_00_4	SF_EmergencyStop_V1_00	
+2	FUNCTION_BLOCK	00022	00021	00005	TONDelay	TON	
-1	FUNCTION_BLOCK	00007	00081	00008	SF_EmergencyStop_V1_00_5	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00006	00082	00007	SF_EmergencyStop_V1_00_2	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00007	00082	00008	SF_EmergencyStop_V1_00_4	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00008	00082	00009	SF_EmergencyStop_V1_00_6	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00009	00081	00010	ReleaseDelayedEStopR2	ReleaseDelayed	
+2	FUNCTION_BLOCK	00023	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00010	00081	00011	ReleaseDelayedAfterDoorRob1	ReleaseDelayed	
+2	FUNCTION_BLOCK	00024	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00011	00081	00012	ReleaseDelayedGrindersRob1	ReleaseDelayed	
+2	FUNCTION_BLOCK	00025	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00012	00081	00013	ReleaseDelayed_MainValveRob1	ReleaseDelayed	
+2	FUNCTION_BLOCK	00026	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00013	00081	00014	ReleaseDelayedAfterDoorRob2	ReleaseDelayed	
+2	FUNCTION_BLOCK	00027	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00014	00081	00015	ReleaseDelayedGrindersRob2	ReleaseDelayed	
+2	FUNCTION_BLOCK	00028	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00015	00081	00016	ReleaseDelayed_MainValveRob2	ReleaseDelayed	
+2	FUNCTION_BLOCK	00029	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00016	00081	00017	ReleaseDelayedToolslayRob1	ReleaseDelayed	
+2	FUNCTION_BLOCK	00030	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00017	00081	00018	ReleaseDelayedToolslayRob2	ReleaseDelayed	
+2	FUNCTION_BLOCK	00031	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00018	00082	00019	SF_EmergencyStop_GateRob1	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00019	00081	00020	ReleaseDelayed_CloseGateRob1	ReleaseDelayed	
+2	FUNCTION_BLOCK	00032	00021	00005	TONDelay	TON	
+1	FUNCTION_BLOCK	00020	00082	00021	SF_EmergencyStop_GateRob2	SF_EmergencyStop_V1_00	
+1	FUNCTION_BLOCK	00021	00081	00022	ReleaseDelayed_CloseGateRob2	ReleaseDelayed	
+2	FUNCTION_BLOCK	00033	00021	00005	TONDelay	TON	

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/IR.TDI

@@ -1,277 +1,381 @@
-69
+95
 82
-0 0 68 0
+0 0 94 0
 @V2 2 RESOURCE CPU 0 0 0
 	
 86
-67 1 0 0
+93 1 0 0
 @V2 10 @ Global_Variables 0 0 0
 F C\PLC\R\CPU\Global_Variables.vbb
 86
-68 1 0 0
+94 1 0 0
 @V2 10 @ Exchange_Variables 0 0 0
 F C\PLC\R\CPU\Exchange_Variables.vbb
 5
-9 1 57 0
+35 1 57 0
 @V2 6 FUNCTIONS FUNCTIONS 0 0 0
 	
 78
-10 2 0 0
+36 2 0 0
 @V2 6 MUL_S MUL_S 0 77 0
 	
 78
-11 2 0 0
+37 2 0 0
 @V2 6 MUL MUL 0 76 0
 	
 78
-12 2 0 0
+38 2 0 0
 @V2 6 DIV_S DIV_S 0 75 0
 	
 78
-13 2 0 0
+39 2 0 0
 @V2 6 DIV DIV 0 74 0
 	
 78
-14 2 0 0
+40 2 0 0
 @V2 6 R_BIT_IN_DWORD R_BIT_IN_DWORD 0 73 0
 	
 78
-15 2 0 0
+41 2 0 0
 @V2 6 R_BIT_IN_WORD R_BIT_IN_WORD 0 72 0
 	
 78
-16 2 0 0
+42 2 0 0
 @V2 6 R_BIT_IN_BYTE R_BIT_IN_BYTE 0 71 0
 	
 78
-17 2 0 0
+43 2 0 0
 @V2 6 S_BIT_IN_DWORD S_BIT_IN_DWORD 0 70 0
 	
 78
-18 2 0 0
+44 2 0 0
 @V2 6 S_BIT_IN_WORD S_BIT_IN_WORD 0 69 0
 	
 78
-19 2 0 0
+45 2 0 0
 @V2 6 S_BIT_IN_BYTE S_BIT_IN_BYTE 0 68 0
 	
 78
-20 2 0 0
+46 2 0 0
 @V2 6 I_BIT_IN_DWORD I_BIT_IN_DWORD 0 67 0
 	
 78
-21 2 0 0
+47 2 0 0
 @V2 6 I_BIT_IN_WORD I_BIT_IN_WORD 0 66 0
 	
 78
-22 2 0 0
+48 2 0 0
 @V2 6 I_BIT_IN_BYTE I_BIT_IN_BYTE 0 65 0
 	
 78
-23 2 0 0
+49 2 0 0
 @V2 6 SWAP SWAP 0 64 0
 	
 78
-24 2 0 0
+50 2 0 0
 @V2 6 SET_LSB SET_LSB 0 63 0
 	
 78
-25 2 0 0
+51 2 0 0
 @V2 6 SET_MSB SET_MSB 0 62 0
 	
 78
-26 2 0 0
+52 2 0 0
 @V2 6 GET_LSB GET_LSB 0 61 0
 	
 78
-27 2 0 0
+53 2 0 0
 @V2 6 GET_MSB GET_MSB 0 60 0
 	
 78
-28 2 0 0
+54 2 0 0
 @V2 6 BIT_TEST BIT_TEST 0 59 0
 	
 78
-29 2 0 0
+55 2 0 0
 @V2 6 SAFETIME_TO_TIME SAFETIME_TO_TIME 0 58 0
 	
 78
-30 2 0 0
+56 2 0 0
 @V2 6 TIME_TO_SAFETIME TIME_TO_SAFETIME 0 57 0
 	
 78
-31 2 0 0
+57 2 0 0
 @V2 6 SAFEINT_TO_INT SAFEINT_TO_INT 0 56 0
 	
 78
-32 2 0 0
+58 2 0 0
 @V2 6 INT_TO_SAFEINT INT_TO_SAFEINT 0 55 0
 	
 78
-33 2 0 0
+59 2 0 0
 @V2 6 SAFEDWORD_TO_DWORD SAFEDWORD_TO_DWORD 0 54 0
 	
 78
-34 2 0 0
+60 2 0 0
 @V2 6 DWORD_TO_SAFEDWORD DWORD_TO_SAFEDWORD 0 53 0
 	
 78
-35 2 0 0
+61 2 0 0
 @V2 6 SAFEWORD_TO_WORD SAFEWORD_TO_WORD 0 52 0
 	
 78
-36 2 0 0
+62 2 0 0
 @V2 6 WORD_TO_SAFEWORD WORD_TO_SAFEWORD 0 51 0
 	
 78
-37 2 0 0
+63 2 0 0
 @V2 6 SAFEBYTE_TO_BYTE SAFEBYTE_TO_BYTE 0 50 0
 	
 78
-38 2 0 0
+64 2 0 0
 @V2 6 BYTE_TO_SAFEBYTE BYTE_TO_SAFEBYTE 0 49 0
 	
 78
-39 2 0 0
+65 2 0 0
 @V2 6 SAFEBOOL_TO_BOOL SAFEBOOL_TO_BOOL 0 48 0
 	
 78
-40 2 0 0
+66 2 0 0
 @V2 6 BOOL_TO_SAFEBOOL BOOL_TO_SAFEBOOL 0 47 0
 	
 78
-41 2 0 0
+67 2 0 0
 @V2 6 XOR_S XOR_S 0 46 0
 	
 78
-42 2 0 0
+68 2 0 0
 @V2 6 SUB_S SUB_S 0 42 0
 	
 78
-43 2 0 0
+69 2 0 0
 @V2 6 OR_S OR_S 0 38 0
 	
 78
-44 2 0 0
+70 2 0 0
 @V2 6 NOT_S NOT_S 0 37 0
 	
 78
-45 2 0 0
+71 2 0 0
 @V2 6 NE_S NE_S 0 36 0
 	
 78
-46 2 0 0
+72 2 0 0
 @V2 6 LT_S LT_S 0 35 0
 	
 78
-47 2 0 0
+73 2 0 0
 @V2 6 LE_S LE_S 0 34 0
 	
 78
-48 2 0 0
+74 2 0 0
 @V2 6 GT_S GT_S 0 33 0
 	
 78
-49 2 0 0
+75 2 0 0
 @V2 6 GE_S GE_S 0 32 0
 	
 78
-50 2 0 0
+76 2 0 0
 @V2 6 EQ_S EQ_S 0 30 0
 	
 78
-51 2 0 0
+77 2 0 0
 @V2 6 AND_S AND_S 0 26 0
 	
 78
-52 2 0 0
+78 2 0 0
 @V2 6 ADD_S ADD_S 0 25 0
 	
 78
-53 2 0 0
+79 2 0 0
 @V2 6 ACTF_S ACTF_S 0 24 0
 	
 78
-54 2 0 0
+80 2 0 0
 @V2 6 XOR XOR 0 23 0
 	
 78
-55 2 0 0
+81 2 0 0
 @V2 6 SUB SUB 0 19 0
 	
 78
-56 2 0 0
+82 2 0 0
 @V2 6 OR OR 0 15 0
 	
 78
-57 2 0 0
+83 2 0 0
 @V2 6 NOT NOT 0 14 0
 	
 78
-58 2 0 0
+84 2 0 0
 @V2 6 NE NE 0 13 0
 	
 78
-59 2 0 0
+85 2 0 0
 @V2 6 LT LT 0 12 0
 	
 78
-60 2 0 0
+86 2 0 0
 @V2 6 LE LE 0 11 0
 	
 78
-61 2 0 0
+87 2 0 0
 @V2 6 GT GT 0 10 0
 	
 78
-62 2 0 0
+88 2 0 0
 @V2 6 GE GE 0 9 0
 	
 78
-63 2 0 0
+89 2 0 0
 @V2 6 EQ EQ 0 7 0
 	
 78
-64 2 0 0
+90 2 0 0
 @V2 6 AND AND 0 3 0
 	
 78
-65 2 0 0
+91 2 0 0
 @V2 6 ADD ADD 0 2 0
 	
 78
-66 2 0 0
+92 2 0 0
 @V2 6 ACTF ACTF 0 1 0
 	
 84
-1 1 7 0
+1 1 33 0
 @V2 3 @ TASK 0 0 0
 F 
 80
-2 2 6 0
+2 2 32 0
 @V2 4 Main Main 1 80 0
 	
 70
 3 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_1 2 81 2
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_1 2 82 2
 	
 70
 4 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_3 3 81 3
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_3 3 82 3
 	
 70
 5 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_6 4 81 4
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_5 4 82 4
 	
 70
-6 3 0 0
+6 3 1 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_2 5 81 6
+@V2 5 ReleaseDelayed ReleaseDelayedEStopR1 5 81 5
+	
+70
+23 4 0 0
+@V2 5 TON TONDelay 22 21 5
 	
 70
 7 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_4 6 81 7
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_2 6 82 7
 	
 70
 8 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_5 7 81 8
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_4 7 82 8
+	
+70
+9 3 0 0
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_6 8 82 9
+	
+70
+10 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedEStopR2 9 81 10
+	
+70
+24 4 0 0
+@V2 5 TON TONDelay 23 21 5
+	
+70
+11 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedAfterDoorRob1 10 81 11
+	
+70
+25 4 0 0
+@V2 5 TON TONDelay 24 21 5
+	
+70
+12 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedGrindersRob1 11 81 12
+	
+70
+26 4 0 0
+@V2 5 TON TONDelay 25 21 5
+	
+70
+13 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_MainValveRob1 12 81 13
+	
+70
+27 4 0 0
+@V2 5 TON TONDelay 26 21 5
+	
+70
+14 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedAfterDoorRob2 13 81 14
+	
+70
+28 4 0 0
+@V2 5 TON TONDelay 27 21 5
+	
+70
+15 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedGrindersRob2 14 81 15
+	
+70
+29 4 0 0
+@V2 5 TON TONDelay 28 21 5
+	
+70
+16 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_MainValveRob2 15 81 16
+	
+70
+30 4 0 0
+@V2 5 TON TONDelay 29 21 5
+	
+70
+17 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedToolslayRob1 16 81 17
+	
+70
+31 4 0 0
+@V2 5 TON TONDelay 30 21 5
+	
+70
+18 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedToolslayRob2 17 81 18
+	
+70
+32 4 0 0
+@V2 5 TON TONDelay 31 21 5
+	
+70
+19 3 0 0
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_GateRob1 18 82 19
+	
+70
+20 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_CloseGateRob1 19 81 20
+	
+70
+33 4 0 0
+@V2 5 TON TONDelay 32 21 5
+	
+70
+21 3 0 0
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_GateRob2 20 82 21
+	
+70
+22 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_CloseGateRob2 21 81 22
+	
+70
+34 4 0 0
+@V2 5 TON TONDelay 33 21 5
 	

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/IR00000.DIT

@@ -2,9 +2,9 @@
 T: RESOURCE CPU
 FW: NO
 CI#: 0
-QSL: 70
+QSL: 58
-QVE: 70
+QVE: 58
-QVPC: 70
+QVPC: 58
 QPar: 0
 QFBI: 0
 *)
@@ -238,13 +238,13 @@ gbSPLCOuResetEstopRob2	38	VAR_GLOBAL	@TYP:1
 
 @V 1 44 0
 gbSPLCOuResetDoorzoneRob1	39	VAR_GLOBAL	@TYP:1
-%NSIX 3.0		     
+%NSIX 0.4		     
 
 ;
 
 @V 1 45 0
 gbSPLCOuResetDoorzoneRob2	40	VAR_GLOBAL	@TYP:1
-%NSIX 3.1		     
+%NSIX 0.5		     
 
 ;
 
@@ -297,134 +297,62 @@ gbSPLCInDoorzoneOkRob2	48	VAR_GLOBAL	@TYP:1
 ;
 
 @V 1 56 0
-gbSPLCOuHWSafetyEStop2Rob1OK	49	VAR_GLOBAL	@TYP:1
+bSSM4Ok	49	VAR_GLOBAL	@TYP:43
-%NSIX 1.1		     
+%SIX 29.2		     
 
 ;
 
 @V 1 57 0
-gbSPLCOuHWSafetyEStop1Rob1OK	50	VAR_GLOBAL	@TYP:1
+bSSM3Ok	50	VAR_GLOBAL	@TYP:43
-%NSIX 1.0		     
+%SIX 29.1		     
 
 ;
 
 @V 1 58 0
-gbSPLCOuHWSafetyEStop1Rob2OK	51	VAR_GLOBAL	@TYP:1
+bSSM5Ok	51	VAR_GLOBAL	@TYP:43
-%NSIX 1.2		     
+%SIX 29.3		     
 
 ;
 
 @V 1 59 0
-gbSPLCOuHWSafetyEStop2Rob2OK	52	VAR_GLOBAL	@TYP:1
+bSSM6Ok	52	VAR_GLOBAL	@TYP:43
-%NSIX 1.3		     
+%SIX 29.4		     
 
 ;
 
 @V 1 60 0
-gbSPLCOuHWSafetyDoor1Rob1OK	53	VAR_GLOBAL	@TYP:1
+gbSInBumperOkRob1	53	VAR_GLOBAL	@TYP:43
-%NSIX 0.4		     
+%SIX 20.2		     
 
 ;
 
 @V 1 61 0
-gbSPLCOuHWSafetyDoor2Rob1OK	54	VAR_GLOBAL	@TYP:1
+gbOuCloseGateRob1	54	VAR_GLOBAL	@TYP:43
-%NSIX 0.5		     
+%SQX 16.1		     
 
 ;
 
 @V 1 62 0
-gbSPLCOuHWSafetyToolSlayRob1OK	55	VAR_GLOBAL	@TYP:1
+gbOuCloseGateRob2	55	VAR_GLOBAL	@TYP:43
-%NSIX 1.4		     
+%SQX 16.3		     
 
 ;
 
 @V 1 63 0
-gbSPLCOuHWSafetyGrindersRob1OK	56	VAR_GLOBAL	@TYP:1
+gbOuCloseGateRob1Rel	56	VAR_GLOBAL	@TYP:1
-%NSIX 1.6		     
+%NSQX 135.1		     
 
 ;
 
 @V 1 64 0
-gbSPLCOuHWMainValveRob1OK	57	VAR_GLOBAL	@TYP:1
+gbOuCloseGateRob2Rel	57	VAR_GLOBAL	@TYP:1
-%NSIX 2.0		     
+%NSQX 135.3		     
 
 ;
 
 @V 1 65 0
-gbSPLCOuHWValveCloseGateRob1OK	58	VAR_GLOBAL	@TYP:1
+gbSInBumperOkRob2	58	VAR_GLOBAL	@TYP:43
-%NSIX 2.1		     
+%SIX 20.5		     
-
-;
-
-@V 1 66 0
-gbSPLCOuHWSafetyDoor1Rob2OK	59	VAR_GLOBAL	@TYP:1
-%NSIX 0.6		     
-
-;
-
-@V 1 67 0
-gbSPLCOuHWSafetyDoor2Rob2OK	60	VAR_GLOBAL	@TYP:1
-%NSIX 0.7		     
-
-;
-
-@V 1 68 0
-gbSPLCOuHWSafetyToolSlayRob2OK	61	VAR_GLOBAL	@TYP:1
-%NSIX 1.5		     
-
-;
-
-@V 1 69 0
-gbSPLCOuHWSafetyGrindersRob2OK	62	VAR_GLOBAL	@TYP:1
-%NSIX 1.7		     
-
-;
-
-@V 1 70 0
-gbSPLCOuHWMainValveRob2OK	63	VAR_GLOBAL	@TYP:1
-%NSIX 2.2		     
-
-;
-
-@V 1 71 0
-gbSPLCOuHWValveCloseGateRob2OK	64	VAR_GLOBAL	@TYP:1
-%NSIX 2.3		     
-
-;
-
-@V 1 73 0
-gbSPLCOuReleaseSafeOutputRob1	65	VAR_GLOBAL	@TYP:1
-%NSIX 2.4		     
-
-;
-
-@V 1 74 0
-gbSPLCOuReleaseSafeOutputRob2	66	VAR_GLOBAL	@TYP:1
-%NSIX 2.5		     
-
-;
-
-@V 1 75 0
-gbSPLCOuReleaseSafeDoorOuRob1	67	VAR_GLOBAL	@TYP:1
-%NSIX 2.6		     
-
-;
-
-@V 1 76 0
-gbSPLCOuReleaseSafeDoorOuRob2	68	VAR_GLOBAL	@TYP:1
-%NSIX 2.7		     
-
-;
-
-@V 1 77 0
-gbSPLCOuReleaseWorkzoneOuRob1	69	VAR_GLOBAL	@TYP:1
-%NSIX 3.2		     
-
-;
-
-@V 1 78 0
-gbSPLCOuReleaseWorkzoneOuRob2	70	VAR_GLOBAL	@TYP:1
-%NSIX 3.3		     
 
 ;
 

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/IR00000.DIW

@@ -1,5 +1,5 @@
 (*
 QWS: 00002
 *)
-00001	00070	C\PLC\R\CPU\Global_Variables.vbb
+00001	00058	C\PLC\R\CPU\Global_Variables.vbb
 00002	00000	C\PLC\R\CPU\Exchange_Variables.vbb

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/IR_FULL.TDI

@@ -1,277 +1,381 @@
-69
+95
 82
-0 0 68 0
+0 0 94 0
 @V2 2 RESOURCE CPU 0 0 0
 	
 86
-67 1 0 0
+93 1 0 0
 @V2 10 @ Global_Variables 0 0 0
 F C\PLC\R\CPU\Global_Variables.vbb
 86
-68 1 0 0
+94 1 0 0
 @V2 10 @ Exchange_Variables 0 0 0
 F C\PLC\R\CPU\Exchange_Variables.vbb
 5
-9 1 57 0
+35 1 57 0
 @V2 6 FUNCTIONS FUNCTIONS 0 0 0
 	
