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该功能块用于打开组件所有定子电机的控制器，并识别组件的所有托盘。

在执行该功能块时，输出端 "Busy（忙）"被置位。ACOPOS 6D 控制器接受命令后，托盘识别立即开始，功能块设置输出 "确认"。装配状态变为AssemblyHoming。

在托盘识别期间，托盘处于 "空闲-悬浮 "状态，并以配置的悬浮高度悬浮。如果将模式 "绝对 ID "配置为托盘识别模式，则托盘执行归位程序。在此过程中，托盘会被分配到最初分配的 ID。

成功识别托盘后，功能块设置输出 "完成"，装配状态变为AssemblyReady。

如果无法接通所有定子电机或在托盘识别过程中出现问题，功能块将设置输出 "Error"，并在输出 "ErrorID "上报告相应的错误编号。

 

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This function block is used to switch on the controllers of all segments of the assembly and to identify all shuttles of the assembly.

Output "Busy" is set while the function block is being executed. As soon as the ACOPOS 6D controller accepts the command, shuttle identification starts and output "Acknowledge" is set by the function block. The assembly state changes to AssemblyHoming.

During shuttle identification, the shuttles are placed in state "Idle-Levitated" and levitate at the configured levitation height. If mode "Absolute ID" is configured as the shuttle ID mode, the shuttles perform a homing procedure. In the process, the shuttles are assigned the ID that was originally assigned.

After successful shuttle identification, the function block sets output "Done" and the assembly state changes to AssemblyReady.

If it is not possible for all segments to be switched on or if a problem occurs during shuttle identification, the function block sets output "Error" and reports the corresponding error number on output "ErrorID".