v2ROB4.MDLER\P 6$MAIN @ P 82dX@??@@?? P  F@ dRlZ6?"@@"@@ hP @ E dZ4?"@@"@@PP  D dZ2?"@@"@@@E&p;PdSm :@dSm0&`*$0&V1=21pdxx dTTJ`  @p9d`.` @ V1=19; d;d  0 @ P ~   8` d`.  V1=3 OR V1=6 OR V1=9 OR V1=13 OR V1=16  J  dd ` P7d/` V1=5 OR V1=11 OR V1=15 $J$  0@yPyjC 6`d/PpV1=2 OR V1=8 OR V1=12 OR V1=18`J $$O 0@4dV11109wcw  @P3dV1218 0P`2d -@'V1386^` P1d`V1=10O  0@>P>4pO /`dpPV11180`NwNcw .pd`V1280pNN -d -pV13114NN  +d`V1=7 OR V1=20NON I@`p0(d$@VAR1Twwl^l^]h 0P`&d -V13114!hw @`p%dV1280"hO P!p!!$!d!V11110"wcp#h `"""""d!# #V1=4 OR V1=17#O 0#N@#NP#`#$ ##$p#dp(`$"$V1=1 OR V1=14p$ O  $$$c$cO0&  %P%`%$d-%p#%V1=00%d,d % & & &@' &&&0&d$ 'V1?00'ddp( '''@'d -0(V13114@(^P(^`(  )O (((p(d)`)V1160p) w c*w ))*)d@'p*V1250*   +<K* ͐*d0&++dds+p++A +d,++dd,+,0,G+d@,`.P,:`,{p,d{dq -,,pH,d+--d+d-p--V -d--^I^`.,.0.@-d +@.P.ddr/~J..A`.d. -.^:/:/WJ`//|/d/`./:|P1J1 1@*/d01`.@1$:$1B1P1d 2B12#1dPos1p2B6`2)2dPos22B]620p2dPos303B6 352dPos43B# 3Q03dRob 4: Rob de brao articulado4B4R3dO rob vai pegar um barril amarelo na posio 1 e coloca-o na posio 2. Depois pega um segundo barril da posio 3 e empilha-o sobre o primeiro barril (posio 4). Em seguida coloca os barris de volta na posio 1 e 3p5BK@5S4dVar1: Comanda aes do rob.06Bd 5Tp5dVar11: Posio terica Motor 1 Var12: Posio terica Motor 2 Var13: Posio terica Motor 3B,s6X06dEA: ngulo de fecho da pina8999FBPICW 7682dP@?@@@@B 87d p:999FBTMPW 9882dN@?@@@@B9̀9d =UP1 ;p:8(d`;p;@?@@@@2(2 <,͌;;̀;dDeslig<-͌(p<< <dLigB =<d A999FBINSW >=82dO@?@@@@B0?>d pHHOME_M3 BA8FAB@?@@@@FFFB,U@`BpBBdDeslig1C C C0CBdBCZ6?0C_@_1pD D0D@DCdBPD`D__ pE}DDEpDdCEpD0EpE E__@E_sPEs`E FF EEEpEdpDFF_}_nF-UpFF FdpEFLig1F_F_2B@GFd GHOME_M2 IpH8F`IpI@?@@@@FFF J,U@IIIdDeslig10K pJJJ JdIKZ4?0 K_@_1K KKK0Kd JKK__ L}0L`LpLKd0KLKLLL__L_sLsLMF 0MPM`MLdKpMM_}_n`N-UMNMdL@NLig1PN_F_2BN`Nd VHOME_M1 NG8FNN@?@@@@FFFO,U@0O@ONdDeslig1Q OOQOdNpQZ2?0Q_@_1@R QRRQdO R0R__ @S}RRR@RdQR@RS@SR__S_s Ss0SSF SSS@Sd@RSS_}_nT-U@T`TSd@STLig1T_F_2BUTd |POSICIONAR WV8FWW5@?