 78
-10 2 0 0
+36 2 0 0
 @V2 6 MUL_S MUL_S 0 77 0
 	
 78
-11 2 0 0
+37 2 0 0
 @V2 6 MUL MUL 0 76 0
 	
 78
-12 2 0 0
+38 2 0 0
 @V2 6 DIV_S DIV_S 0 75 0
 	
 78
-13 2 0 0
+39 2 0 0
 @V2 6 DIV DIV 0 74 0
 	
 78
-14 2 0 0
+40 2 0 0
 @V2 6 R_BIT_IN_DWORD R_BIT_IN_DWORD 0 73 0
 	
 78
-15 2 0 0
+41 2 0 0
 @V2 6 R_BIT_IN_WORD R_BIT_IN_WORD 0 72 0
 	
 78
-16 2 0 0
+42 2 0 0
 @V2 6 R_BIT_IN_BYTE R_BIT_IN_BYTE 0 71 0
 	
 78
-17 2 0 0
+43 2 0 0
 @V2 6 S_BIT_IN_DWORD S_BIT_IN_DWORD 0 70 0
 	
 78
-18 2 0 0
+44 2 0 0
 @V2 6 S_BIT_IN_WORD S_BIT_IN_WORD 0 69 0
 	
 78
-19 2 0 0
+45 2 0 0
 @V2 6 S_BIT_IN_BYTE S_BIT_IN_BYTE 0 68 0
 	
 78
-20 2 0 0
+46 2 0 0
 @V2 6 I_BIT_IN_DWORD I_BIT_IN_DWORD 0 67 0
 	
 78
-21 2 0 0
+47 2 0 0
 @V2 6 I_BIT_IN_WORD I_BIT_IN_WORD 0 66 0
 	
 78
-22 2 0 0
+48 2 0 0
 @V2 6 I_BIT_IN_BYTE I_BIT_IN_BYTE 0 65 0
 	
 78
-23 2 0 0
+49 2 0 0
 @V2 6 SWAP SWAP 0 64 0
 	
 78
-24 2 0 0
+50 2 0 0
 @V2 6 SET_LSB SET_LSB 0 63 0
 	
 78
-25 2 0 0
+51 2 0 0
 @V2 6 SET_MSB SET_MSB 0 62 0
 	
 78
-26 2 0 0
+52 2 0 0
 @V2 6 GET_LSB GET_LSB 0 61 0
 	
 78
-27 2 0 0
+53 2 0 0
 @V2 6 GET_MSB GET_MSB 0 60 0
 	
 78
-28 2 0 0
+54 2 0 0
 @V2 6 BIT_TEST BIT_TEST 0 59 0
 	
 78
-29 2 0 0
+55 2 0 0
 @V2 6 SAFETIME_TO_TIME SAFETIME_TO_TIME 0 58 0
 	
 78
-30 2 0 0
+56 2 0 0
 @V2 6 TIME_TO_SAFETIME TIME_TO_SAFETIME 0 57 0
 	
 78
-31 2 0 0
+57 2 0 0
 @V2 6 SAFEINT_TO_INT SAFEINT_TO_INT 0 56 0
 	
 78
-32 2 0 0
+58 2 0 0
 @V2 6 INT_TO_SAFEINT INT_TO_SAFEINT 0 55 0
 	
 78
-33 2 0 0
+59 2 0 0
 @V2 6 SAFEDWORD_TO_DWORD SAFEDWORD_TO_DWORD 0 54 0
 	
 78
-34 2 0 0
+60 2 0 0
 @V2 6 DWORD_TO_SAFEDWORD DWORD_TO_SAFEDWORD 0 53 0
 	
 78
-35 2 0 0
+61 2 0 0
 @V2 6 SAFEWORD_TO_WORD SAFEWORD_TO_WORD 0 52 0
 	
 78
-36 2 0 0
+62 2 0 0
 @V2 6 WORD_TO_SAFEWORD WORD_TO_SAFEWORD 0 51 0
 	
 78
-37 2 0 0
+63 2 0 0
 @V2 6 SAFEBYTE_TO_BYTE SAFEBYTE_TO_BYTE 0 50 0
 	
 78
-38 2 0 0
+64 2 0 0
 @V2 6 BYTE_TO_SAFEBYTE BYTE_TO_SAFEBYTE 0 49 0
 	
 78
-39 2 0 0
+65 2 0 0
 @V2 6 SAFEBOOL_TO_BOOL SAFEBOOL_TO_BOOL 0 48 0
 	
 78
-40 2 0 0
+66 2 0 0
 @V2 6 BOOL_TO_SAFEBOOL BOOL_TO_SAFEBOOL 0 47 0
 	
 78
-41 2 0 0
+67 2 0 0
 @V2 6 XOR_S XOR_S 0 46 0
 	
 78
-42 2 0 0
+68 2 0 0
 @V2 6 SUB_S SUB_S 0 42 0
 	
 78
-43 2 0 0
+69 2 0 0
 @V2 6 OR_S OR_S 0 38 0
 	
 78
-44 2 0 0
+70 2 0 0
 @V2 6 NOT_S NOT_S 0 37 0
 	
 78
-45 2 0 0
+71 2 0 0
 @V2 6 NE_S NE_S 0 36 0
 	
 78
-46 2 0 0
+72 2 0 0
 @V2 6 LT_S LT_S 0 35 0
 	
 78
-47 2 0 0
+73 2 0 0
 @V2 6 LE_S LE_S 0 34 0
 	
 78
-48 2 0 0
+74 2 0 0
 @V2 6 GT_S GT_S 0 33 0
 	
 78
-49 2 0 0
+75 2 0 0
 @V2 6 GE_S GE_S 0 32 0
 	
 78
-50 2 0 0
+76 2 0 0
 @V2 6 EQ_S EQ_S 0 30 0
 	
 78
-51 2 0 0
+77 2 0 0
 @V2 6 AND_S AND_S 0 26 0
 	
 78
-52 2 0 0
+78 2 0 0
 @V2 6 ADD_S ADD_S 0 25 0
 	
 78
-53 2 0 0
+79 2 0 0
 @V2 6 ACTF_S ACTF_S 0 24 0
 	
 78
-54 2 0 0
+80 2 0 0
 @V2 6 XOR XOR 0 23 0
 	
 78
-55 2 0 0
+81 2 0 0
 @V2 6 SUB SUB 0 19 0
 	
 78
-56 2 0 0
+82 2 0 0
 @V2 6 OR OR 0 15 0
 	
 78
-57 2 0 0
+83 2 0 0
 @V2 6 NOT NOT 0 14 0
 	
 78
-58 2 0 0
+84 2 0 0
 @V2 6 NE NE 0 13 0
 	
 78
-59 2 0 0
+85 2 0 0
 @V2 6 LT LT 0 12 0
 	
 78
-60 2 0 0
+86 2 0 0
 @V2 6 LE LE 0 11 0
 	
 78
-61 2 0 0
+87 2 0 0
 @V2 6 GT GT 0 10 0
 	
 78
-62 2 0 0
+88 2 0 0
 @V2 6 GE GE 0 9 0
 	
 78
-63 2 0 0
+89 2 0 0
 @V2 6 EQ EQ 0 7 0
 	
 78
-64 2 0 0
+90 2 0 0
 @V2 6 AND AND 0 3 0
 	
 78
-65 2 0 0
+91 2 0 0
 @V2 6 ADD ADD 0 2 0
 	
 78
-66 2 0 0
+92 2 0 0
 @V2 6 ACTF ACTF 0 1 0
 	
 84
-1 1 7 0
+1 1 33 0
 @V2 3 @ TASK 0 0 0
 F 
 80
-2 2 6 0
+2 2 32 0
 @V2 4 Main Main 1 80 0
 	
 70
 3 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_1 2 81 2
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_1 2 82 2
 	
 70
 4 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_3 3 81 3
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_3 3 82 3
 	
 70
 5 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_6 4 81 4
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_5 4 82 4
 	
 70
-6 3 0 0
+6 3 1 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_2 5 81 6
+@V2 5 ReleaseDelayed ReleaseDelayedEStopR1 5 81 5
+	
+70
+23 4 0 0
+@V2 5 TON TONDelay 22 21 5
 	
 70
 7 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_4 6 81 7
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_2 6 82 7
 	
 70
 8 3 0 0
-@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_5 7 81 8
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_4 7 82 8
+	
+70
+9 3 0 0
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_V1_00_6 8 82 9
+	
+70
+10 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedEStopR2 9 81 10
+	
+70
+24 4 0 0
+@V2 5 TON TONDelay 23 21 5
+	
+70
+11 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedAfterDoorRob1 10 81 11
+	
+70
+25 4 0 0
+@V2 5 TON TONDelay 24 21 5
+	
+70
+12 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedGrindersRob1 11 81 12
+	
+70
+26 4 0 0
+@V2 5 TON TONDelay 25 21 5
+	
+70
+13 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_MainValveRob1 12 81 13
+	
+70
+27 4 0 0
+@V2 5 TON TONDelay 26 21 5
+	
+70
+14 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedAfterDoorRob2 13 81 14
+	
+70
+28 4 0 0
+@V2 5 TON TONDelay 27 21 5
+	
+70
+15 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedGrindersRob2 14 81 15
+	
+70
+29 4 0 0
+@V2 5 TON TONDelay 28 21 5
+	
+70
+16 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_MainValveRob2 15 81 16
+	
+70
+30 4 0 0
+@V2 5 TON TONDelay 29 21 5
+	
+70
+17 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedToolslayRob1 16 81 17
+	
+70
+31 4 0 0
+@V2 5 TON TONDelay 30 21 5
+	
+70
+18 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayedToolslayRob2 17 81 18
+	
+70
+32 4 0 0
+@V2 5 TON TONDelay 31 21 5
+	
+70
+19 3 0 0
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_GateRob1 18 82 19
+	
+70
+20 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_CloseGateRob1 19 81 20
+	
+70
+33 4 0 0
+@V2 5 TON TONDelay 32 21 5
+	
+70
+21 3 0 0
+@V2 5 SF_EmergencyStop_V1_00 SF_EmergencyStop_GateRob2 20 82 21
+	
+70
+22 3 1 0
+@V2 5 ReleaseDelayed ReleaseDelayed_CloseGateRob2 21 81 22
+	
+70
+34 4 0 0
+@V2 5 TON TONDelay 33 21 5
 	

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ici00082.cic

@@ -1,23 +1,414 @@
 (*
-T: RESOURCE TaskCode
+T: FUNCTION_BLOCK SF_EmergencyStop_V1_00
-FW: No
+FW: YES
 CI#: 82
 QSL: 0
-QJM: 0
+QJM: 10
-QJ: 0
+QJ: 18
+QR: 0
 *)
-		@UP_HEAD	@DEF_PG 0
+		@NETWORK_BEGIN	
-		CAL	@INSTANCE32 0.0.10
+		@FUORG 0	@48 1 VAR
-		LD	%MW 1048588
+		@FUPAR 0	@IV 9
-		ST	%QW 196608
+		@FURET 0	@IV 1
-		LD	%MW 1048624
+		@FUCA 0	
-		ST	%QW 196610
+		@NETWORK_END	
-		LD	%MW 1048660
+		@NETWORK_BEGIN	
-		ST	%QW 196612
+		@FUORG 0	@48 1 VAR
-		LD	%MW 1048700
+		@FUPAR 0	@IV 10
-		ST	%QW 196614
+		@FURET 0	@IV 2
-		LD	%MW 1048736
+		@FUCA 0	
-		ST	%QW 196616
+		@NETWORK_END	
-		LD	%MW 1048772
+		@NETWORK_BEGIN	
-		ST	%QW 196618
+		@FUORG 0	@48 1 VAR
-		@UP_END	@NULL
+		@FUPAR 0	@IV 11
+		@FURET 0	@IV 3
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 12
+		ST	@IFBP 7.1
+		CAL	@IFB 7
+		LD	@IFBP 7.2
+		ST	@IV 6
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 8
+		@FUPAR 0	@IV 5
+		@FUPAR 0	@TYP:18# 16#0000
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#0000
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 17
+		@FUCA 0	
+		LD	@IV 17
+		JMPC	@LBL 1
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#8001
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 18
+		@FUCA 0	
+		LD	@IV 18
+		JMPC	@LBL 2
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#8002
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 19
+		@FUCA 0	
+		LD	@IV 19
+		JMPC	@LBL 3
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#8003
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 20
+		@FUCA 0	
+		LD	@IV 20
+		JMPC	@LBL 4
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#c001
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 21
+		@FUCA 0	
+		LD	@IV 21
+		JMPC	@LBL 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#8004
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 22
+		@FUCA 0	
+		LD	@IV 22
+		JMPC	@LBL 6
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#8005
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 23
+		@FUCA 0	
+		LD	@IV 23
+		JMPC	@LBL 7
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#c002
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 24
+		@FUCA 0	
+		LD	@IV 24
+		JMPC	@LBL 8
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@TYP:18# 16#8000
+		@FUPAR 0	@IV 4
+		@FURET 0	@IV 25
+		@FUCA 0	
+		LD	@IV 25
+		JMPC	@LBL 9
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 1		
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 8
+		@FUPAR 0	@TYP:18# 16#8001
+		@FUPAR 0	@TYP:18# 16#0000
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 2		
+		@NETWORK_BEGIN	
+		@FUORG 0	@3 2 VAR
+		@FUPAR 0	@IV 1
+		@FUPAR 0	@IV 2
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@1 3 VAR
+		@FUPAR 1	@RET 0
+		@FUPAR 1	@TYP:18# 16#8000
+		@FUPAR 1	@TYP:18# 16#8001
+		@FURET 1	@IV 4
+		@FUCA 1	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@14 1 VAR
+		@FUPAR 0	@IV 1
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@3 2 VAR
+		@FUPAR 1	@IV 2
+		@FUPAR 1	@RET 0
+		@FURET 1	@PAR 2
+		@FUCA 1	
+		@FUORG 2	@1 3 VAR
+		@FUPAR 2	@RET 1
+		@FUPAR 2	@TYP:18# 16#8004
+		@FUPAR 2	@IV 5
+		@FURET 2	@IV 4
+		@FUCA 2	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 2
+		@FUPAR 0	@IV 5
+		@FUPAR 0	@TYP:18# 16#8002
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 3		
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 1
+		@FUPAR 0	@TYP:18# 16#8003
+		@FUPAR 0	@TYP:18# 16#8002
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 4		
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 6
+		@FUPAR 0	@TYP:18# 16#8000
+		@FUPAR 0	@TYP:18# 16#8003
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 1
+		@FUPAR 0	@IV 5
+		@FUPAR 0	@TYP:18# 16#8002
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@14 1 VAR
+		@FUPAR 0	@IV 6
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@3 2 VAR
+		@FUPAR 1	@IV 12
+		@FUPAR 1	@RET 0
+		@FURET 1	@PAR 2
+		@FUCA 1	
+		@FUORG 2	@1 3 VAR
+		@FUPAR 2	@RET 1
+		@FUPAR 2	@TYP:18# 16#c001
+		@FUPAR 2	@IV 5
+		@FURET 2	@IV 4
+		@FUCA 2	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 5		
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 12
+		@FUPAR 0	@TYP:18# 16#c001
+		@FUPAR 0	@TYP:18# 16#8003
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 6		
+		@NETWORK_BEGIN	
+		@FUORG 0	@3 2 VAR
+		@FUPAR 0	@IV 1
+		@FUPAR 0	@IV 3
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@1 3 VAR
+		@FUPAR 1	@RET 0
+		@FUPAR 1	@TYP:18# 16#8000
+		@FUPAR 1	@TYP:18# 16#8004
+		@FURET 1	@IV 4
+		@FUCA 1	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@14 1 VAR
+		@FUPAR 0	@IV 3
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@3 2 VAR
+		@FUPAR 1	@IV 1
+		@FUPAR 1	@RET 0
+		@FURET 1	@PAR 2
+		@FUCA 1	
+		@FUORG 2	@1 3 VAR
+		@FUPAR 2	@RET 1
+		@FUPAR 2	@TYP:18# 16#8005
+		@FUPAR 2	@IV 5
+		@FURET 2	@IV 4
+		@FUCA 2	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 8		
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 12
+		@FUPAR 0	@TYP:18# 16#c002
+		@FUPAR 0	@TYP:18# 16#8005
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 7		
+		@NETWORK_BEGIN	
+		@FUORG 0	@15 2 VAR
+		@FUPAR 0	@IV 6
+		@FUPAR 0	@IV 3
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@1 3 VAR
+		@FUPAR 1	@RET 0
+		@FUPAR 1	@TYP:18# 16#8000
+		@FUPAR 1	@TYP:18# 16#8005
+		@FURET 1	@IV 4
+		@FUCA 1	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 1
+		@FUPAR 0	@IV 5
+		@FUPAR 0	@TYP:18# 16#8004
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 5
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@14 1 VAR
+		@FUPAR 0	@IV 6
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@3 2 VAR
+		@FUPAR 1	@IV 12
+		@FUPAR 1	@RET 0
+		@FURET 1	@PAR 2
+		@FUCA 1	
+		@FUORG 2	@1 3 VAR
+		@FUPAR 2	@RET 1
+		@FUPAR 2	@TYP:18# 16#c002
+		@FUPAR 2	@IV 5
+		@FURET 2	@IV 4
+		@FUCA 2	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@TYP:1# 1
+		JMPC	@LBL 10
+		@NETWORK_END	
+	@LBL 9		
+		@NETWORK_BEGIN	
+		@FUORG 0	@1 3 VAR
+		@FUPAR 0	@IV 1
+		@FUPAR 0	@TYP:18# 16#8000
+		@FUPAR 0	@TYP:18# 16#8004
+		@FURET 0	@IV 4
+		@FUCA 0	
+		@NETWORK_END	
+	@LBL 10		
+		@NETWORK_BEGIN	
+		@FUORG 0	@13 2 VAR
+		@FUPAR 0	@IV 4
+		@FUPAR 0	@TYP:18# 16#0000
+		@FURET 0	@IV 13
+		@FUCA 0	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@7 2 VAR
+		@FUPAR 0	@IV 4
+		@FUPAR 0	@TYP:18# 16#8000
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@47 1 VAR
+		@FUPAR 1	@RET 0
+		@FURET 1	@IV 14
+		@FUCA 1	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		@FUORG 0	@3 2 VAR
+		@FUPAR 0	@IV 4
+		@FUPAR 0	@TYP:18# 16#c000
+		@FURET 0	@PAR 1
+		@FUCA 0	
+		@FUORG 1	@7 2 VAR
+		@FUPAR 1	@RET 0
+		@FUPAR 1	@TYP:18# 16#c000
+		@FURET 1	@IV 15
+		@FUCA 1	
+		@NETWORK_END	
+		@NETWORK_BEGIN	
+		LD	@IV 4
+		ST	@IV 16
+		@NETWORK_END	

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/ici00083.cic

@@ -0,0 +1,27 @@
+(*
+T: RESOURCE TaskCode
+FW: No
+CI#: 83
+QSL: 0
+QJM: 0
+QJ: 0
+*)
+		@UP_HEAD	@DEF_PG 0
+		CAL	@INSTANCE32 0.0.11
+		LD	%MW 1048588
+		ST	%QW 196608
+		LD	%MW 1048624
+		ST	%QW 196610
+		LD	%MW 1048660
+		ST	%QW 196612
+		LD	%MW 1048736
+		ST	%QW 196614
+		LD	%MW 1048772
+		ST	%QW 196616
+		LD	%MW 1048808
+		ST	%QW 196618
+		LD	%MW 1049168
+		ST	%QW 196620
+		LD	%MW 1049240
+		ST	%QW 196622
+		@UP_END	@NULL

