下图显示了程序集的可能状态。这种装配状态概览有助于创建运动序列和处理程序中的错误情况。
功能块对装配体状态的影响如下图所示。装配体始终处于定义的状态之一（见状态图）。未包含在状态图中的功能块对程序集的状态没有影响。
装配体的当前状态可通过功能块MC_BR_AsmReadStatus_Acp6D 确定。如果在不允许的装配状态下调用功能块，则会报错。
图状态图
图例
注 1 |
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从 AssemblyDisabled 以外的任何状态调用。装配过程中发生错误。 |
注 2 |
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MC_BR_AsmReset_Acp6D |
注 3 |
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MC_BR_AsmPowerOn_Acp6D |
注 4 |
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MC_BR_AsmPowerOn_Acp6D.Execute = TRUE |
注 5 |
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MC_BR_AsmPowerOn_Acp6D.Done |
注 6 |
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MC_BR_AsmPowerOff_Acp6D.Execute = TRUE |
注 7 |
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MC_BR_AsmPowerOff_Acp6D.Done |
注 8 |
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配置已传输，6D 控制器已重启。 |
注 9 |
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首次开始装配。配置传输开始 |
装配状态
说明 |
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装配启动 |
配置已传输至 ACOPOS 6D 控制器。 |
组件禁用 |
组件已关闭。 |
装配就绪 |
装配开启。 |
装配归位 |
托盘识别激活。 |
装配错误停止 |
装配处于错误状态。托盘运动停止。 |
装配停止。托盘运动停止。 |
The following diagram shows the possible states of an assembly. This overview of assembly states is helpful when creating movement sequences and handling error situations in the program.
The influence of the function blocks on the state of the assembly is shown in the following diagram. The assembly is always in one of the defined states (see state diagram). Function blocks that are not included in the state diagram have no influence on the state of the assembly.
The current state of the assembly can be identified using function block MC_BR_AsmReadStatus_Acp6D. If a function block is called from an impermissible assembly state, it reports an error.
Fig.: State diagram
Legend
Note 1 |
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From any state except AssemblyDisabled. An error occurred in the assembly. |
Note 2 |
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MC_BR_AsmReset_Acp6D |
Note 3 |
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MC_BR_AsmPowerOn_Acp6D |
Note 4 |
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MC_BR_AsmPowerOn_Acp6D.Execute = TRUE |
Note 5 |
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MC_BR_AsmPowerOn_Acp6D.Done |
Note 6 |
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MC_BR_AsmPowerOff_Acp6D.Execute = TRUE |
Note 7 |
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MC_BR_AsmPowerOff_Acp6D.Done |
Note 8 |
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The configuration was transferred, and the 6D controller was restarted. |
Note 9 |
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Assembly started for the first time. Transfer of the configuration starting |
Assembly states
Description |
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AssemblyStartUp |
The configuration is transferred to the ACOPOS 6D controller. |
AssemblyDisabled |
The assembly is switched off. |
AssemblyReady |
The assembly is switched on. |
AssemblyHoming |
Shuttle identification is active. |
AssemblyErrorStop |
The assembly is in an error state. The shuttle movements are stopped. |
The assembly is stopped. The shuttle movements are stopped. |