@@@@FPX,XXWdDeslig1Ydd0XXX-PXd\X?X@Z" PYYYYd`jYiZV12>Z4Z&&r Z0ZJlJ[ ZZZ@ZdY0[paP[gV12=Z4@[&"& `[p[ [ l\P [\ \[d@Z\[\VAR2=1\&&\&P\&F\vF\vxlx]d@]`]p]0\de]VAR2]_d ^0^@^]dW^]^_NOT E42 AND NOT E32^^^^pUd5 P____d]__0UpU NOT E43 AND NOT E33 U@U0PU0`U]] Vd UUUpUd_VV5!pa pVVaЁ VdpUPae Z2VAR11"@@`a@@Pb aaa pad[b[bvx b x0b I@b&I&?@cd bbbЁ PbdpU cZ2VAR11"@@0ccr ccc @cd Vcc@@ddr @d`dpdcdPbdded d e0eddce@ceV11>Z2erhe@re@@@0gd 0f`fpfeddfpUfPbV11=Z2fgg ggg0gd[g[g&F&7hv h0h@hЁgdpahh Z4VAR12"@@h&hi i0i@iЁhdpaiZ4VAR12"@@i&&`jv j j0jidg@jPjk jjj `jdhjk&&Plk' `kkk"kd@tls lV13>Z6lw0lG@lGOOmk lll#Pldk@mo`mqV13=Z6Pm'pmG m mokU m n0n$mdPlnmnVAR2=1nnUnKnKn}}qk Popoo%odmomoKofKofNoNDqPq&qdmpqoqK<r qrrЁ'qdo`r Z6VAR13"@@prr rG Gsk rs sЁ(rdopsqZ6VAR13"@@s @t stt)sdq t0tGGtk ttt*@tdrttvdA @u`upu,tdPXuV2?1udUv-PvpvvdtvLig1vA20wB wvd wBw.0wdProcesso do motor 1xBXw/wdProcesso do motor 2xB`x0xdProcesso do motor 3yB7x1xdComando de partida para motor 2 e 3yBIPy2ydM3 ainda roda para a direita ou para a esquerda? zBy3ydM2 ainda roda para a direita ou para a esquerda?zBvpz4 zdNoBz5zdNo@PINA_FECHADA }|82d}}@?@@@@222@~,i}~}dDeslig1~- ~~~@~d}~~ssz- @`pЁ~d@~Z8EA"@ @ss{-F 0{P{`{zd~p{{ssn-i{|{dz@|Lig1P|sFs2BPd PINA_ABERTA P@8F0@@?@@@@FFF,U@PdDeslig1 @`pdPZ8?0_@_1 Ppd__ }0@dPp`___ss`F  0d@P_}_n0-UЈ`dLig1 _F_2B0d pResource\ Е@External ]SYSCON01dD   L1ZCD03AP @L2DRAW03(KPL3DEB01Oh0L4SYS02hVL5DYN03P\P6`4L6SIG05]dplL7SEQ01< ()23LLWFB02_(#ax *A@rA@rArA@rArADisplay 1:Display 2:RESETPAREEMParmetro EA:Parmetro EB:Parmetro EC:Parmetro ED: MOUTPUTV3  ࢠ(@pd x^^^^P`BINPUTV3 @`P@pȸpнx^ǟpЁBEDGEV3 @pTlx ןڟxܟ`POSITIONV3  (@phl8  h^&^Ё0STARTV3 p`(P@pTLೠx 8^ENDEV3 p`(P@pච<^?^0RESETV3 P@ xL D^H^J^O^8S^Y^pSTOPV3 0@ xL (f^j^m^q^Hu^ {^༠TERMINALV3 &",(@  0`^@X^`^^@^8^pPDISPLAYV3 `0@@p`l`t 8$_)_8,_._h3_MESSAGEV3 ŠĠĠ@px =_B_D_G_I_M_ĠP0VISUALV3 Ƞ@ $@,$pW_ȠZ_Ƞ\___ǠICDCVARV3 ͠͠ ͠@pl`H d_0ΠHi_k_n_s_0͠0ASSIGNV3 Ơ Ġ0Ġ@pLh`x ~_Ѓ_(_Љ_H__pŠCOMPAREV3 ʠ@Ϡ`ϠP@ph8_@___Ȱ__p SIGBEEPV3 .ˠpĠ`Ǡ(@pd, __x___p_ˠWAITV3 0̠͠Ϡ(@pdP __Ѡ Ҡ_`_pϠF`Z6?"@@"@@HZ6?A"@@E`Z4?"@@"@@HZ4?A"@@GD`Z2?"@@"@@HZ2?A"@@P;0 N N A:5@4@?`V1=21??1@@?$@@?$@@?$@@"@ffffff@TMP285.TMPA1@@$@@$@@ffffff@$@@9R@?@`V1=19@?1@@?$@@?$@@?$@@"@333333 @TMP286.TMPA1@@$@@$@@333333 @$@@8R@@@`V1=3 OR V1=6 OR V1=9 OR V1=13 OR V1=16 @?2@?