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/impldiag.cfg

@@ -1,7 +1,7 @@
 [GLOBAL]
 FILE_VERSION=0.1
-CREATED_AT=27.07.2015 12:52:52
+CREATED_AT=04.11.2015 14:18:09
-NUM_OF_DIAGS=6
+NUM_OF_DIAGS=8
 
 [DIAG0000]
 P=Main.SF_EmergencyStop_V1_00_1.DiagCode
@@ -16,7 +16,7 @@ O=2
 L=2
 
 [DIAG0002]
-P=Main.SF_EmergencyStop_V1_00_6.DiagCode
+P=Main.SF_EmergencyStop_V1_00_5.DiagCode
 FB=SF_EmergencyStop_V1_00
 O=4
 L=2
@@ -34,8 +34,20 @@ O=8
 L=2
 
 [DIAG0005]
-P=Main.SF_EmergencyStop_V1_00_5.DiagCode
+P=Main.SF_EmergencyStop_V1_00_6.DiagCode
 FB=SF_EmergencyStop_V1_00
 O=10
 L=2
 
+[DIAG0006]
+P=Main.SF_EmergencyStop_GateRob1.DiagCode
+FB=SF_EmergencyStop_V1_00
+O=12
+L=2
+
+[DIAG0007]
+P=Main.SF_EmergencyStop_GateRob2.DiagCode
+FB=SF_EmergencyStop_V1_00
+O=14
+L=2
+

Physical/Config2/X20CP1583/SafeLOGIC-1/C/PLC/R/CPU/opc.ini

@@ -1,2 +1,2 @@
 [TIME_STAMP]
-RES_DATA=1437994373
+RES_DATA=1446643089

Physical/Config2/X20CP1583/SafeLOGIC-1/CHGUNITS.LST

@@ -1,4 +1,5 @@
 (*
-NPOU: 1
+NPOU: 2
 *)
 PG	Main
+FB	ReleaseDelayed

Physical/Config2/X20CP1583/SafeLOGIC-1/CROSSREF.CSV

@@ -1,74 +1,72 @@
-gbOuMainValveRob1,POE\Main\AStop.GB,2,OUT,96,8,Write,,SAFEBOOL,SQX16.0,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 1
+bSSM3Ok,POE\Main\AStop.GB,2,IN,73,9,Read,,SAFEBOOL,SIX29.1,,VAR_GLOBAL,GLOBAL,,Safemodul HW Ok
-gbOuMainValveRob1Rel,POE\Main\Outputs.GB,1,OUT,21,7,Write,,BOOL,NSQX135.0,,VAR_GLOBAL,GLOBAL,,
+bSSM3Ok,POE\Main\AStop.GB,5,IN,140,10,Read,,SAFEBOOL,SIX29.1,,VAR_GLOBAL,GLOBAL,,Safemodul HW Ok
-gbOuMainValveRob2,POE\Main\AStop.GB,5,OUT,97,7,Write,,SAFEBOOL,SQX16.2,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 2
+bSSM4Ok,POE\Main\EStop.GB,1,IN,58,67,Read,,SAFEBOOL,SIX29.2,,VAR_GLOBAL,GLOBAL,,Safemodul 4Ok
-gbOuMainValveRob2Rel,POE\Main\Outputs.GB,1,OUT,22,7,Write,,BOOL,NSQX135.2,,VAR_GLOBAL,GLOBAL,,
+bSSM4Ok,POE\Main\EStop.GB,3,IN,62,67,Read,,SAFEBOOL,SIX29.2,,VAR_GLOBAL,GLOBAL,,Safemodul 4Ok
-gbOuSafetyAfterDoor1Rob1,POE\Main\AStop.GB,2,OUT,90,100,Write,,SAFEBOOL,SQX13.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 2 Roboter 1
+bSSM5Ok,POE\Main\AStop.GB,2,IN,95,9,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor1Rob1Rel,POE\Main\Outputs.GB,1,OUT,15,0,Write,,BOOL,NSQX132.0,,VAR_GLOBAL,GLOBAL,,
+bSSM5Ok,POE\Main\AStop.GB,5,IN,150,10,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor1Rob2,POE\Main\AStop.GB,5,OUT,92,0,Write,,SAFEBOOL,SQX13.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 1 Roboter 2
+bSSM5Ok,POE\Main\Workzone.GB,2,IN,80,15,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor1Rob2Rel,POE\Main\Outputs.GB,1,OUT,17,0,Write,,BOOL,NSQX132.2,,VAR_GLOBAL,GLOBAL,,
+bSSM5Ok,POE\Main\Workzone.GB,2,IN,81,15,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob1,POE\Main\AStop.GB,2,OUT,91,100,Write,,SAFEBOOL,SQX13.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 1 Roboter 1
+bSSM6Ok,POE\Main\AStop.GB,2,IN,111,9,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob1Rel,POE\Main\Outputs.GB,1,OUT,16,0,Write,,BOOL,NSQX132.1,,VAR_GLOBAL,GLOBAL,,
+bSSM6Ok,POE\Main\AStop.GB,5,IN,171,10,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob2,POE\Main\AStop.GB,5,OUT,93,0,Write,,SAFEBOOL,SQX13.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 2 Roboter 2
+bSSM6Ok,POE\Main\Gate.GB,2,IN,58,0,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob2Rel,POE\Main\Outputs.GB,1,OUT,18,0,Write,,BOOL,NSQX132.3,,VAR_GLOBAL,GLOBAL,,
+bSSM6Ok,POE\Main\Gate.GB,2,IN,50,0,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterEStop1Rob1Rel,POE\Main\Outputs.GB,1,OUT,2,0,Write,,BOOL,NSQX133.0,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 1
+gbOuCloseGateRob1,POE\Main\Gate.GB,2,OUT,27,28,Write,,SAFEBOOL,SQX16.1,,VAR_GLOBAL,GLOBAL,,Schutztor Roboter 1 Schlie<69>en
-gbOuSafetyAfterEStop1Rob2Rel,POE\Main\Outputs.GB,1,OUT,9,0,Write,,BOOL,NSQX133.2,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 2
+gbOuCloseGateRob1Rel,POE\Main\Gate.GB,2,OUT,29,25,Write,,BOOL,NSQX135.1,,VAR_GLOBAL,GLOBAL,,Freigabe Schutztor Roboter 1 schlie<69>en
-gbOuSafetyAfterEStop2Rob1Rel,POE\Main\Outputs.GB,1,OUT,3,0,Write,,BOOL,NSQX133.1,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 1
+gbOuCloseGateRob2,POE\Main\Gate.GB,2,OUT,28,28,Write,,SAFEBOOL,SQX16.3,,VAR_GLOBAL,GLOBAL,,Schutztor Roboter 2 Schlie<69>en
-gbOuSafetyAfterEStop2Rob2Rel,POE\Main\Outputs.GB,1,OUT,10,0,Write,,BOOL,NSQX133.3,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 2
+gbOuCloseGateRob2Rel,POE\Main\Gate.GB,2,OUT,30,25,Write,,BOOL,NSQX135.3,,VAR_GLOBAL,GLOBAL,,Freigabe Roboter 2 Schutztor schlie<69>en
-gbOuSafetyGrindersRob1,POE\Main\AStop.GB,2,OUT,94,3,Write,,SAFEBOOL,SQX15.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 1
+gbOuMainValveRob1,POE\Main\AStop.GB,2,OUT,107,0,Write,,SAFEBOOL,SQX16.0,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 1
-gbOuSafetyGrindersRob1Rel,POE\Main\Outputs.GB,1,OUT,19,2,Write,,BOOL,NSQX134.2,,VAR_GLOBAL,GLOBAL,,
+gbOuMainValveRob1Rel,POE\Main\AStop.GB,2,OUT,115,0,Write,,BOOL,NSQX135.0,,VAR_GLOBAL,GLOBAL,,
-gbOuSafetyGrindersRob2,POE\Main\AStop.GB,5,OUT,95,2,Write,,SAFEBOOL,SQX15.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 2
+gbOuMainValveRob2,POE\Main\AStop.GB,5,OUT,62,0,Write,,SAFEBOOL,SQX16.2,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 2
-gbOuSafetyGrindersRob2Rel,POE\Main\Outputs.GB,1,OUT,20,2,Write,,BOOL,NSQX134.3,,VAR_GLOBAL,GLOBAL,,
+gbOuMainValveRob2Rel,POE\Main\AStop.GB,5,OUT,163,0,Write,,BOOL,NSQX135.2,,VAR_GLOBAL,GLOBAL,,
-gbOuSafetyToolslayRob1,POE\Main\Workzone.GB,2,OUT,25,1,Write,,SAFEBOOL,SQX15.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 1
+gbOuSafetyAfterDoor1Rob1,POE\Main\AStop.GB,2,OUT,58,0,Write,,SAFEBOOL,SQX13.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<EFBFBD>rkreis 2 Roboter 1
-gbOuSafetyToolslayRob1Rel,POE\Main\Outputs.GB,1,OUT,41,3,Write,,BOOL,NSQX134.0,,VAR_GLOBAL,GLOBAL,,
+gbOuSafetyAfterDoor1Rob1Rel,POE\Main\AStop.GB,2,OUT,112,0,Write,,BOOL,NSQX132.0,,VAR_GLOBAL,GLOBAL,,
-gbOuSafetyToolslayRob2,POE\Main\Workzone.GB,2,OUT,35,1,Write,,SAFEBOOL,SQX15.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 2
+gbOuSafetyAfterDoor1Rob2,POE\Main\AStop.GB,5,OUT,59,0,Write,,SAFEBOOL,SQX13.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<EFBFBD>rkreis 1 Roboter 2
-gbOuSafetyToolslayRob2Rel,POE\Main\Outputs.GB,1,OUT,42,2,Write,,BOOL,NSQX134.1,,VAR_GLOBAL,GLOBAL,,
+gbOuSafetyAfterDoor1Rob2Rel,POE\Main\AStop.GB,5,OUT,160,0,Write,,BOOL,NSQX132.2,,VAR_GLOBAL,GLOBAL,,
-gbSInDoorClosedRob1,POE\Main\AStop.GB,1,IN,46,31,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
+gbOuSafetyAfterDoor2Rob1,POE\Main\AStop.GB,2,OUT,84,0,Write,,SAFEBOOL,SQX13.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 1 Roboter 1
-gbSInDoorClosedRob1,POE\Main\Workzone.GB,1,IN,22,39,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
+gbOuSafetyAfterDoor2Rob1Rel,POE\Main\AStop.GB,2,OUT,113,0,Write,,BOOL,NSQX132.1,,VAR_GLOBAL,GLOBAL,,
-gbSInDoorClosedRob2,POE\Main\AStop.GB,4,IN,47,29,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
+gbOuSafetyAfterDoor2Rob2,POE\Main\AStop.GB,5,OUT,60,0,Write,,SAFEBOOL,SQX13.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 2 Roboter 2
-gbSInDoorClosedRob2,POE\Main\Workzone.GB,1,IN,33,39,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
+gbOuSafetyAfterDoor2Rob2Rel,POE\Main\AStop.GB,5,OUT,161,0,Write,,BOOL,NSQX132.3,,VAR_GLOBAL,GLOBAL,,
-gbSInEStopOkRob1,POE\Main\EStop.GB,1,IN,0,55,Read,,SAFEBOOL,SIX19.5,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 1
+gbOuSafetyAfterEStop1Rob1Rel,POE\Main\EStop.GB,2,OUT,41,36,Write,,BOOL,NSQX133.0,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 1
-gbSInEStopOkRob2,POE\Main\EStop.GB,1,IN,51,55,Read,,SAFEBOOL,SIX19.7,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 2
+gbOuSafetyAfterEStop1Rob2Rel,POE\Main\EStop.GB,4,OUT,43,35,Write,,BOOL,NSQX133.2,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 2
-gbSInGateClosedRob1,POE\Main\AStop.GB,1,IN,48,30,Read,,SAFEBOOL,SIX20.0,,VAR_GLOBAL,GLOBAL,,Roboter 1 Schutztor Einlegebereich
+gbOuSafetyAfterEStop2Rob1Rel,POE\Main\EStop.GB,2,OUT,42,36,Write,,BOOL,NSQX133.1,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 1
-gbSInGateClosedRob2,POE\Main\AStop.GB,4,IN,50,30,Read,,SAFEBOOL,SIX20.3,,VAR_GLOBAL,GLOBAL,,Roboter 2 Schutztor Einlegebereich
+gbOuSafetyAfterEStop2Rob2Rel,POE\Main\EStop.GB,4,OUT,44,35,Write,,BOOL,NSQX133.3,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 2
-gbSInLightBarOkRob1,POE\Main\AStop.GB,1,IN,49,30,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob1,POE\Main\AStop.GB,2,OUT,99,0,Write,,SAFEBOOL,SQX15.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 1
-gbSInLightBarOkRob1,POE\Main\Workzone.GB,1,IN,14,39,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob1Rel,POE\Main\AStop.GB,2,OUT,114,0,Write,,BOOL,NSQX134.2,,VAR_GLOBAL,GLOBAL,,
-gbSInLightBarOkRob2,POE\Main\AStop.GB,4,IN,51,30,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob2,POE\Main\AStop.GB,5,OUT,61,0,Write,,SAFEBOOL,SQX15.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 2
-gbSInLightBarOkRob2,POE\Main\Workzone.GB,1,IN,30,39,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob2Rel,POE\Main\AStop.GB,5,OUT,162,0,Write,,BOOL,NSQX134.3,,VAR_GLOBAL,GLOBAL,,
-gbSOuSafetyAfterEStop1Rob1,POE\Main\EStop.GB,2,OUT,24,23,Write,,SAFEBOOL,SQX14.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 1
+gbOuSafetyToolslayRob1,POE\Main\Workzone.GB,2,OUT,66,9,Write,,SAFEBOOL,SQX15.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 1
-gbSOuSafetyAfterEStop1Rob2,POE\Main\EStop.GB,2,OUT,54,23,Write,,SAFEBOOL,SQX14.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 2
+gbOuSafetyToolslayRob1Rel,POE\Main\Workzone.GB,2,OUT,83,5,Write,,BOOL,NSQX134.0,,VAR_GLOBAL,GLOBAL,,
-gbSOuSafetyAfterEStop2Rob1,POE\Main\EStop.GB,2,OUT,25,23,Write,,SAFEBOOL,SQX14.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 1
+gbOuSafetyToolslayRob2,POE\Main\Workzone.GB,2,OUT,27,9,Write,,SAFEBOOL,SQX15.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 2
-gbSOuSafetyAfterEStop2Rob2,POE\Main\EStop.GB,2,OUT,55,23,Write,,SAFEBOOL,SQX14.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 2
+gbOuSafetyToolslayRob2Rel,POE\Main\Workzone.GB,2,OUT,84,5,Write,,BOOL,NSQX134.1,,VAR_GLOBAL,GLOBAL,,
-gbSPLCInDoorzoneOkRob1,POE\Main\AStop.GB,2,OUT,120,0,Write,,BOOL,NSQX0.4,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>cmkeldung Automatikbereich Sicher
+gbSInBumperOkRob1,POE\Main\Gate.GB,1,IN,13,6,Read,,SAFEBOOL,SIX20.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCInDoorzoneOkRob2,POE\Main\AStop.GB,2,OUT,121,0,Write,,BOOL,NSQX0.5,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>ckmeldung Automatikbereich Sicher Roboter 2
+gbSInBumperOkRob2,POE\Main\Gate.GB,1,IN,36,6,Read,,SAFEBOOL,SIX20.5,,VAR_GLOBAL,GLOBAL,,
-gbSPLCInEstopOkRob1,POE\Main\EStop.GB,2,OUT,32,4,Write,,BOOL,NSQX0.0,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob1,POE\Main\AStop.GB,1,IN,22,5,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
-gbSPLCInEstopOkRob2,POE\Main\EStop.GB,2,OUT,59,4,Write,,BOOL,NSQX0.1,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob1,POE\Main\Workzone.GB,1,IN,20,8,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
-gbSPLCInWorkzoneOkRob1,POE\Main\Workzone.GB,2,OUT,60,0,Write,,BOOL,NSQX0.2,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob2,POE\Main\AStop.GB,4,IN,23,3,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
-gbSPLCInWorkzoneOkRob2,POE\Main\Workzone.GB,2,OUT,61,0,Write,,BOOL,NSQX0.3,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob2,POE\Main\Workzone.GB,1,IN,25,8,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
-gbSPLCOuHWMainValveRob1OK,POE\Main\AStop.GB,1,IN,3,20,Read,,BOOL,NSIX2.0,,VAR_GLOBAL,GLOBAL,,
+gbSInEStopOkRob1,POE\Main\EStop.GB,1,IN,0,51,Read,,SAFEBOOL,SIX19.5,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 1
-gbSPLCOuHWMainValveRob2OK,POE\Main\AStop.GB,4,IN,8,20,Read,,BOOL,NSIX2.2,,VAR_GLOBAL,GLOBAL,,
+gbSInEStopOkRob2,POE\Main\EStop.GB,1,IN,29,52,Read,,SAFEBOOL,SIX19.7,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 2
-gbSPLCOuHWSafetyDoor1Rob1OK,POE\Main\AStop.GB,1,IN,0,17,Read,,BOOL,NSIX0.4,,VAR_GLOBAL,GLOBAL,,
+gbSInGateClosedRob1,POE\Main\AStop.GB,1,IN,24,4,Read,,SAFEBOOL,SIX20.0,,VAR_GLOBAL,GLOBAL,,Roboter 1 Schutztor Einlegebereich
-gbSPLCOuHWSafetyDoor1Rob2OK,POE\Main\AStop.GB,1,IN,5,17,Read,,BOOL,NSIX0.6,,VAR_GLOBAL,GLOBAL,,
+gbSInGateClosedRob2,POE\Main\AStop.GB,1,IN,26,4,Read,,SAFEBOOL,SIX20.3,,VAR_GLOBAL,GLOBAL,,Roboter 2 Schutztor Einlegebereich
-gbSPLCOuHWSafetyDoor2Rob1OK,POE\Main\AStop.GB,1,IN,1,17,Read,,BOOL,NSIX0.5,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob1,POE\Main\AStop.GB,1,IN,25,4,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyDoor2Rob2OK,POE\Main\AStop.GB,1,IN,6,17,Read,,BOOL,NSIX0.7,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob1,POE\Main\Workzone.GB,1,IN,14,8,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyEStop1Rob1OK,POE\Main\EStop.GB,1,IN,18,1,Read,,BOOL,NSIX1.0,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob2,POE\Main\AStop.GB,1,IN,27,4,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyEStop1Rob2OK,POE\Main\EStop.GB,1,IN,33,2,Read,,BOOL,NSIX1.2,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob2,POE\Main\Workzone.GB,1,IN,23,8,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyEStop2Rob1OK,POE\Main\EStop.GB,1,IN,19,1,Read,,BOOL,NSIX1.1,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop1Rob1,POE\Main\EStop.GB,2,OUT,71,38,Write,,SAFEBOOL,SQX14.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 1
-gbSPLCOuHWSafetyEStop2Rob2OK,POE\Main\EStop.GB,1,IN,34,2,Read,,BOOL,NSIX1.3,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop1Rob2,POE\Main\EStop.GB,4,OUT,84,38,Write,,SAFEBOOL,SQX14.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 2
-gbSPLCOuHWSafetyGrindersRob1OK,POE\Main\AStop.GB,1,IN,2,15,Read,,BOOL,NSIX1.6,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop2Rob1,POE\Main\EStop.GB,2,OUT,72,38,Write,,SAFEBOOL,SQX14.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 1
-gbSPLCOuHWSafetyGrindersRob2OK,POE\Main\AStop.GB,4,IN,7,15,Read,,BOOL,NSIX1.7,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop2Rob2,POE\Main\EStop.GB,4,OUT,85,38,Write,,SAFEBOOL,SQX14.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 2
-gbSPLCOuHWSafetyToolSlayRob1OK,POE\Main\Workzone.GB,2,IN,16,0,Read,,BOOL,NSIX1.4,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInDoorzoneOkRob1,POE\Main\AStop.GB,2,OUT,65,19,Write,,BOOL,NSQX0.4,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>cmkeldung Automatikbereich Sicher
-gbSPLCOuHWSafetyToolSlayRob2OK,POE\Main\Workzone.GB,2,IN,32,0,Read,,BOOL,NSIX1.5,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInDoorzoneOkRob2,POE\Main\AStop.GB,2,OUT,66,20,Write,,BOOL,NSQX0.5,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>ckmeldung Automatikbereich Sicher Roboter 2
-gbSPLCOuHWValveCloseGateRob1OK,POE\Main\AStop.GB,1,IN,4,15,Read,,BOOL,NSIX2.1,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInEstopOkRob1,POE\Main\EStop.GB,2,OUT,17,19,Write,,BOOL,NSQX0.0,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuHWValveCloseGateRob2OK,POE\Main\AStop.GB,4,IN,9,15,Read,,BOOL,NSIX2.3,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInEstopOkRob2,POE\Main\EStop.GB,2,OUT,34,19,Write,,BOOL,NSQX0.1,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseSafeDoorOuRob1,POE\Main\Outputs.GB,1,IN,23,21,Read,,BOOL,NSIX2.6,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInWorkzoneOkRob1,POE\Main\Workzone.GB,2,OUT,47,15,Write,,BOOL,NSQX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseSafeDoorOuRob2,POE\Main\Outputs.GB,1,IN,24,21,Read,,BOOL,NSIX2.7,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInWorkzoneOkRob2,POE\Main\Workzone.GB,2,OUT,48,15,Write,,BOOL,NSQX0.3,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseSafeOutputRob1,POE\Main\Outputs.GB,1,IN,1,19,Read,,BOOL,NSIX2.4,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetDoorzoneRob1,POE\Main\AStop.GB,1,IN,63,21,Read,,BOOL,NSIX0.4,,VAR_GLOBAL,GLOBAL,,Reset Signal f<>r Einlegebereich Roboter 1
-gbSPLCOuReleaseSafeOutputRob2,POE\Main\Outputs.GB,1,IN,8,19,Read,,BOOL,NSIX2.5,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetDoorzoneRob2,POE\Main\AStop.GB,4,IN,64,20,Read,,BOOL,NSIX0.5,,VAR_GLOBAL,GLOBAL,,Resetsignal f<>r Automatikbereich Rotobter 1
-gbSPLCOuReleaseWorkzoneOuRob1,POE\Main\Outputs.GB,1,IN,43,20,Read,,BOOL,NSIX3.2,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetEstopRob1,POE\Main\EStop.GB,1,IN,12,46,Read,,BOOL,NSIX0.0,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseWorkzoneOuRob2,POE\Main\Outputs.GB,1,IN,45,21,Read,,BOOL,NSIX3.3,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetEstopRob2,POE\Main\EStop.GB,1,IN,30,46,Read,,BOOL,NSIX0.1,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetDoorzoneRob1,POE\Main\AStop.GB,2,IN,118,0,Read,,BOOL,NSIX3.0,,VAR_GLOBAL,GLOBAL,,Reset Signal f<>r Einlegebereich Roboter 1
+gbSPLCOuResetWorkzoneRob1,POE\Main\Gate.GB,1,IN,59,22,Read,,BOOL,NSIX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetDoorzoneRob2,POE\Main\AStop.GB,5,IN,119,0,Read,,BOOL,NSIX3.1,,VAR_GLOBAL,GLOBAL,,Resetsignal f<>r Automatikbereich Rotobter 1
+gbSPLCOuResetWorkzoneRob1,POE\Main\Workzone.GB,1,IN,15,11,Read,,BOOL,NSIX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetEstopRob1,POE\Main\EStop.GB,1,IN,20,56,Read,,BOOL,NSIX0.0,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetWorkzoneRob2,POE\Main\Gate.GB,1,IN,60,22,Read,,BOOL,NSIX0.3,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetEstopRob2,POE\Main\EStop.GB,1,IN,53,56,Read,,BOOL,NSIX0.1,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetWorkzoneRob2,POE\Main\Workzone.GB,1,IN,24,12,Read,,BOOL,NSIX0.3,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetWorkzoneRob1,POE\Main\Workzone.GB,2,IN,15,0,Read,,BOOL,NSIX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetWorkzoneRob2,POE\Main\Workzone.GB,2,IN,31,0,Read,,BOOL,NSIX0.3,,VAR_GLOBAL,GLOBAL,,

Physical/Config2/X20CP1583/SafeLOGIC-1/DLFiles/DLFiles.dir

@@ -1,8 +1,8 @@
 [Project]
 NumOfDownloadFiles=10
-Crc=3728C09A
+Crc=C1604AAF
-LastChangeDate=1437994373
+LastChangeDate=1446643089
-LastChangeDateHumanReadable=27.07.2015    12:52:53
+LastChangeDateHumanReadable=04.11.2015    14:18:09
 LastChangeUser=michi
 [Download]
 1=DLFiles\dlfile01.sos

Physical/Config2/X20CP1583/SafeLOGIC-1/EVENT.MEV

@@ -253,3 +253,65 @@
 1437994348	60010000	michi	2	2	SafeMODULE ID
 1437994373	20050000	michi	1	3728C09A
 1437994398	20030000	michi	2	3728C09A	76160211238
+1446620299	30010000	michi	2	Variables:ReleaseDelayed	FCBFCD51
+1446620300	30030000	michi	1	ReleaseDelayed
+1446620840	30020000	michi	2	EStop:Main	D50F2DC8
+1446620841	30020000	michi	2	Outputs:Main	9D76E99B
+1446620842	30020000	michi	2	ReleaseDelayed:ReleaseDelayed	48932340
+1446620843	30010000	michi	2	Variables:ReleaseDelayed	539628C6
+1446620867	30010000	michi	2	Variables:Main	15967DCB
+1446620971	20040000	michi	1	33A57E66
+1446621196	30010000	michi	2	Variables:Main	73DC2853
+1446621611	60010000	michi	2	4	SafeMODULE ID
+1446622461	20040000	michi	1	666BF770
+1446622471	30020000	michi	2	EStop:Main	19D53CFD
+1446622476	30020000	michi	2	AStop:Main	91266A01
+1446622846	20040000	michi	1	3E8D169E
+1446622873	30010000	michi	2	Variables:Main	C9A871A3
+1446622916	30020000	michi	2	ReleaseDelayed:ReleaseDelayed	736BB7F4
+1446623072	30020000	michi	2	EStop:Main	DCF96747
+1446623224	20040000	michi	1	C6707AAC
+1446623256	30010000	michi	2	Variables:Main	B80808A6
+1446623323	30010000	michi	2	Variables:Main	487621D5
+1446623373	20040000	michi	1	C411FF25
+1446623599	30010000	michi	2	Variables:Main	2179676E
+1446623709	30010000	michi	2	Variables:Main	784B4B5F
+1446623762	30010000	michi	2	Variables:Main	C9DA2A06
+1446623807	30010000	michi	2	Variables:Main	43C62F90
+1446627916	30020000	michi	2	AStop:Main	A540832B
+1446627917	30020000	michi	2	Outputs:Main	9A365DB8
+1446627918	30020000	michi	2	Workzone:Main	3725E4F7
+1446628960	30010000	michi	2	Variables:Main	84C2942A
+1446628995	30010000	michi	2	Variables:Main	F0B5D048
+1446629163	30020000	michi	2	Outputs:Main	00000000
+1446629166	30080000	michi	2	Outputs:Main	Gate:Main
+1446629167	30020000	michi	2	AStop:Main	374B5615
+1446629168	30020000	michi	2	Workzone:Main	63DE5A9D
+1446629256	30010000	michi	2	Variables:Main	49B2C970
+1446629344	20040000	michi	1	C7A17AB7
+1446629428	30010000	michi	2	Variables:Main	C396F4FB
+1446629495	20040000	michi	1	AD4D9387
+1446629522	20040000	michi	1	F76656A4
+1446629554	20040000	michi	1	BD46E053
+1446629588	20040000	michi	1	C7C98AF2
+1446629627	20040000	michi	1	3FFFFD41
+1446629668	30010000	michi	2	Variables:Main	6FBDAD58
+1446629710	30010000	michi	2	Variables:Main	B16E73A0
+1446629851	60010000	michi	2	2	SafeMODULE ID
+1446629904	30020000	michi	2	Gate:Main	4A54315A
+1446629905	60010000	michi	2	2	SafeMODULE ID
+1446630304	30020000	michi	2	ReleaseDelayed:ReleaseDelayed	D3B5B1A9
+1446630325	30020000	michi	2	ReleaseDelayed:ReleaseDelayed	E0E7500F
+1446630379	30020000	michi	2	EStop:Main	564CCE0D
+1446630388	20050000	michi	1	E63EED73
+1446630404	20050000	michi	1	E63EED73
+1446636219	20030000	michi	2	E63EED73	76160211238
+1446636497	20040000	michi	1	4B5AC4FB
+1446636507	20050000	michi	1	F19A0F1A
+1446636526	20030000	michi	2	F19A0F1A	76160211238
+1446642795	30020000	michi	2	AStop:Main	CC029259
+1446642804	20050000	michi	1	E0CA4E53
+1446642836	20030000	michi	2	E0CA4E53	76160211238
+1446643081	30020000	michi	2	Gate:Main	5E50AAFC
+1446643089	20050000	michi	1	C1604AAF
+1446643114	20030000	michi	2	C1604AAF	76160211238

Physical/Config2/X20CP1583/SafeLOGIC-1/GlobalCrossReferences.csv

@@ -1,74 +1,72 @@
-gbOuMainValveRob1,POE\Main\AStop.GB,2,OUT,96,8,Write,,SAFEBOOL,SQX16.0,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 1
+bSSM3Ok,POE\Main\AStop.GB,2,IN,73,9,Read,,SAFEBOOL,SIX29.1,,VAR_GLOBAL,GLOBAL,,Safemodul HW Ok
-gbOuMainValveRob1Rel,POE\Main\Outputs.GB,1,OUT,21,7,Write,,BOOL,NSQX135.0,,VAR_GLOBAL,GLOBAL,,
+bSSM3Ok,POE\Main\AStop.GB,5,IN,140,10,Read,,SAFEBOOL,SIX29.1,,VAR_GLOBAL,GLOBAL,,Safemodul HW Ok
-gbOuMainValveRob2,POE\Main\AStop.GB,5,OUT,97,7,Write,,SAFEBOOL,SQX16.2,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 2
+bSSM4Ok,POE\Main\EStop.GB,1,IN,58,67,Read,,SAFEBOOL,SIX29.2,,VAR_GLOBAL,GLOBAL,,Safemodul 4Ok
-gbOuMainValveRob2Rel,POE\Main\Outputs.GB,1,OUT,22,7,Write,,BOOL,NSQX135.2,,VAR_GLOBAL,GLOBAL,,
+bSSM4Ok,POE\Main\EStop.GB,3,IN,62,67,Read,,SAFEBOOL,SIX29.2,,VAR_GLOBAL,GLOBAL,,Safemodul 4Ok
-gbOuSafetyAfterDoor1Rob1,POE\Main\AStop.GB,2,OUT,90,100,Write,,SAFEBOOL,SQX13.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 2 Roboter 1
+bSSM5Ok,POE\Main\AStop.GB,2,IN,95,9,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor1Rob1Rel,POE\Main\Outputs.GB,1,OUT,15,0,Write,,BOOL,NSQX132.0,,VAR_GLOBAL,GLOBAL,,
+bSSM5Ok,POE\Main\AStop.GB,5,IN,150,10,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor1Rob2,POE\Main\AStop.GB,5,OUT,92,0,Write,,SAFEBOOL,SQX13.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 1 Roboter 2
+bSSM5Ok,POE\Main\Workzone.GB,2,IN,80,15,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor1Rob2Rel,POE\Main\Outputs.GB,1,OUT,17,0,Write,,BOOL,NSQX132.2,,VAR_GLOBAL,GLOBAL,,
+bSSM5Ok,POE\Main\Workzone.GB,2,IN,81,15,Read,,SAFEBOOL,SIX29.3,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob1,POE\Main\AStop.GB,2,OUT,91,100,Write,,SAFEBOOL,SQX13.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 1 Roboter 1
+bSSM6Ok,POE\Main\AStop.GB,2,IN,111,9,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob1Rel,POE\Main\Outputs.GB,1,OUT,16,0,Write,,BOOL,NSQX132.1,,VAR_GLOBAL,GLOBAL,,
+bSSM6Ok,POE\Main\AStop.GB,5,IN,171,10,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob2,POE\Main\AStop.GB,5,OUT,93,0,Write,,SAFEBOOL,SQX13.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 2 Roboter 2
+bSSM6Ok,POE\Main\Gate.GB,2,IN,58,0,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterDoor2Rob2Rel,POE\Main\Outputs.GB,1,OUT,18,0,Write,,BOOL,NSQX132.3,,VAR_GLOBAL,GLOBAL,,
+bSSM6Ok,POE\Main\Gate.GB,2,IN,50,0,Read,,SAFEBOOL,SIX29.4,,VAR_GLOBAL,GLOBAL,,Safetymodul HW Ok
-gbOuSafetyAfterEStop1Rob1Rel,POE\Main\Outputs.GB,1,OUT,2,0,Write,,BOOL,NSQX133.0,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 1
+gbOuCloseGateRob1,POE\Main\Gate.GB,2,OUT,27,28,Write,,SAFEBOOL,SQX16.1,,VAR_GLOBAL,GLOBAL,,Schutztor Roboter 1 Schlie<69>en
-gbOuSafetyAfterEStop1Rob2Rel,POE\Main\Outputs.GB,1,OUT,9,0,Write,,BOOL,NSQX133.2,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 2
+gbOuCloseGateRob1Rel,POE\Main\Gate.GB,2,OUT,29,25,Write,,BOOL,NSQX135.1,,VAR_GLOBAL,GLOBAL,,Freigabe Schutztor Roboter 1 schlie<69>en
-gbOuSafetyAfterEStop2Rob1Rel,POE\Main\Outputs.GB,1,OUT,3,0,Write,,BOOL,NSQX133.1,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 1
+gbOuCloseGateRob2,POE\Main\Gate.GB,2,OUT,28,28,Write,,SAFEBOOL,SQX16.3,,VAR_GLOBAL,GLOBAL,,Schutztor Roboter 2 Schlie<69>en
-gbOuSafetyAfterEStop2Rob2Rel,POE\Main\Outputs.GB,1,OUT,10,0,Write,,BOOL,NSQX133.3,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 2
+gbOuCloseGateRob2Rel,POE\Main\Gate.GB,2,OUT,30,25,Write,,BOOL,NSQX135.3,,VAR_GLOBAL,GLOBAL,,Freigabe Roboter 2 Schutztor schlie<69>en
-gbOuSafetyGrindersRob1,POE\Main\AStop.GB,2,OUT,94,3,Write,,SAFEBOOL,SQX15.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 1
+gbOuMainValveRob1,POE\Main\AStop.GB,2,OUT,107,0,Write,,SAFEBOOL,SQX16.0,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 1
-gbOuSafetyGrindersRob1Rel,POE\Main\Outputs.GB,1,OUT,19,2,Write,,BOOL,NSQX134.2,,VAR_GLOBAL,GLOBAL,,
+gbOuMainValveRob1Rel,POE\Main\AStop.GB,2,OUT,115,0,Write,,BOOL,NSQX135.0,,VAR_GLOBAL,GLOBAL,,
-gbOuSafetyGrindersRob2,POE\Main\AStop.GB,5,OUT,95,2,Write,,SAFEBOOL,SQX15.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 2
+gbOuMainValveRob2,POE\Main\AStop.GB,5,OUT,62,0,Write,,SAFEBOOL,SQX16.2,,VAR_GLOBAL,GLOBAL,,Hauptventil Druckluft Roboter 2
-gbOuSafetyGrindersRob2Rel,POE\Main\Outputs.GB,1,OUT,20,2,Write,,BOOL,NSQX134.3,,VAR_GLOBAL,GLOBAL,,
+gbOuMainValveRob2Rel,POE\Main\AStop.GB,5,OUT,163,0,Write,,BOOL,NSQX135.2,,VAR_GLOBAL,GLOBAL,,
-gbOuSafetyToolslayRob1,POE\Main\Workzone.GB,2,OUT,25,1,Write,,SAFEBOOL,SQX15.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 1
+gbOuSafetyAfterDoor1Rob1,POE\Main\AStop.GB,2,OUT,58,0,Write,,SAFEBOOL,SQX13.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<EFBFBD>rkreis 2 Roboter 1
-gbOuSafetyToolslayRob1Rel,POE\Main\Outputs.GB,1,OUT,41,3,Write,,BOOL,NSQX134.0,,VAR_GLOBAL,GLOBAL,,
+gbOuSafetyAfterDoor1Rob1Rel,POE\Main\AStop.GB,2,OUT,112,0,Write,,BOOL,NSQX132.0,,VAR_GLOBAL,GLOBAL,,
-gbOuSafetyToolslayRob2,POE\Main\Workzone.GB,2,OUT,35,1,Write,,SAFEBOOL,SQX15.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 2
+gbOuSafetyAfterDoor1Rob2,POE\Main\AStop.GB,5,OUT,59,0,Write,,SAFEBOOL,SQX13.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<EFBFBD>rkreis 1 Roboter 2
-gbOuSafetyToolslayRob2Rel,POE\Main\Outputs.GB,1,OUT,42,2,Write,,BOOL,NSQX134.1,,VAR_GLOBAL,GLOBAL,,
+gbOuSafetyAfterDoor1Rob2Rel,POE\Main\AStop.GB,5,OUT,160,0,Write,,BOOL,NSQX132.2,,VAR_GLOBAL,GLOBAL,,
-gbSInDoorClosedRob1,POE\Main\AStop.GB,1,IN,46,31,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
+gbOuSafetyAfterDoor2Rob1,POE\Main\AStop.GB,2,OUT,84,0,Write,,SAFEBOOL,SQX13.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 1 Roboter 1
-gbSInDoorClosedRob1,POE\Main\Workzone.GB,1,IN,22,39,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
+gbOuSafetyAfterDoor2Rob1Rel,POE\Main\AStop.GB,2,OUT,113,0,Write,,BOOL,NSQX132.1,,VAR_GLOBAL,GLOBAL,,
-gbSInDoorClosedRob2,POE\Main\AStop.GB,4,IN,47,29,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
+gbOuSafetyAfterDoor2Rob2,POE\Main\AStop.GB,5,OUT,60,0,Write,,SAFEBOOL,SQX13.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang T<>rkreis 2 Roboter 2
-gbSInDoorClosedRob2,POE\Main\Workzone.GB,1,IN,33,39,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
+gbOuSafetyAfterDoor2Rob2Rel,POE\Main\AStop.GB,5,OUT,161,0,Write,,BOOL,NSQX132.3,,VAR_GLOBAL,GLOBAL,,
-gbSInEStopOkRob1,POE\Main\EStop.GB,1,IN,0,55,Read,,SAFEBOOL,SIX19.5,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 1
+gbOuSafetyAfterEStop1Rob1Rel,POE\Main\EStop.GB,2,OUT,41,36,Write,,BOOL,NSQX133.0,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 1
-gbSInEStopOkRob2,POE\Main\EStop.GB,1,IN,51,55,Read,,SAFEBOOL,SIX19.7,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 2
+gbOuSafetyAfterEStop1Rob2Rel,POE\Main\EStop.GB,4,OUT,43,35,Write,,BOOL,NSQX133.2,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 1 Roboter 2
-gbSInGateClosedRob1,POE\Main\AStop.GB,1,IN,48,30,Read,,SAFEBOOL,SIX20.0,,VAR_GLOBAL,GLOBAL,,Roboter 1 Schutztor Einlegebereich
+gbOuSafetyAfterEStop2Rob1Rel,POE\Main\EStop.GB,2,OUT,42,36,Write,,BOOL,NSQX133.1,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 1
-gbSInGateClosedRob2,POE\Main\AStop.GB,4,IN,50,30,Read,,SAFEBOOL,SIX20.3,,VAR_GLOBAL,GLOBAL,,Roboter 2 Schutztor Einlegebereich
+gbOuSafetyAfterEStop2Rob2Rel,POE\Main\EStop.GB,4,OUT,44,35,Write,,BOOL,NSQX133.3,,VAR_GLOBAL,GLOBAL,,Freigabe Sicherheit Nothalt 2 Roboter 2
-gbSInLightBarOkRob1,POE\Main\AStop.GB,1,IN,49,30,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob1,POE\Main\AStop.GB,2,OUT,99,0,Write,,SAFEBOOL,SQX15.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 1
-gbSInLightBarOkRob1,POE\Main\Workzone.GB,1,IN,14,39,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob1Rel,POE\Main\AStop.GB,2,OUT,114,0,Write,,BOOL,NSQX134.2,,VAR_GLOBAL,GLOBAL,,
-gbSInLightBarOkRob2,POE\Main\AStop.GB,4,IN,51,30,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob2,POE\Main\AStop.GB,5,OUT,61,0,Write,,SAFEBOOL,SQX15.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Schleifer Roboter 2
-gbSInLightBarOkRob2,POE\Main\Workzone.GB,1,IN,30,39,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
+gbOuSafetyGrindersRob2Rel,POE\Main\AStop.GB,5,OUT,162,0,Write,,BOOL,NSQX134.3,,VAR_GLOBAL,GLOBAL,,
-gbSOuSafetyAfterEStop1Rob1,POE\Main\EStop.GB,2,OUT,24,23,Write,,SAFEBOOL,SQX14.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 1
+gbOuSafetyToolslayRob1,POE\Main\Workzone.GB,2,OUT,66,9,Write,,SAFEBOOL,SQX15.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 1
-gbSOuSafetyAfterEStop1Rob2,POE\Main\EStop.GB,2,OUT,54,23,Write,,SAFEBOOL,SQX14.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 2
+gbOuSafetyToolslayRob1Rel,POE\Main\Workzone.GB,2,OUT,83,5,Write,,BOOL,NSQX134.0,,VAR_GLOBAL,GLOBAL,,
-gbSOuSafetyAfterEStop2Rob1,POE\Main\EStop.GB,2,OUT,25,23,Write,,SAFEBOOL,SQX14.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 1
+gbOuSafetyToolslayRob2,POE\Main\Workzone.GB,2,OUT,27,9,Write,,SAFEBOOL,SQX15.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Werkzeugschlitten Roboter 2
-gbSOuSafetyAfterEStop2Rob2,POE\Main\EStop.GB,2,OUT,55,23,Write,,SAFEBOOL,SQX14.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 2
+gbOuSafetyToolslayRob2Rel,POE\Main\Workzone.GB,2,OUT,84,5,Write,,BOOL,NSQX134.1,,VAR_GLOBAL,GLOBAL,,
-gbSPLCInDoorzoneOkRob1,POE\Main\AStop.GB,2,OUT,120,0,Write,,BOOL,NSQX0.4,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>cmkeldung Automatikbereich Sicher
+gbSInBumperOkRob1,POE\Main\Gate.GB,1,IN,13,6,Read,,SAFEBOOL,SIX20.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCInDoorzoneOkRob2,POE\Main\AStop.GB,2,OUT,121,0,Write,,BOOL,NSQX0.5,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>ckmeldung Automatikbereich Sicher Roboter 2
+gbSInBumperOkRob2,POE\Main\Gate.GB,1,IN,36,6,Read,,SAFEBOOL,SIX20.5,,VAR_GLOBAL,GLOBAL,,
-gbSPLCInEstopOkRob1,POE\Main\EStop.GB,2,OUT,32,4,Write,,BOOL,NSQX0.0,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob1,POE\Main\AStop.GB,1,IN,22,5,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
-gbSPLCInEstopOkRob2,POE\Main\EStop.GB,2,OUT,59,4,Write,,BOOL,NSQX0.1,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob1,POE\Main\Workzone.GB,1,IN,20,8,Read,,SAFEBOOL,SIX19.4,,VAR_GLOBAL,GLOBAL,,Roboter 1 T<>rkreis
-gbSPLCInWorkzoneOkRob1,POE\Main\Workzone.GB,2,OUT,60,0,Write,,BOOL,NSQX0.2,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob2,POE\Main\AStop.GB,4,IN,23,3,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
-gbSPLCInWorkzoneOkRob2,POE\Main\Workzone.GB,2,OUT,61,0,Write,,BOOL,NSQX0.3,,VAR_GLOBAL,GLOBAL,,
+gbSInDoorClosedRob2,POE\Main\Workzone.GB,1,IN,25,8,Read,,SAFEBOOL,SIX19.6,,VAR_GLOBAL,GLOBAL,,Roboter 2 T<>rkreis
-gbSPLCOuHWMainValveRob1OK,POE\Main\AStop.GB,1,IN,3,20,Read,,BOOL,NSIX2.0,,VAR_GLOBAL,GLOBAL,,
+gbSInEStopOkRob1,POE\Main\EStop.GB,1,IN,0,51,Read,,SAFEBOOL,SIX19.5,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 1
-gbSPLCOuHWMainValveRob2OK,POE\Main\AStop.GB,4,IN,8,20,Read,,BOOL,NSIX2.2,,VAR_GLOBAL,GLOBAL,,
+gbSInEStopOkRob2,POE\Main\EStop.GB,1,IN,29,52,Read,,SAFEBOOL,SIX19.7,,VAR_GLOBAL,GLOBAL,,Nothaltkette Roboter 2
-gbSPLCOuHWSafetyDoor1Rob1OK,POE\Main\AStop.GB,1,IN,0,17,Read,,BOOL,NSIX0.4,,VAR_GLOBAL,GLOBAL,,
+gbSInGateClosedRob1,POE\Main\AStop.GB,1,IN,24,4,Read,,SAFEBOOL,SIX20.0,,VAR_GLOBAL,GLOBAL,,Roboter 1 Schutztor Einlegebereich
-gbSPLCOuHWSafetyDoor1Rob2OK,POE\Main\AStop.GB,1,IN,5,17,Read,,BOOL,NSIX0.6,,VAR_GLOBAL,GLOBAL,,
+gbSInGateClosedRob2,POE\Main\AStop.GB,1,IN,26,4,Read,,SAFEBOOL,SIX20.3,,VAR_GLOBAL,GLOBAL,,Roboter 2 Schutztor Einlegebereich
-gbSPLCOuHWSafetyDoor2Rob1OK,POE\Main\AStop.GB,1,IN,1,17,Read,,BOOL,NSIX0.5,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob1,POE\Main\AStop.GB,1,IN,25,4,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyDoor2Rob2OK,POE\Main\AStop.GB,1,IN,6,17,Read,,BOOL,NSIX0.7,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob1,POE\Main\Workzone.GB,1,IN,14,8,Read,,SAFEBOOL,SIX20.1,,VAR_GLOBAL,GLOBAL,,Roboter 1 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyEStop1Rob1OK,POE\Main\EStop.GB,1,IN,18,1,Read,,BOOL,NSIX1.0,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob2,POE\Main\AStop.GB,1,IN,27,4,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyEStop1Rob2OK,POE\Main\EStop.GB,1,IN,33,2,Read,,BOOL,NSIX1.2,,VAR_GLOBAL,GLOBAL,,
+gbSInLightBarOkRob2,POE\Main\Workzone.GB,1,IN,23,8,Read,,SAFEBOOL,SIX20.4,,VAR_GLOBAL,GLOBAL,,Roboter 2 Lichtvorhang Einlegebereich
-gbSPLCOuHWSafetyEStop2Rob1OK,POE\Main\EStop.GB,1,IN,19,1,Read,,BOOL,NSIX1.1,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop1Rob1,POE\Main\EStop.GB,2,OUT,71,38,Write,,SAFEBOOL,SQX14.0,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 1
-gbSPLCOuHWSafetyEStop2Rob2OK,POE\Main\EStop.GB,1,IN,34,2,Read,,BOOL,NSIX1.3,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop1Rob2,POE\Main\EStop.GB,4,OUT,84,38,Write,,SAFEBOOL,SQX14.2,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 1 Roboter 2
-gbSPLCOuHWSafetyGrindersRob1OK,POE\Main\AStop.GB,1,IN,2,15,Read,,BOOL,NSIX1.6,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop2Rob1,POE\Main\EStop.GB,2,OUT,72,38,Write,,SAFEBOOL,SQX14.1,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 1
-gbSPLCOuHWSafetyGrindersRob2OK,POE\Main\AStop.GB,4,IN,7,15,Read,,BOOL,NSIX1.7,,VAR_GLOBAL,GLOBAL,,
+gbSOuSafetyAfterEStop2Rob2,POE\Main\EStop.GB,4,OUT,85,38,Write,,SAFEBOOL,SQX14.3,,VAR_GLOBAL,GLOBAL,,Sicherer Ausgang Nothalt 2 Roboter 2
-gbSPLCOuHWSafetyToolSlayRob1OK,POE\Main\Workzone.GB,2,IN,16,0,Read,,BOOL,NSIX1.4,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInDoorzoneOkRob1,POE\Main\AStop.GB,2,OUT,65,19,Write,,BOOL,NSQX0.4,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>cmkeldung Automatikbereich Sicher
-gbSPLCOuHWSafetyToolSlayRob2OK,POE\Main\Workzone.GB,2,IN,32,0,Read,,BOOL,NSIX1.5,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInDoorzoneOkRob2,POE\Main\AStop.GB,2,OUT,66,20,Write,,BOOL,NSQX0.5,,VAR_GLOBAL,GLOBAL,,R<EFBFBD>ckmeldung Automatikbereich Sicher Roboter 2
-gbSPLCOuHWValveCloseGateRob1OK,POE\Main\AStop.GB,1,IN,4,15,Read,,BOOL,NSIX2.1,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInEstopOkRob1,POE\Main\EStop.GB,2,OUT,17,19,Write,,BOOL,NSQX0.0,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuHWValveCloseGateRob2OK,POE\Main\AStop.GB,4,IN,9,15,Read,,BOOL,NSIX2.3,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInEstopOkRob2,POE\Main\EStop.GB,2,OUT,34,19,Write,,BOOL,NSQX0.1,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseSafeDoorOuRob1,POE\Main\Outputs.GB,1,IN,23,21,Read,,BOOL,NSIX2.6,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInWorkzoneOkRob1,POE\Main\Workzone.GB,2,OUT,47,15,Write,,BOOL,NSQX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseSafeDoorOuRob2,POE\Main\Outputs.GB,1,IN,24,21,Read,,BOOL,NSIX2.7,,VAR_GLOBAL,GLOBAL,,
+gbSPLCInWorkzoneOkRob2,POE\Main\Workzone.GB,2,OUT,48,15,Write,,BOOL,NSQX0.3,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseSafeOutputRob1,POE\Main\Outputs.GB,1,IN,1,19,Read,,BOOL,NSIX2.4,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetDoorzoneRob1,POE\Main\AStop.GB,1,IN,63,21,Read,,BOOL,NSIX0.4,,VAR_GLOBAL,GLOBAL,,Reset Signal f<>r Einlegebereich Roboter 1
-gbSPLCOuReleaseSafeOutputRob2,POE\Main\Outputs.GB,1,IN,8,19,Read,,BOOL,NSIX2.5,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetDoorzoneRob2,POE\Main\AStop.GB,4,IN,64,20,Read,,BOOL,NSIX0.5,,VAR_GLOBAL,GLOBAL,,Resetsignal f<>r Automatikbereich Rotobter 1
-gbSPLCOuReleaseWorkzoneOuRob1,POE\Main\Outputs.GB,1,IN,43,20,Read,,BOOL,NSIX3.2,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetEstopRob1,POE\Main\EStop.GB,1,IN,12,46,Read,,BOOL,NSIX0.0,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuReleaseWorkzoneOuRob2,POE\Main\Outputs.GB,1,IN,45,21,Read,,BOOL,NSIX3.3,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetEstopRob2,POE\Main\EStop.GB,1,IN,30,46,Read,,BOOL,NSIX0.1,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetDoorzoneRob1,POE\Main\AStop.GB,2,IN,118,0,Read,,BOOL,NSIX3.0,,VAR_GLOBAL,GLOBAL,,Reset Signal f<>r Einlegebereich Roboter 1
+gbSPLCOuResetWorkzoneRob1,POE\Main\Gate.GB,1,IN,59,22,Read,,BOOL,NSIX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetDoorzoneRob2,POE\Main\AStop.GB,5,IN,119,0,Read,,BOOL,NSIX3.1,,VAR_GLOBAL,GLOBAL,,Resetsignal f<>r Automatikbereich Rotobter 1
+gbSPLCOuResetWorkzoneRob1,POE\Main\Workzone.GB,1,IN,15,11,Read,,BOOL,NSIX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetEstopRob1,POE\Main\EStop.GB,1,IN,20,56,Read,,BOOL,NSIX0.0,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetWorkzoneRob2,POE\Main\Gate.GB,1,IN,60,22,Read,,BOOL,NSIX0.3,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetEstopRob2,POE\Main\EStop.GB,1,IN,53,56,Read,,BOOL,NSIX0.1,,VAR_GLOBAL,GLOBAL,,
+gbSPLCOuResetWorkzoneRob2,POE\Main\Workzone.GB,1,IN,24,12,Read,,BOOL,NSIX0.3,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetWorkzoneRob1,POE\Main\Workzone.GB,2,IN,15,0,Read,,BOOL,NSIX0.2,,VAR_GLOBAL,GLOBAL,,
-gbSPLCOuResetWorkzoneRob2,POE\Main\Workzone.GB,2,IN,31,0,Read,,BOOL,NSIX0.3,,VAR_GLOBAL,GLOBAL,,

Physical/Config2/X20CP1583/SafeLOGIC-1/InstanceTree.xml

@@ -1 +1 @@
-<?xml version="1.0" encoding="UTF-8"?><InstanceTree><pou name="Main" pouType="PROGRAM"/><InstanceCalls><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_1" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_2" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_3" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_4" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_5" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_6" pouType="FUNCTION_BLOCK"/></InstanceCalls></InstanceTree>
+<?xml version="1.0" encoding="UTF-8"?><InstanceTree><pou name="Main" pouType="PROGRAM"/><InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayed_CloseGateRob1" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayed_CloseGateRob2" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayed_MainValveRob1" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayed_MainValveRob2" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedAfterDoorRob1" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedAfterDoorRob2" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedEStopR1" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedEStopR2" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedGrindersRob1" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedGrindersRob2" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedToolslayRob1" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="ReleaseDelayed" instanceName="ReleaseDelayedToolslayRob2" pouType="FUNCTION_BLOCK"/><InstanceCalls><pou name="TON" instanceName="TONDelay" pouType="FUNCTION_BLOCK"/></InstanceCalls><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_GateRob1" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_GateRob2" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_1" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_2" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_3" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_4" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_5" pouType="FUNCTION_BLOCK"/><pou name="SF_EmergencyStop_V1_00" instanceName="SF_EmergencyStop_V1_00_6" pouType="FUNCTION_BLOCK"/></InstanceCalls></InstanceTree>

Physical/Config2/X20CP1583/SafeLOGIC-1/LIST.POU

@@ -1 +1,2 @@
 PROGRAM	Main			PT=1	Main
+FUNCTION_BLOCK	ReleaseDelayed			PT=1	ReleaseDelayed

Physical/Config2/X20CP1583/SafeLOGIC-1/POE/Main/@$@$@$__.INI

@@ -1,4 +1,6 @@
 [SF_EmergencyStop_V1_00]
-INSTNUM=6
+INSTNUM=8
 [VAR]
 LAST_LOCAL_WS=Variables.VBB
+[ReleaseDelayed]
+INSTNUM=11

Physical/Config2/X20CP1583/SafeLOGIC-1/POE/Main/@_Main.gs

@@ -1,307 +1,396 @@
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 [TET]
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-211	169	270	201	272	4	3	gbOuSafetyAfterDoor1Rob2
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-239	194	178	225	180	4	3	gbSPLCInDoorzoneOkRob1
+292	110	307	122	309	4	5	bSSM3Ok
-240	194	262	225	264	4	3	gbSPLCInDoorzoneOkRob2
+302	110	323	122	325	4	5	bSSM5Ok
-255	39	328	65	330	4	5	gbSInLightBarOkRob1
+312	187	303	222	305	4	3	gbOuSafetyAfterDoor1Rob2Rel
-256	90	341	125	343	4	5	gbSPLCOuResetWorkzoneRob1
+313	187	307	222	309	4	3	gbOuSafetyAfterDoor2Rob2Rel
-257	85	325	125	327	4	5	gbSPLCOuHWSafetyToolSlayRob1OK
+314	187	323	219	325	4	3	gbOuSafetyGrindersRob2Rel
-263	39	332	65	334	4	5	gbSInDoorClosedRob1
+315	188	341	215	343	4	3	gbOuMainValveRob2Rel
-265	45	336	65	338	4	5	ESTOP_OK_ROB1
+322	57	291	65	293	4	5	TRUE
-266	171	337	199	339	4	3	gbOuSafetyToolslayRob1
+323	110	341	122	343	4	5	bSSM6Ok
-271	39	370	65	372	4	5	gbSInLightBarOkRob2
+338	8	368	34	370	4	5	gbSInLightBarOkRob1
-272	90	383	125	385	4	5	gbSPLCOuResetWorkzoneRob2
+339	11	385	46	387	4	5	gbSPLCOuResetWorkzoneRob1
-273	85	367	125	369	4	5	gbSPLCOuHWSafetyToolSlayRob2OK
+344	8	372	34	374	4	5	gbSInDoorClosedRob1
-274	39	374	65	376	4	5	gbSInDoorClosedRob2
+346	14	376	34	378	4	5	ESTOP_OK_ROB1
-275	45	378	65	380	4	5	ESTOP_OK_ROB2
+347	8	410	34	412	4	5	gbSInLightBarOkRob2
-276	171	379	199	381	4	3	gbOuSafetyToolslayRob2
+348	12	429	47	431	4	5	gbSPLCOuResetWorkzoneRob2
-301	197	329	228	331	4	3	gbSPLCInWorkzoneOkRob1
+349	8	414	34	416	4	5	gbSInDoorClosedRob2
-302	197	371	228	373	4	3	gbSPLCInWorkzoneOkRob2
+350	14	418	34	420	4	5	ESTOP_OK_ROB2
+351	163	431	191	433	4	3	gbOuSafetyToolslayRob2
+371	154	369	185	371	4	3	gbSPLCInWorkzoneOkRob1
+372	154	411	185	413	4	3	gbSPLCInWorkzoneOkRob2
+378	51	365	59	367	4	5	TRUE
+379	51	407	59	409	4	5	TRUE
+390	163	387	191	389	4	3	gbOuSafetyToolslayRob1
+404	115	383	127	385	4	5	bSSM5Ok
+405	115	427	127	429	4	5	bSSM5Ok
+407	163	383	195	385	4	3	gbOuSafetyToolslayRob1Rel
+408	163	427	195	429	4	3	gbOuSafetyToolslayRob2Rel
 [FBS]
-22
+34
-10	88	8	120	32	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_1
+10	80	8	112	32	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_1
-16	42	8	50	20	1	AND	
+15	129	12	152	20	1	SAFEBOOL_TO_BOOL	
-23	144	12	167	20	1	SAFEBOOL_TO_BOOL	
+27	81	40	113	64	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_2
-38	43	40	51	52	1	AND	
+33	129	44	152	52	1	SAFEBOOL_TO_BOOL	
-48	88	40	120	64	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_2
+55	81	82	113	94	0	ReleaseDelayed	ReleaseDelayedEStopR1
-58	144	44	167	52	1	SAFEBOOL_TO_BOOL	
+67	81	102	113	114	0	ReleaseDelayed	ReleaseDelayedEStopR2
-132	57	171	65	199	1	AND	
+101	59	131	91	155	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_GateRob1
-139	57	255	65	283	1	AND	
+109	33	135	42	147	1	AND_S	
-152	127	171	159	195	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_3
+115	114	131	146	143	0	ReleaseDelayed	ReleaseDelayed_CloseGateRob1
-163	129	255	161	279	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_4
+126	33	175	42	187	1	AND_S	
-174	70	213	79	229	1	AND_S	
+137	59	171	91	195	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_GateRob2
-178	58	207	66	219	1	OR_S	
+146	114	171	146	183	0	ReleaseDelayed	ReleaseDelayed_CloseGateRob2
-187	58	291	66	303	1	OR_S	
+161	66	208	98	232	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_3
-191	70	297	79	313	1	AND_S	
+172	67	288	99	312	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_4
-205	169	175	192	183	1	SAFEBOOL_TO_BOOL	
+183	44	212	53	228	1	AND_S	
-208	169	259	192	267	1	SAFEBOOL_TO_BOOL	
+187	32	206	40	218	1	OR_S	
-250	127	322	159	346	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_5
+194	32	286	40	298	1	OR_S	
-254	172	326	195	334	1	SAFEBOOL_TO_BOOL	
+198	44	292	53	308	1	AND_S	
-261	67	325	76	341	1	AND_S	
+206	124	212	147	220	1	SAFEBOOL_TO_BOOL	
-283	172	368	195	376	1	SAFEBOOL_TO_BOOL	
+209	124	292	147	300	1	SAFEBOOL_TO_BOOL	
-284	67	367	76	383	1	AND_S	
+230	123	224	155	236	0	ReleaseDelayed	ReleaseDelayedAfterDoorRob1
-294	127	364	159	388	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_6
+245	123	240	155	252	0	ReleaseDelayed	ReleaseDelayedGrindersRob1
+257	123	257	155	269	0	ReleaseDelayed	ReleaseDelayed_MainValveRob1
+282	124	304	156	316	0	ReleaseDelayed	ReleaseDelayedAfterDoorRob2
+297	124	320	156	332	0	ReleaseDelayed	ReleaseDelayedGrindersRob2
+307	124	338	156	350	0	ReleaseDelayed	ReleaseDelayed_MainValveRob2
+333	61	362	93	386	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_5
+337	129	366	152	374	1	SAFEBOOL_TO_BOOL	
+343	36	365	45	381	1	AND_S	
+358	129	408	152	416	1	SAFEBOOL_TO_BOOL	
+359	36	407	45	423	1	AND_S	
+369	61	404	93	428	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_6
+388	129	380	161	392	0	ReleaseDelayed	ReleaseDelayedToolslayRob1
+395	129	424	161	436	0	ReleaseDelayed	ReleaseDelayedToolslayRob2
 [FPT]
-106
+160
-1	88	11	99	13	Activate	0	128	0	BOOL	
+1	80	11	91	13	Activate	0	128	0	BOOL	
-2	88	15	102	17	S_EStopIn	0	128	0	SAFEBOOL	
+2	80	15	94	17	S_EStopIn	0	128	0	SAFEBOOL	
-3	88	19	105	21	S_StartReset	0	128	0	SAFEBOOL	
+3	80	19	97	21	S_StartReset	0	128	0	SAFEBOOL	
-4	88	23	105	25	S_AutoReset	0	128	0	SAFEBOOL	
+4	80	23	97	25	S_AutoReset	0	128	0	SAFEBOOL	
-5	88	27	97	29	Reset	0	128	0	BOOL	
+5	80	27	89	29	Reset	0	128	0	BOOL	
-6	112	11	120	13	Ready	1	0	128	BOOL	
+6	104	11	112	13	Ready	1	0	128	BOOL	
-7	105	15	120	17	S_EStopOut	1	0	128	SAFEBOOL	
+7	97	15	112	17	S_EStopOut	1	0	128	SAFEBOOL	
-8	113	19	120	21	Error	1	0	128	BOOL	
+8	105	19	112	21	Error	1	0	128	BOOL	
-9	108	23	120	25	DiagCode	1	0	128	WORD	
+9	100	23	112	25	DiagCode	1	0	128	WORD	
-13	42	11	44	13		0	1665	0	ANY_BIT	
+13	129	15	131	17		0	640	0	SAFEBOOL	
-14	42	15	44	17		0	1665	0	ANY_BIT	
+14	151	15	152	17		1	0	640	BOOL	
-15	49	11	50	13		1	0	641	ANY_BIT	
+18	81	43	92	45	Activate	0	128	0	BOOL	
-21	144	15	146	17		0	640	0	SAFEBOOL	
+19	81	47	95	49	S_EStopIn	0	128	0	SAFEBOOL	
-22	166	15	167	17		1	0	640	BOOL	
+20	81	51	98	53	S_StartReset	0	128	0	SAFEBOOL	
-35	43	43	45	45		0	1665	0	ANY_BIT	
+21	81	55	98	57	S_AutoReset	0	128	0	SAFEBOOL	
-36	43	47	45	49		0	1665	0	ANY_BIT	
+22	81	59	90	61	Reset	0	128	0	BOOL	
-37	50	43	51	45		1	0	641	ANY_BIT	
+23	105	43	113	45	Ready	1	0	128	BOOL	
-39	88	43	99	45	Activate	0	128	0	BOOL	
+24	98	47	113	49	S_EStopOut	1	0	128	SAFEBOOL	
-40	88	47	102	49	S_EStopIn	0	128	0	SAFEBOOL	
+25	106	51	113	53	Error	1	0	128	BOOL	
-41	88	51	105	53	S_StartReset	0	128	0	SAFEBOOL	
+26	101	55	113	57	DiagCode	1	0	128	WORD	
-42	88	55	105	57	S_AutoReset	0	128	0	SAFEBOOL	
+31	129	47	131	49		0	640	0	SAFEBOOL	
-43	88	59	97	61	Reset	0	128	0	BOOL	
+32	151	47	152	49		1	0	640	BOOL	
-44	112	43	120	45	Ready	1	0	128	BOOL	
+51	81	85	95	87	bSInHwOk	0	129	0	SAFEBOOL	
-45	105	47	120	49	S_EStopOut	1	0	128	SAFEBOOL	
+52	81	89	97	91	bSInSafeCtrl	0	129	0	SAFEBOOL	
-46	113	51	120	53	Error	1	0	128	BOOL	
+53	99	85	113	87	bOuRelease	1	0	129	BOOL	
-47	108	55	120	57	DiagCode	1	0	128	WORD	
+54	97	89	113	91	bSOuSafeOut	1	0	129	SAFEBOOL	
-56	144	47	146	49		0	640	0	SAFEBOOL	
+63	81	105	95	107	bSInHwOk	0	129	0	SAFEBOOL	
-57	166	47	167	49		1	0	640	BOOL	
+64	81	109	97	111	bSInSafeCtrl	0	129	0	SAFEBOOL	
-129	57	174	59	176		0	1665	0	ANY_BIT	
+65	99	105	113	107	bOuRelease	1	0	129	BOOL	
-130	57	178	59	180		0	1665	0	ANY_BIT	
+66	97	109	113	111	bSOuSafeOut	1	0	129	SAFEBOOL	
-131	64	174	65	176		1	0	641	ANY_BIT	
+92	59	134	70	136	Activate	0	128	0	BOOL	
-133	57	186	59	188		0	1665	0	ANY_BIT	
+93	59	138	73	140	S_EStopIn	0	128	0	SAFEBOOL	
-134	57	190	59	192		0	1665	0	ANY_BIT	
+94	59	142	76	144	S_StartReset	0	128	0	SAFEBOOL	
-135	57	194	59	196		0	1665	0	ANY_BIT	
+95	59	146	76	148	S_AutoReset	0	128	0	SAFEBOOL	
-136	57	258	59	260		0	1665	0	ANY_BIT	
+96	59	150	68	152	Reset	0	128	0	BOOL	
-137	57	262	59	264		0	1665	0	ANY_BIT	
+97	83	134	91	136	Ready	1	0	128	BOOL	
-138	64	258	65	260		1	0	641	ANY_BIT	
+98	76	138	91	140	S_EStopOut	1	0	128	SAFEBOOL	
-140	57	270	59	272		0	1665	0	ANY_BIT	
+99	84	142	91	144	Error	1	0	128	BOOL	
-141	57	274	59	276		0	1665	0	ANY_BIT	
+100	79	146	91	148	DiagCode	1	0	128	WORD	
-142	57	278	59	280		0	1665	0	ANY_BIT	
+106	33	138	35	140		0	1665	0	ANY_SAFEBIT	
-143	127	174	138	176	Activate	0	128	0	BOOL	
+107	33	142	35	144		0	1665	0	ANY_SAFEBIT	
-144	127	178	141	180	S_EStopIn	0	128	0	SAFEBOOL	
+108	41	138	42	140		1	0	641	ANY_SAFEBIT	
-145	127	182	144	184	S_StartReset	0	128	0	SAFEBOOL	
+111	114	134	128	136	bSInHwOk	0	129	0	SAFEBOOL	
-146	127	186	144	188	S_AutoReset	0	128	0	SAFEBOOL	
+112	114	138	130	140	bSInSafeCtrl	0	129	0	SAFEBOOL	
-147	127	190	136	192	Reset	0	128	0	BOOL	
+113	132	134	146	136	bOuRelease	1	0	129	BOOL	
-148	151	174	159	176	Ready	1	0	128	BOOL	
+114	130	138	146	140	bSOuSafeOut	1	0	129	SAFEBOOL	
-149	144	178	159	180	S_EStopOut	1	0	128	SAFEBOOL	
+123	33	178	35	180		0	1665	0	ANY_SAFEBIT	
-150	152	182	159	184	Error	1	0	128	BOOL	
+124	33	182	35	184		0	1665	0	ANY_SAFEBIT	
-151	147	186	159	188	DiagCode	1	0	128	WORD	
+125	41	178	42	180		1	0	641	ANY_SAFEBIT	
-154	129	258	140	260	Activate	0	128	0	BOOL	
+128	59	174	70	176	Activate	0	128	0	BOOL	
-155	129	262	143	264	S_EStopIn	0	128	0	SAFEBOOL	
+129	59	178	73	180	S_EStopIn	0	128	0	SAFEBOOL	
-156	129	266	146	268	S_StartReset	0	128	0	SAFEBOOL	
+130	59	182	76	184	S_StartReset	0	128	0	SAFEBOOL	
-157	129	270	146	272	S_AutoReset	0	128	0	SAFEBOOL	
+131	59	186	76	188	S_AutoReset	0	128	0	SAFEBOOL	
-158	129	274	138	276	Reset	0	128	0	BOOL	
+132	59	190	68	192	Reset	0	128	0	BOOL	
-159	153	258	161	260	Ready	1	0	128	BOOL	
+133	83	174	91	176	Ready	1	0	128	BOOL	
-160	146	262	161	264	S_EStopOut	1	0	128	SAFEBOOL	
+134	76	178	91	180	S_EStopOut	1	0	128	SAFEBOOL	
-161	154	266	161	268	Error	1	0	128	BOOL	
+135	84	182	91	184	Error	1	0	128	BOOL	
-162	149	270	161	272	DiagCode	1	0	128	WORD	
+136	79	186	91	188	DiagCode	1	0	128	WORD	
-171	70	216	72	218		0	1665	0	ANY_SAFEBIT	
+142	114	174	128	176	bSInHwOk	0	129	0	SAFEBOOL	
-172	70	220	72	222		0	1665	0	ANY_SAFEBIT	
+143	114	178	130	180	bSInSafeCtrl	0	129	0	SAFEBOOL	
-173	78	216	79	218		1	0	643	ANY_SAFEBIT	
+144	132	174	146	176	bOuRelease	1	0	129	BOOL	
-175	58	210	60	212		0	1665	0	ANY_SAFEBIT	
+145	130	178	146	180	bSOuSafeOut	1	0	129	SAFEBOOL	
-176	58	214	60	216		0	1665	0	ANY_SAFEBIT	
+152	66	211	77	213	Activate	0	128	0	BOOL	
-177	65	216	66	218		1	0	641	ANY_SAFEBIT	
+153	66	215	80	217	S_EStopIn	0	128	0	SAFEBOOL	
-182	70	224	72	226		0	1665	0	ANY_SAFEBIT	
+154	66	221	83	223	S_StartReset	0	128	0	SAFEBOOL	
-184	58	294	60	296		0	1665	0	ANY_SAFEBIT	
+155	66	223	83	225	S_AutoReset	0	128	0	SAFEBOOL	
-185	58	298	60	300		0	1665	0	ANY_SAFEBIT	
+156	66	227	75	229	Reset	0	128	0	BOOL	
-186	65	300	66	302		1	0	641	ANY_SAFEBIT	
+157	90	211	98	213	Ready	1	0	128	BOOL	
-188	70	300	72	302		0	1665	0	ANY_SAFEBIT	
+158	83	215	98	217	S_EStopOut	1	0	128	SAFEBOOL	
-189	70	304	72	306		0	1665	0	ANY_SAFEBIT	
+159	91	219	98	221	Error	1	0	128	BOOL	
-190	78	300	79	302		1	0	641	ANY_SAFEBIT	
+160	86	223	98	225	DiagCode	1	0	128	WORD	
-193	70	308	72	310		0	1665	0	ANY_SAFEBIT	
+163	67	291	78	293	Activate	0	128	0	BOOL	
-203	169	178	171	180		0	640	0	SAFEBOOL	
+164	67	295	81	297	S_EStopIn	0	128	0	SAFEBOOL	
-204	191	178	192	180		1	0	640	BOOL	
+165	67	299	84	301	S_StartReset	0	128	0	SAFEBOOL	
-206	169	262	171	264		0	640	0	SAFEBOOL	
+166	67	303	84	305	S_AutoReset	0	128	0	SAFEBOOL	
-207	191	262	192	264		1	0	640	BOOL	
+167	67	307	76	309	Reset	0	128	0	BOOL	
-241	127	325	138	327	Activate	0	128	0	BOOL	
+168	91	291	99	293	Ready	1	0	128	BOOL	
-242	127	329	141	331	S_EStopIn	0	128	0	SAFEBOOL	
+169	84	295	99	297	S_EStopOut	1	0	128	SAFEBOOL	
-243	127	333	144	335	S_StartReset	0	128	0	SAFEBOOL	
+170	92	299	99	301	Error	1	0	128	BOOL	
-244	127	337	144	339	S_AutoReset	0	128	0	SAFEBOOL	
+171	87	303	99	305	DiagCode	1	0	128	WORD	
-245	127	341	136	343	Reset	0	128	0	BOOL	
+180	44	215	46	217		0	1665	0	ANY_SAFEBIT	
-246	151	325	159	327	Ready	1	0	128	BOOL	
+181	44	219	46	221		0	1665	0	ANY_SAFEBIT	
-247	144	329	159	331	S_EStopOut	1	0	128	SAFEBOOL	
+182	52	215	53	217		1	0	643	ANY_SAFEBIT	
-248	152	333	159	335	Error	1	0	128	BOOL	
+184	32	209	34	211		0	1665	0	ANY_SAFEBIT	
-249	147	337	159	339	DiagCode	1	0	128	WORD	
+185	32	213	34	215		0	1665	0	ANY_SAFEBIT	
-252	172	329	174	331		0	640	0	SAFEBOOL	
+186	39	215	40	217		1	0	641	ANY_SAFEBIT	
-253	194	329	195	331		1	0	640	BOOL	
+189	44	223	46	225		0	1665	0	ANY_SAFEBIT	
-258	67	328	69	330		0	1665	0	ANY_SAFEBIT	
+191	32	289	34	291		0	1665	0	ANY_SAFEBIT	
-259	67	332	69	334		0	1665	0	ANY_SAFEBIT	
+192	32	293	34	295		0	1665	0	ANY_SAFEBIT	
-260	75	329	76	331		1	0	643	ANY_SAFEBIT	
+193	39	295	40	297		1	0	641	ANY_SAFEBIT	
-264	67	336	69	338		0	1665	0	ANY_SAFEBIT	
+195	44	295	46	297		0	1665	0	ANY_SAFEBIT	
-277	172	371	174	373		0	640	0	SAFEBOOL	
+196	44	299	46	301		0	1665	0	ANY_SAFEBIT	
-278	194	371	195	373		1	0	640	BOOL	
+197	52	295	53	297		1	0	641	ANY_SAFEBIT	
-279	67	370	69	372		0	1665	0	ANY_SAFEBIT	
+200	44	303	46	305		0	1665	0	ANY_SAFEBIT	
-280	67	374	69	376		0	1665	0	ANY_SAFEBIT	
+204	124	215	126	217		0	640	0	SAFEBOOL	
-281	75	371	76	373		1	0	641	ANY_SAFEBIT	
+205	146	215	147	217		1	0	640	BOOL	
-282	67	378	69	380		0	1665	0	ANY_SAFEBIT	
+207	124	295	126	297		0	640	0	SAFEBOOL	
-285	127	367	138	369	Activate	0	128	0	BOOL	
+208	146	295	147	297		1	0	640	BOOL	
-286	127	371	141	373	S_EStopIn	0	128	0	SAFEBOOL	
+226	123	227	137	229	bSInHwOk	0	129	0	SAFEBOOL	
-287	127	375	144	377	S_StartReset	0	128	0	SAFEBOOL	
+227	123	231	139	233	bSInSafeCtrl	0	129	0	SAFEBOOL	
-288	127	379	144	381	S_AutoReset	0	128	0	SAFEBOOL	
+228	141	227	155	229	bOuRelease	1	0	129	BOOL	
-289	127	383	136	385	Reset	0	128	0	BOOL	
+229	139	231	155	233	bSOuSafeOut	1	0	129	SAFEBOOL	
-290	151	367	159	369	Ready	1	0	128	BOOL	
+241	123	243	137	245	bSInHwOk	0	129	0	SAFEBOOL	
-291	144	371	159	373	S_EStopOut	1	0	128	SAFEBOOL	
+242	123	247	139	249	bSInSafeCtrl	0	129	0	SAFEBOOL	
-292	152	375	159	377	Error	1	0	128	BOOL	
+243	141	243	155	245	bOuRelease	1	0	129	BOOL	
-293	147	379	159	381	DiagCode	1	0	128	WORD	
+244	139	247	155	249	bSOuSafeOut	1	0	129	SAFEBOOL	
+253	123	260	137	262	bSInHwOk	0	129	0	SAFEBOOL	
+254	123	264	139	266	bSInSafeCtrl	0	129	0	SAFEBOOL	
+255	141	260	155	262	bOuRelease	1	0	129	BOOL	
+256	139	264	155	266	bSOuSafeOut	1	0	129	SAFEBOOL	
+278	124	307	138	309	bSInHwOk	0	129	0	SAFEBOOL	
+279	124	311	140	313	bSInSafeCtrl	0	129	0	SAFEBOOL	
+280	142	307	156	309	bOuRelease	1	0	129	BOOL	
+281	140	311	156	313	bSOuSafeOut	1	0	129	SAFEBOOL	
+293	124	323	138	325	bSInHwOk	0	129	0	SAFEBOOL	
+294	124	327	140	329	bSInSafeCtrl	0	129	0	SAFEBOOL	
+295	142	323	156	325	bOuRelease	1	0	129	BOOL	
+296	140	327	156	329	bSOuSafeOut	1	0	129	SAFEBOOL	
+303	124	341	138	343	bSInHwOk	0	129	0	SAFEBOOL	
+304	124	345	140	347	bSInSafeCtrl	0	129	0	SAFEBOOL	
+305	142	341	156	343	bOuRelease	1	0	129	BOOL	
+306	140	345	156	347	bSOuSafeOut	1	0	129	SAFEBOOL	
+324	61	365	72	367	Activate	0	128	0	BOOL	
+325	61	369	75	371	S_EStopIn	0	128	0	SAFEBOOL	
+326	61	373	78	375	S_StartReset	0	128	0	SAFEBOOL	
+327	61	377	78	379	S_AutoReset	0	128	0	SAFEBOOL	
+328	61	381	70	383	Reset	0	128	0	BOOL	
+329	85	365	93	367	Ready	1	0	128	BOOL	
+330	78	369	93	371	S_EStopOut	1	0	128	SAFEBOOL	
+331	86	373	93	375	Error	1	0	128	BOOL	
+332	81	377	93	379	DiagCode	1	0	128	WORD	
+335	129	369	131	371		0	640	0	SAFEBOOL	
+336	151	369	152	371		1	0	640	BOOL	
+340	36	368	38	370		0	1665	0	ANY_SAFEBIT	
+341	36	372	38	374		0	1665	0	ANY_SAFEBIT	
+342	44	369	45	371		1	0	643	ANY_SAFEBIT	
+345	36	376	38	378		0	1665	0	ANY_SAFEBIT	
+352	129	411	131	413		0	640	0	SAFEBOOL	
+353	151	411	152	413		1	0	640	BOOL	
+354	36	410	38	412		0	1665	0	ANY_SAFEBIT	
+355	36	414	38	416		0	1665	0	ANY_SAFEBIT	
+356	44	411	45	413		1	0	641	ANY_SAFEBIT	
+357	36	418	38	420		0	1665	0	ANY_SAFEBIT	
+360	61	407	72	409	Activate	0	128	0	BOOL	
+361	61	411	75	413	S_EStopIn	0	128	0	SAFEBOOL	
+362	61	415	78	417	S_StartReset	0	128	0	SAFEBOOL	
+363	61	419	78	421	S_AutoReset	0	128	0	SAFEBOOL	
+364	61	423	70	425	Reset	0	128	0	BOOL	
+365	85	407	93	409	Ready	1	0	128	BOOL	
+366	78	411	93	413	S_EStopOut	1	0	128	SAFEBOOL	
+367	86	415	93	417	Error	1	0	128	BOOL	
+368	81	419	93	421	DiagCode	1	0	128	WORD	
+384	129	383	143	385	bSInHwOk	0	129	0	SAFEBOOL	
+385	129	387	145	389	bSInSafeCtrl	0	129	0	SAFEBOOL	
+386	147	383	161	385	bOuRelease	1	0	129	BOOL	
+387	145	387	161	389	bSOuSafeOut	1	0	129	SAFEBOOL	
+391	129	427	143	429	bSInHwOk	0	129	0	SAFEBOOL	
+392	129	431	145	433	bSInSafeCtrl	0	129	0	SAFEBOOL	
+393	147	427	161	429	bOuRelease	1	0	129	BOOL	
+394	145	431	161	433	bSOuSafeOut	1	0	129	SAFEBOOL	
 [KOT]
 0
 [VER]

Physical/Config2/X20CP1583/SafeLOGIC-1/POE/Main/@_Main.off

@@ -1,5 +1,5 @@
-2986328047
+1856680927
 EStop	0	0
-Outputs	72	65
+Gate	91	115
-AStop	119	163
+AStop	152	196
-Workzone	241	314
+Workzone	324	351

Physical/Config2/X20CP1583/SafeLOGIC-1/POE/Main/AStop.gs

@@ -1,134 +1,177 @@
 [LIT]
-32
+53
-60	57	58	68	58
+36	31	24	42	24
-61	81	54	88	54
+49	29	104	42	104
-62	88	54	88	16
+50	30	108	42	108
-75	55	142	68	142
+51	31	28	42	28
-76	56	146	68	146
+68	55	20	64	20
-77	57	62	68	62
+69	62	36	62	32
-78	81	138	88	138
+70	62	32	64	32
-79	88	138	88	100
+71	55	36	62	36
-80	67	96	127	96
+72	100	20	104	20
-81	88	100	127	100
+80	104	20	104	36
-82	67	12	125	12
+81	104	36	121	36
-83	88	16	125	16
+82	104	20	122	20
-98	161	16	165	16
+83	149	20	150	20
-99	165	16	167	16
+85	157	36	178	36
-100	165	16	165	24
+86	178	36	187	36
-101	165	24	168	24
+87	178	36	178	40
-102	165	24	165	27
+88	178	40	187	40
-103	165	27	168	27
+96	104	36	104	52
-104	165	27	165	30
+97	104	52	121	52
-105	165	30	168	30
+100	157	52	187	52
-106	165	30	165	33
+108	157	69	187	69
-107	165	33	168	33
+109	104	69	121	69
-108	163	100	166	100
+110	104	52	104	69
-109	166	100	167	100
+116	157	32	178	32
-110	166	100	166	108
+117	178	32	187	32
-111	166	108	169	108
+118	178	32	178	28
-112	166	108	166	111
+119	178	28	187	28
-113	166	111	169	111
+120	157	48	187	48
-114	166	111	166	114
+121	157	65	187	65
-115	166	114	169	114
+122	62	116	62	112
-116	166	114	166	117
+123	54	116	62	116
-117	166	117	169	117
+124	55	100	65	100
+125	62	112	65	112
+132	101	100	104	100
+133	104	100	122	100
+134	104	100	104	116
+135	104	116	122	116
+136	179	116	179	120
+137	179	116	187	116
+138	158	116	179	116
+139	179	120	187	120
+147	158	132	187	132
+148	104	132	122	132
+149	104	116	104	132
+157	104	150	122	150
+158	104	132	104	150
+159	158	150	188	150
+164	158	146	188	146
+165	158	128	187	128
+166	158	112	179	112
+167	179	112	187	112
+168	179	112	179	108
+169	179	108	187	108
 
 [TET]
-30
+36
-0	17	11	55	13	4	5	gbSPLCOuHWSafetyDoor1Rob1OK
+22	5	23	31	25	4	5	gbSInDoorClosedRob1
-1	17	15	55	17	4	5	gbSPLCOuHWSafetyDoor2Rob1OK
+23	3	103	29	105	4	5	gbSInDoorClosedRob2
-2	15	23	55	25	4	5	gbSPLCOuHWSafetyGrindersRob1OK
+24	4	17	30	19	4	5	gbSInGateClosedRob1
-3	20	27	55	29	4	5	gbSPLCOuHWMainValveRob1OK
+25	4	13	30	15	4	5	gbSInLightBarOkRob1
-4	15	31	55	33	4	5	gbSPLCOuHWValveCloseGateRob1OK
+26	4	97	30	99	4	5	gbSInGateClosedRob2
-5	17	95	55	97	4	5	gbSPLCOuHWSafetyDoor1Rob2OK
+27	4	93	30	95	4	5	gbSInLightBarOkRob2
-6	17	99	55	101	4	5	gbSPLCOuHWSafetyDoor2Rob2OK
+38	11	27	31	29	4	5	ESTOP_OK_ROB1
-7	15	107	55	109	4	5	gbSPLCOuHWSafetyGrindersRob2OK
+47	10	107	30	109	4	5	ESTOP_OK_ROB2
-8	20	111	55	113	4	5	gbSPLCOuHWMainValveRob2OK
+58	187	35	219	37	4	3	gbOuSafetyAfterDoor1Rob1
-9	15	115	55	117	4	5	gbSPLCOuHWValveCloseGateRob2OK
+59	187	115	219	117	4	3	gbOuSafetyAfterDoor1Rob2
-46	31	57	57	59	4	5	gbSInDoorClosedRob1
+60	187	119	219	121	4	3	gbOuSafetyAfterDoor2Rob2
-47	29	141	55	143	4	5	gbSInDoorClosedRob2
+61	187	131	216	133	4	3	gbOuSafetyGrindersRob2
-48	30	51	56	53	4	5	gbSInGateClosedRob1
+62	188	149	212	151	4	3	gbOuMainValveRob2
-49	30	47	56	49	4	5	gbSInLightBarOkRob1
+63	21	35	55	37	4	5	gbSPLCOuResetDoorzoneRob1
-50	30	135	56	137	4	5	gbSInGateClosedRob2
+64	20	115	54	117	4	5	gbSPLCOuResetDoorzoneRob2
-51	30	131	56	133	4	5	gbSInLightBarOkRob2
+65	150	19	181	21	4	3	gbSPLCInDoorzoneOkRob1
-64	37	61	57	63	4	5	ESTOP_OK_ROB1
+66	149	99	180	101	4	3	gbSPLCInDoorzoneOkRob2
-73	36	145	56	147	4	5	ESTOP_OK_ROB2
+73	109	31	121	33	4	5	bSSM3Ok
-90	168	23	200	25	4	3	gbOuSafetyAfterDoor1Rob1
+84	187	39	219	41	4	3	gbOuSafetyAfterDoor2Rob1
-91	168	26	200	28	4	3	gbOuSafetyAfterDoor2Rob1
+95	109	47	121	49	4	5	bSSM5Ok
-92	169	107	201	109	4	3	gbOuSafetyAfterDoor1Rob2
+98	56	15	64	17	4	5	TRUE
-93	169	110	201	112	4	3	gbOuSafetyAfterDoor2Rob2
+99	187	51	216	53	4	3	gbOuSafetyGrindersRob1
-94	168	29	197	31	4	3	gbOuSafetyGrindersRob1
+107	187	68	211	70	4	3	gbOuMainValveRob1
-95	169	113	198	115	4	3	gbOuSafetyGrindersRob2
+111	109	64	121	66	4	5	bSSM6Ok
-96	168	32	192	34	4	3	gbOuMainValveRob1
+112	187	27	222	29	4	3	gbOuSafetyAfterDoor1Rob1Rel
-97	169	116	193	118	4	3	gbOuMainValveRob2
+113	187	31	222	33	4	3	gbOuSafetyAfterDoor2Rob1Rel
-118	91	27	125	29	4	5	gbSPLCOuResetDoorzoneRob1
+114	187	47	219	49	4	3	gbOuSafetyGrindersRob1Rel
-119	93	111	127	113	4	5	gbSPLCOuResetDoorzoneRob2
+115	187	64	214	66	4	3	gbOuMainValveRob1Rel
-120	194	15	225	17	4	3	gbSPLCInDoorzoneOkRob1
+140	110	111	122	113	4	5	bSSM3Ok
-121	194	99	225	101	4	3	gbSPLCInDoorzoneOkRob2
+150	110	127	122	129	4	5	bSSM5Ok
+160	187	107	222	109	4	3	gbOuSafetyAfterDoor1Rob2Rel
+161	187	111	222	113	4	3	gbOuSafetyAfterDoor2Rob2Rel
+162	187	127	219	129	4	3	gbOuSafetyGrindersRob2Rel
+163	188	145	215	147	4	3	gbOuMainValveRob2Rel
+170	57	95	65	97	4	5	TRUE
+171	110	145	122	147	4	5	bSSM6Ok
 
 [FBS]
-10
+14
-13	57	8	65	36	1	AND	
+9	66	12	98	36	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_3
-20	57	92	65	120	1	AND	
+20	67	92	99	116	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_4
-33	127	8	159	32	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_3
+31	44	16	53	32	1	AND_S	
-44	129	92	161	116	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_4
+35	32	10	40	22	1	OR_S	
-55	70	50	79	66	1	AND_S	
+42	32	90	40	102	1	OR_S	
-59	58	44	66	56	1	OR_S	
+46	44	96	53	112	1	AND_S	
-68	58	128	66	140	1	OR_S	
+54	124	16	147	24	1	SAFEBOOL_TO_BOOL	
-72	70	134	79	150	1	AND_S	
+57	124	96	147	104	1	SAFEBOOL_TO_BOOL	
-86	169	12	192	20	1	SAFEBOOL_TO_BOOL	
+78	123	28	155	40	0	ReleaseDelayed	ReleaseDelayedAfterDoorRob1
-89	169	96	192	104	1	SAFEBOOL_TO_BOOL	
+93	123	44	155	56	0	ReleaseDelayed	ReleaseDelayedGrindersRob1
+105	123	61	155	73	0	ReleaseDelayed	ReleaseDelayed_MainValveRob1
+130	124	108	156	120	0	ReleaseDelayed	ReleaseDelayedAfterDoorRob2
+145	124	124	156	136	0	ReleaseDelayed	ReleaseDelayedGrindersRob2
+155	124	142	156	154	0	ReleaseDelayed	ReleaseDelayed_MainValveRob2
 
 [FPT]
-48
+60
-10	57	11	59	13		0	1665	0	ANY_BIT
+0	66	15	77	17	Activate	0	128	0	BOOL
-11	57	15	59	17		0	1665	0	ANY_BIT
+1	66	19	80	21	S_EStopIn	0	128	0	SAFEBOOL
-12	64	11	65	13		1	0	641	ANY_BIT
+2	66	25	83	27	S_StartReset	0	128	0	SAFEBOOL
-14	57	23	59	25		0	1665	0	ANY_BIT
+3	66	27	83	29	S_AutoReset	0	128	0	SAFEBOOL
-15	57	27	59	29		0	1665	0	ANY_BIT
+4	66	31	75	33	Reset	0	128	0	BOOL
-16	57	31	59	33		0	1665	0	ANY_BIT
+5	90	15	98	17	Ready	1	0	128	BOOL
-17	57	95	59	97		0	1665	0	ANY_BIT
+6	83	19	98	21	S_EStopOut	1	0	128	SAFEBOOL
-18	57	99	59	101		0	1665	0	ANY_BIT
+7	91	23	98	25	Error	1	0	128	BOOL
-19	64	95	65	97		1	0	641	ANY_BIT
+8	86	27	98	29	DiagCode	1	0	128	WORD
-21	57	107	59	109		0	1665	0	ANY_BIT
+11	67	95	78	97	Activate	0	128	0	BOOL
-22	57	111	59	113		0	1665	0	ANY_BIT
+12	67	99	81	101	S_EStopIn	0	128	0	SAFEBOOL
-23	57	115	59	117		0	1665	0	ANY_BIT
+13	67	103	84	105	S_StartReset	0	128	0	SAFEBOOL
-24	127	11	138	13	Activate	0	128	0	BOOL
+14	67	107	84	109	S_AutoReset	0	128	0	SAFEBOOL
-25	127	15	141	17	S_EStopIn	0	128	0	SAFEBOOL
+15	67	111	76	113	Reset	0	128	0	BOOL
-26	127	19	144	21	S_StartReset	0	128	0	SAFEBOOL
+16	91	95	99	97	Ready	1	0	128	BOOL
-27	127	23	144	25	S_AutoReset	0	128	0	SAFEBOOL
+17	84	99	99	101	S_EStopOut	1	0	128	SAFEBOOL
-28	127	27	136	29	Reset	0	128	0	BOOL
+18	92	103	99	105	Error	1	0	128	BOOL
-29	151	11	159	13	Ready	1	0	128	BOOL
+19	87	107	99	109	DiagCode	1	0	128	WORD
-30	144	15	159	17	S_EStopOut	1	0	128	SAFEBOOL
+28	44	19	46	21		0	1665	0	ANY_SAFEBIT
-31	152	19	159	21	Error	1	0	128	BOOL
+29	44	23	46	25		0	1665	0	ANY_SAFEBIT
-32	147	23	159	25	DiagCode	1	0	128	WORD
+30	52	19	53	21		1	0	643	ANY_SAFEBIT
-35	129	95	140	97	Activate	0	128	0	BOOL
+32	32	13	34	15		0	1665	0	ANY_SAFEBIT
-36	129	99	143	101	S_EStopIn	0	128	0	SAFEBOOL
+33	32	17	34	19		0	1665	0	ANY_SAFEBIT
-37	129	103	146	105	S_StartReset	0	128	0	SAFEBOOL
+34	39	19	40	21		1	0	641	ANY_SAFEBIT
-38	129	107	146	109	S_AutoReset	0	128	0	SAFEBOOL
+37	44	27	46	29		0	1665	0	ANY_SAFEBIT
-39	129	111	138	113	Reset	0	128	0	BOOL
+39	32	93	34	95		0	1665	0	ANY_SAFEBIT
-40	153	95	161	97	Ready	1	0	128	BOOL
+40	32	97	34	99		0	1665	0	ANY_SAFEBIT
-41	146	99	161	101	S_EStopOut	1	0	128	SAFEBOOL
+41	39	99	40	101		1	0	641	ANY_SAFEBIT
-42	154	103	161	105	Error	1	0	128	BOOL
+43	44	99	46	101		0	1665	0	ANY_SAFEBIT
-43	149	107	161	109	DiagCode	1	0	128	WORD
+44	44	103	46	105		0	1665	0	ANY_SAFEBIT
-52	70	53	72	55		0	1665	0	ANY_SAFEBIT
+45	52	99	53	101		1	0	641	ANY_SAFEBIT
-53	70	57	72	59		0	1665	0	ANY_SAFEBIT
+48	44	107	46	109		0	1665	0	ANY_SAFEBIT
-54	78	53	79	55		1	0	643	ANY_SAFEBIT
+52	124	19	126	21		0	640	0	SAFEBOOL
-56	58	47	60	49		0	1665	0	ANY_SAFEBIT
+53	146	19	147	21		1	0	640	BOOL
-57	58	51	60	53		0	1665	0	ANY_SAFEBIT
+55	124	99	126	101		0	640	0	SAFEBOOL
-58	65	53	66	55		1	0	641	ANY_SAFEBIT
+56	146	99	147	101		1	0	640	BOOL
-63	70	61	72	63		0	1665	0	ANY_SAFEBIT
+74	123	31	137	33	bSInHwOk	0	129	0	SAFEBOOL
-65	58	131	60	133		0	1665	0	ANY_SAFEBIT
+75	123	35	139	37	bSInSafeCtrl	0	129	0	SAFEBOOL
-66	58	135	60	137		0	1665	0	ANY_SAFEBIT
+76	141	31	155	33	bOuRelease	1	0	129	BOOL
-67	65	137	66	139		1	0	641	ANY_SAFEBIT
+77	139	35	155	37	bSOuSafeOut	1	0	129	SAFEBOOL
-69	70	137	72	139		0	1665	0	ANY_SAFEBIT
+89	123	47	137	49	bSInHwOk	0	129	0	SAFEBOOL
-70	70	141	72	143		0	1665	0	ANY_SAFEBIT
+90	123	51	139	53	bSInSafeCtrl	0	129	0	SAFEBOOL
-71	78	137	79	139		1	0	641	ANY_SAFEBIT
+91	141	47	155	49	bOuRelease	1	0	129	BOOL
-74	70	145	72	147		0	1665	0	ANY_SAFEBIT
+92	139	51	155	53	bSOuSafeOut	1	0	129	SAFEBOOL
-84	169	15	171	17		0	640	0	SAFEBOOL
+101	123	64	137	66	bSInHwOk	0	129	0	SAFEBOOL
-85	191	15	192	17		1	0	640	BOOL
+102	123	68	139	70	bSInSafeCtrl	0	129	0	SAFEBOOL
-87	169	99	171	101		0	640	0	SAFEBOOL
+103	141	64	155	66	bOuRelease	1	0	129	BOOL
-88	191	99	192	101		1	0	640	BOOL
+104	139	68	155	70	bSOuSafeOut	1	0	129	SAFEBOOL
+126	124	111	138	113	bSInHwOk	0	129	0	SAFEBOOL
+127	124	115	140	117	bSInSafeCtrl	0	129	0	SAFEBOOL
+128	142	111	156	113	bOuRelease	1	0	129	BOOL
+129	140	115	156	117	bSOuSafeOut	1	0	129	SAFEBOOL
+141	124	127	138	129	bSInHwOk	0	129	0	SAFEBOOL
+142	124	131	140	133	bSInSafeCtrl	0	129	0	SAFEBOOL
+143	142	127	156	129	bOuRelease	1	0	129	BOOL
+144	140	131	156	133	bSOuSafeOut	1	0	129	SAFEBOOL
+151	124	145	138	147	bSInHwOk	0	129	0	SAFEBOOL
+152	124	149	140	151	bSInSafeCtrl	0	129	0	SAFEBOOL
+153	142	145	156	147	bOuRelease	1	0	129	BOOL
+154	140	149	156	151	bSOuSafeOut	1	0	129	SAFEBOOL
 
 [KOT]
 0

Physical/Config2/X20CP1583/SafeLOGIC-1/POE/Main/CROSSREF.CSV

@@ -1,12 +1,30 @@
-ESTOP_OK_ROB1,POE\Main\AStop.GB,1,IN,64,37,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
+ESTOP_OK_ROB1,POE\Main\AStop.GB,1,IN,38,11,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
-ESTOP_OK_ROB1,POE\Main\EStop.GB,2,OUT,66,37,Write,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
+ESTOP_OK_ROB1,POE\Main\EStop.GB,1,IN,57,59,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
-ESTOP_OK_ROB1,POE\Main\Workzone.GB,1,IN,24,45,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
+ESTOP_OK_ROB1,POE\Main\EStop.GB,2,OUT,36,51,Write,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
-ESTOP_OK_ROB2,POE\Main\AStop.GB,4,IN,73,36,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
+ESTOP_OK_ROB1,POE\Main\Gate.GB,1,IN,14,11,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
-ESTOP_OK_ROB2,POE\Main\EStop.GB,2,OUT,68,37,Write,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
+ESTOP_OK_ROB1,POE\Main\Workzone.GB,1,IN,22,14,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 1 OK
-ESTOP_OK_ROB2,POE\Main\Workzone.GB,1,IN,34,45,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
+ESTOP_OK_ROB2,POE\Main\AStop.GB,4,IN,47,10,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
-SF_EmergencyStop_V1_00_1,POE\Main\EStop.GB,0,,10,88,,,,,,VAR,FB,,Nothalt Roboter 1
+ESTOP_OK_ROB2,POE\Main\EStop.GB,2,OUT,38,51,Write,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
-SF_EmergencyStop_V1_00_2,POE\Main\EStop.GB,0,,48,88,,,,,,VAR,FB,,Nothalt Roboter 2
+ESTOP_OK_ROB2,POE\Main\EStop.GB,3,IN,61,59,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
-SF_EmergencyStop_V1_00_3,POE\Main\AStop.GB,0,,33,27,,,,,,VAR,FB,,Automatik Halt Roboter 1
+ESTOP_OK_ROB2,POE\Main\Gate.GB,1,IN,31,11,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
-SF_EmergencyStop_V1_00_4,POE\Main\AStop.GB,0,,44,29,,,,,,VAR,FB,,Automatik Halt Roboter 2
+ESTOP_OK_ROB2,POE\Main\Workzone.GB,1,IN,26,14,Read,,SAFEBOOL,,,VAR,LOCAL,,Nothalt Roboter 2 OK
-SF_EmergencyStop_V1_00_5,POE\Main\Workzone.GB,0,,9,27,,,,,,VAR,FB,,Einlegebereich Roboter 1
+ReleaseDelayed_CloseGateRob1,POE\Main\Gate.GB,0,,24,14,,,,,,VAR,FB,,
-SF_EmergencyStop_V1_00_6,POE\Main\Workzone.GB,0,,53,27,,,,,,VAR,FB,,Einlegebereich Roboter 2
+ReleaseDelayed_CloseGateRob2,POE\Main\Gate.GB,0,,55,14,,,,,,VAR,FB,,
+ReleaseDelayed_MainValveRob1,POE\Main\AStop.GB,0,,105,23,,,,,,VAR,FB,,
+ReleaseDelayed_MainValveRob2,POE\Main\AStop.GB,3,,155,24,,,,,,VAR,FB,,
+ReleaseDelayedAfterDoorRob1,POE\Main\AStop.GB,0,,78,23,,,,,,VAR,FB,,
+ReleaseDelayedAfterDoorRob2,POE\Main\AStop.GB,3,,130,24,,,,,,VAR,FB,,
+ReleaseDelayedEStopR1,POE\Main\EStop.GB,0,,55,81,,,,,,VAR,FB,,HW Freigaben Nothalt Roboter 1
+ReleaseDelayedEStopR2,POE\Main\EStop.GB,2,,67,81,,,,,,VAR,FB,,HW Freigaben Nothalt Roboter 2
+ReleaseDelayedGrindersRob1,POE\Main\AStop.GB,0,,93,23,,,,,,VAR,FB,,
+ReleaseDelayedGrindersRob2,POE\Main\AStop.GB,3,,145,24,,,,,,VAR,FB,,
+ReleaseDelayedToolslayRob1,POE\Main\Workzone.GB,0,,64,29,,,,,,VAR,FB,,
+ReleaseDelayedToolslayRob2,POE\Main\Workzone.GB,0,,71,29,,,,,,VAR,FB,,
+SF_EmergencyStop_GateRob1,POE\Main\Gate.GB,0,,10,59,,,,,,VAR,FB,,Schutztor Roboter 1 Schlie<69>en
+SF_EmergencyStop_GateRob2,POE\Main\Gate.GB,0,,46,59,,,,,,VAR,FB,,
+SF_EmergencyStop_V1_00_1,POE\Main\EStop.GB,0,,10,80,,,,,,VAR,FB,,Nothalt Roboter 1
+SF_EmergencyStop_V1_00_2,POE\Main\EStop.GB,0,,27,81,,,,,,VAR,FB,,Nothalt Roboter 2
+SF_EmergencyStop_V1_00_3,POE\Main\AStop.GB,0,,9,66,,,,,,VAR,FB,,Automatik Halt Roboter 1
+SF_EmergencyStop_V1_00_4,POE\Main\AStop.GB,0,,20,67,,,,,,VAR,FB,,Automatik Halt Roboter 2
+SF_EmergencyStop_V1_00_5,POE\Main\Workzone.GB,0,,9,61,,,,,,VAR,FB,,Einlegebereich Roboter 1
+SF_EmergencyStop_V1_00_6,POE\Main\Workzone.GB,0,,45,61,,,,,,VAR,FB,,Einlegebereich Roboter 2

Physical/Config2/X20CP1583/SafeLOGIC-1/POE/Main/EStop.gs

@@ -1,84 +1,100 @@
 [LIT]
-20
+28
-12	78	16	86	16
+16	119	16	127	16
-17	52	12	86	12
+35	119	48	127	48
-26	122	16	134	16
+37	119	16	119	24
-27	134	16	142	16
+39	119	48	119	56
-28	134	16	134	24
+45	74	16	78	16
-29	134	24	143	24
+46	76	28	78	28
-30	134	24	134	27
+47	75	48	79	48
-31	134	27	143	27
+48	76	60	79	60
-50	53	44	86	44
+49	114	16	119	16
-52	78	48	86	48
+50	115	48	119	48
-60	122	48	134	48
+59	115	86	124	86
-61	134	48	142	48
+70	115	106	124	106
-62	134	48	134	56
+73	124	86	124	83
-63	134	56	134	59
+74	124	86	128	86
-64	134	56	143	56
+75	124	83	128	83
-65	134	59	143	59
+76	115	90	124	90
-67	134	27	134	30
+77	124	90	128	90
-69	134	30	143	30
+78	124	90	124	93
-70	134	59	134	62
+79	124	93	128	93
-71	134	62	143	62
+80	124	106	124	103
+81	124	103	129	103
+82	124	106	129	106
+83	119	24	129	24
+86	115	110	124	110
+87	124	110	124	113
+88	124	110	128	110
+89	124	113	128	113
+90	119	56	129	56
 
 [TET]
-16
+22
-0	55	15	78	17	4	5	gbSInEStopOkRob1
+0	51	15	74	17	4	5	gbSInEStopOkRob1
-18	1	11	40	13	4	5	gbSPLCOuHWSafetyEStop1Rob1OK
+12	46	27	76	29	4	5	gbSPLCOuResetEstopRob1
-19	1	15	40	17	4	5	gbSPLCOuHWSafetyEStop2Rob1OK
+17	154	15	181	17	4	3	gbSPLCInEstopOkRob1
-20	56	27	86	29	4	5	gbSPLCOuResetEstopRob1
+29	52	47	75	49	4	5	gbSInEStopOkRob2
-24	143	23	177	25	4	3	gbSOuSafetyAfterEStop1Rob1
+30	46	59	76	61	4	5	gbSPLCOuResetEstopRob2
-25	143	26	177	28	4	3	gbSOuSafetyAfterEStop2Rob1
+34	154	47	181	49	4	3	gbSPLCInEstopOkRob2
-32	169	15	196	17	4	3	gbSPLCInEstopOkRob1
+36	129	23	149	25	4	3	ESTOP_OK_ROB1
-33	2	43	41	45	4	5	gbSPLCOuHWSafetyEStop1Rob2OK
+38	129	55	149	57	4	3	ESTOP_OK_ROB2
-34	2	47	41	49	4	5	gbSPLCOuHWSafetyEStop2Rob2OK
+41	128	82	164	84	4	3	gbOuSafetyAfterEStop1Rob1Rel
-51	55	47	78	49	4	5	gbSInEStopOkRob2
+42	128	85	164	87	4	3	gbOuSafetyAfterEStop2Rob1Rel
-53	56	59	86	61	4	5	gbSPLCOuResetEstopRob2
+43	129	102	165	104	4	3	gbOuSafetyAfterEStop1Rob2Rel
-54	143	55	177	57	4	3	gbSOuSafetyAfterEStop1Rob2
+44	129	105	165	107	4	3	gbOuSafetyAfterEStop2Rob2Rel
-55	143	58	177	60	4	3	gbSOuSafetyAfterEStop2Rob2
+57	59	89	79	91	4	5	ESTOP_OK_ROB1
-59	169	47	196	49	4	3	gbSPLCInEstopOkRob2
+58	67	85	79	87	4	5	bSSM4Ok
-66	143	29	163	31	4	3	ESTOP_OK_ROB1
+61	59	109	79	111	4	5	ESTOP_OK_ROB2
-68	143	61	163	63	4	3	ESTOP_OK_ROB2
+62	67	105	79	107	4	5	bSSM4Ok
+68	70	11	78	13	4	5	TRUE
+69	71	43	79	45	4	5	TRUE
+71	128	89	162	91	4	3	gbSOuSafetyAfterEStop1Rob1
+72	128	92	162	94	4	3	gbSOuSafetyAfterEStop2Rob1
+84	128	109	162	111	4	3	gbSOuSafetyAfterEStop1Rob2
+85	128	112	162	114	4	3	gbSOuSafetyAfterEStop2Rob2
 
 [FBS]
 6
-10	88	8	120	32	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_1
+10	80	8	112	32	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_1
-16	42	8	50	20	1	AND	
+15	129	12	152	20	1	SAFEBOOL_TO_BOOL	
-23	144	12	167	20	1	SAFEBOOL_TO_BOOL	
+27	81	40	113	64	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_2
-38	43	40	51	52	1	AND	
+33	129	44	152	52	1	SAFEBOOL_TO_BOOL	
-48	88	40	120	64	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_V1_00_2
+55	81	82	113	94	0	ReleaseDelayed	ReleaseDelayedEStopR1
-58	144	44	167	52	1	SAFEBOOL_TO_BOOL	
+67	81	102	113	114	0	ReleaseDelayed	ReleaseDelayedEStopR2
 
 [FPT]
-28
+30
-1	88	11	99	13	Activate	0	128	0	BOOL
+1	80	11	91	13	Activate	0	128	0	BOOL
-2	88	15	102	17	S_EStopIn	0	128	0	SAFEBOOL
+2	80	15	94	17	S_EStopIn	0	128	0	SAFEBOOL
-3	88	19	105	21	S_StartReset	0	128	0	SAFEBOOL
+3	80	19	97	21	S_StartReset	0	128	0	SAFEBOOL
-4	88	23	105	25	S_AutoReset	0	128	0	SAFEBOOL
+4	80	23	97	25	S_AutoReset	0	128	0	SAFEBOOL
-5	88	27	97	29	Reset	0	128	0	BOOL
+5	80	27	89	29	Reset	0	128	0	BOOL
-6	112	11	120	13	Ready	1	0	128	BOOL
+6	104	11	112	13	Ready	1	0	128	BOOL
-7	105	15	120	17	S_EStopOut	1	0	128	SAFEBOOL
+7	97	15	112	17	S_EStopOut	1	0	128	SAFEBOOL
-8	113	19	120	21	Error	1	0	128	BOOL
+8	105	19	112	21	Error	1	0	128	BOOL
-9	108	23	120	25	DiagCode	1	0	128	WORD
+9	100	23	112	25	DiagCode	1	0	128	WORD
-13	42	11	44	13		0	1665	0	ANY_BIT
+13	129	15	131	17		0	640	0	SAFEBOOL
-14	42	15	44	17		0	1665	0	ANY_BIT
+14	151	15	152	17		1	0	640	BOOL
-15	49	11	50	13		1	0	641	ANY_BIT
+18	81	43	92	45	Activate	0	128	0	BOOL
-21	144	15	146	17		0	640	0	SAFEBOOL
+19	81	47	95	49	S_EStopIn	0	128	0	SAFEBOOL
-22	166	15	167	17		1	0	640	BOOL
+20	81	51	98	53	S_StartReset	0	128	0	SAFEBOOL
-35	43	43	45	45		0	1665	0	ANY_BIT
+21	81	55	98	57	S_AutoReset	0	128	0	SAFEBOOL
-36	43	47	45	49		0	1665	0	ANY_BIT
+22	81	59	90	61	Reset	0	128	0	BOOL
-37	50	43	51	45		1	0	641	ANY_BIT
+23	105	43	113	45	Ready	1	0	128	BOOL
-39	88	43	99	45	Activate	0	128	0	BOOL
+24	98	47	113	49	S_EStopOut	1	0	128	SAFEBOOL
-40	88	47	102	49	S_EStopIn	0	128	0	SAFEBOOL
+25	106	51	113	53	Error	1	0	128	BOOL
-41	88	51	105	53	S_StartReset	0	128	0	SAFEBOOL
+26	101	55	113	57	DiagCode	1	0	128	WORD
-42	88	55	105	57	S_AutoReset	0	128	0	SAFEBOOL
+31	129	47	131	49		0	640	0	SAFEBOOL
-43	88	59	97	61	Reset	0	128	0	BOOL
+32	151	47	152	49		1	0	640	BOOL
-44	112	43	120	45	Ready	1	0	128	BOOL
+51	81	85	95	87	bSInHwOk	0	129	0	SAFEBOOL
-45	105	47	120	49	S_EStopOut	1	0	128	SAFEBOOL
+52	81	89	97	91	bSInSafeCtrl	0	129	0	SAFEBOOL
-46	113	51	120	53	Error	1	0	128	BOOL
+53	99	85	113	87	bOuRelease	1	0	129	BOOL
-47	108	55	120	57	DiagCode	1	0	128	WORD
+54	97	89	113	91	bSOuSafeOut	1	0	129	SAFEBOOL
-56	144	47	146	49		0	640	0	SAFEBOOL
+63	81	105	95	107	bSInHwOk	0	129	0	SAFEBOOL
-57	166	47	167	49		1	0	640	BOOL
+64	81	109	97	111	bSInSafeCtrl	0	129	0	SAFEBOOL
+65	99	105	113	107	bOuRelease	1	0	129	BOOL
+66	97	109	113	111	bSOuSafeOut	1	0	129	SAFEBOOL
 
 [KOT]
 0

Physical/Config2/X20CP1583/SafeLOGIC-1/POE/Main/Gate.gs

@@ -0,0 +1,74 @@
+[LIT]
+4
+19	44	24	57	24
+26	93	24	112	24
+48	44	64	57	64
+57	93	64	112	64
+
+[TET]
+14
+12	49	19	57	21	4	5	TRUE
+13	6	23	31	25	4	5	gbSInBumperOkRob1
+14	11	27	31	29	4	5	ESTOP_OK_ROB1
+27	148	23	172	25	4	3	gbOuCloseGateRob1
+28	148	63	172	65	4	3	gbOuCloseGateRob2
+29	148	19	175	21	4	3	gbOuCloseGateRob1Rel
+30	148	59	175	61	4	3	gbOuCloseGateRob2Rel
+31	11	67	31	69	4	5	ESTOP_OK_ROB2
+36	6	63	31	65	4	5	gbSInBumperOkRob2
+49	49	59	57	61	4	5	TRUE
+50	100	19	112	21	4	5	bSSM6Ok
+58	100	59	112	61	4	5	bSSM6Ok
+59	22	35	57	37	4	5	gbSPLCOuResetWorkzoneRob1
+60	22	75	57	77	4	5	gbSPLCOuResetWorkzoneRob2
+
+[FBS]
+6
+10	59	16	91	40	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_GateRob1
+18	33	20	42	32	1	AND_S	
+24	114	16	146	28	0	ReleaseDelayed	ReleaseDelayed_CloseGateRob1
+35	33	60	42	72	1	AND_S	
+46	59	56	91	80	0	SF_EmergencyStop_V1_00	SF_EmergencyStop_GateRob2
+55	114	56	146	68	0	ReleaseDelayed	ReleaseDelayed_CloseGateRob2
+
+[FPT]
+32
+1	59	19	70	21	Activate	0	128	0	BOOL
+2	59	23	73	25	S_EStopIn	0	128	0	SAFEBOOL
+3	59	27	76	29	S_StartReset	0	128	0	SAFEBOOL
+4	59	31	76	33	S_AutoReset	0	128	0	SAFEBOOL
+5	59	35	68	37	Reset	0	128	0	BOOL
+6	83	19	91	21	Ready	1	0	128	BOOL
+7	76	23	91	25	S_EStopOut	1	0	128	SAFEBOOL
+8	84	27	91	29	Error	1	0	128	BOOL
+9	79	31	91	33	DiagCode	1	0	128	WORD
+15	33	23	35	25		0	1665	0	ANY_SAFEBIT
+16	33	27	35	29		0	1665	0	ANY_SAFEBIT
+17	41	23	42	25		1	0	641	ANY_SAFEBIT
+20	114	19	128	21	bSInHwOk	0	129	0	SAFEBOOL
+21	114	23	130	25	bSInSafeCtrl	0	129	0	SAFEBOOL
+22	132	19	146	21	bOuRelease	1	0	129	BOOL
+23	130	23	146	25	bSOuSafeOut	1	0	129	SAFEBOOL
+32	33	63	35	65		0	1665	0	ANY_SAFEBIT
+33	33	67	35	69		0	1665	0	ANY_SAFEBIT
+34	41	63	42	65		1	0	641	ANY_SAFEBIT
+37	59	59	70	61	Activate	0	128	0	BOOL
+38	59	63	73	65	S_EStopIn	0	128	0	SAFEBOOL
+39	59	67	76	69	S_StartReset	0	128	0	SAFEBOOL
+40	59	71	76	73	S_AutoReset	0	128	0	SAFEBOOL
+41	59	75	68	77	Reset	0	128	0	BOOL
+42	83	59	91	61	Ready	1	0	128	BOOL
+43	76	63	91	65	S_EStopOut	1	0	128	SAFEBOOL
+44	84	67	91	69	Error	1	0	128	BOOL
+45	79	71	91	73	DiagCode	1	0	128	WORD
+51	114	59	128	61	bSInHwOk	0	129	0	SAFEBOOL
+52	114	63	130	65	bSInSafeCtrl	0	129	0	SAFEBOOL
+53	132	59	146	61	bOuRelease	1	0	129	BOOL
+54	130	63	146	65	bSOuSafeOut	1	0	129	SAFEBOOL
+
+[KOT]
+0
+
+[VER]
+0
+