&@@?&@?&@?"@"@TMP287.TMP6 OR V1=9 OR V1=13 OR V1=16 A2@&@@&@"@&@?7T@@@`V1=5 OR V1=11 OR V1=15 @?2@??&@@?&@@?&@@"@,@TMP288.TMP11 OR V1=15 A2@?&@@&@@,@&@@6S@@@`V1=2 OR V1=8 OR V1=12 OR V1=18@?2@@?(@?&@@?&@@"@1@TMP289.TMP8 OR V1=12 OR V1=18A2@@(@&@@1@&@@4@@hV11109`@?2@@?(@@?(@?"@5@TMP28A.TMP09A2@@(@@(@?5@3 @@hV1218`@?2@@?(@@?(@@"@6@TMP28B.TMP8A2@@(@@(@@6@2P@ @hV1386` @?2@@?(@@?(@@"@7@TMP28C.TMP6A2@@(@@(@@7@1@@"@`V1=10"@?2@@?*@??(@@?*@ "@8@TMP28D.TMPA2@@*@?(@@8@*@/&@$@hV11180`$@?2@@?*@@?*@@ "@9@TMP28E.TMP80A2@@*@@*@@9@.(@&@hV1280`&@?3@?*@@?*@@ "@:@TMP28F.TMP0A3@*@@*@@:@-P@(@hV13114`(@?3@??*@@?*@@ "@;@TMP290.TMP14A3@?*@@*@@;@+$@"@*@`V1=7 OR V1=20*@?3@@?,@@?,@?,@? "@<@TMP291.TMP20A3@@,@@,@<@,@?(4@,@VAR1,@?3@@VAR1A@?&P@.@hV13114`.@?3@@?,@@?,@@"@>@TMP292.TMP14A3@@,@@,@@>@%.@0@hV1280`0@?3@@?,@@?,@@"@?@TMP293.TMP0A3@@,@@,@@?@$0@1@hV11110`1@?3@@?.@?,@@"@ @@TMP294.TMP10A3@@.@,@@ @@"1@*@2@`V1=4 OR V1=172@?3@@?.@@?.@??.@@"@@@TMP295.TMP17A3@@.@@.@?@@.@@7@2@3@`V1=1 OR V1=143@?4@?.@@?.@@?.@@"@A@TMP296.TMP14A4@.@@.@@A@.@@Q@3@4@`V1=004@?4@??0@??.@@?0@TMP297.TMPA4@?0@?.@@0@4@5@hV1?0`5@?4@@?0@@?0@@TMP298.TMPA4@@0@@0@@P@6@hV13114`6@?4@@?@@?@@"@?TMP299.TMP14A4@@@@@@?8@7@hV1160`7@?4@@?@@?@@"@@TMP29A.TMP0A4@@@@@@@6@8@hV1250`8@?4@@?@?@@"@@TMP29B.TMP0A4@@@@@@ 5@9@9@?4@@????? =@B@@Deslig1B@:@hZ6?0`:@?4@@??@??@TMP29C.TMPA4@@?@?@:@;@`;@?5@;@<@<@<@?5@??@?@?<@=@`=@?5@@@Lig1=@ @@,@@Deslig1,@>@hZ2?0`>@?5@@?@@?@@TMP29E.TMPA5@@@@@@>@?@`?@?5@@?@@@@@@@?5@@?@@?@@ @@@@`@@?5@@!@Lig1@@ B@@@@Deslig1@@A@hZ4?0`A@?5@@?@@?@@"TMP2A0.TMPA5@@@@@@A@A@`A@?6@#A@B@B@B@?6@??@?@?$B@B@`B@?6@@%@Lig1B@ P@,@@Deslig1-E@C@?C@?6@@?@?&@@@ffffff@&@@A?L@L@C@`V12>Z4C@?6@@?@@?@@?@@'TMP2A2.TMPA6@@@@@@@@C@G@D@`V12=Z4D@?6@@?@@?@@?@@(TMP2A3.TMPA6@@@@@@@@D@D@D@`VAR2=1D@?6@@?@@?@?@?)"@ffffff@TMP2A4.TMPA6@@@@@ffffff@@?J@E@VAR2E@?6@@*VAR2A@@,@E@E@`NOT E42 AND NOT E32E@?7@?@@?@@?@@+TMP2A5.TMP NOT E32A7@@@@@@@E@F@F@` NOT E43 AND NOT E33F@?7@??@?@@?@@,TMP2A6.TMPD NOT E33A7@?@@@@@F@F@`F@?7@@-F@G@P Z2VAR11"@@G@?7@@?@??@@. D@G@`G@?7@@/ F@H@PZ2VAR11"@@H@?7@@?@@?@@0 G@H@`H@?7@@1H@I@`I@?7@@2I@H@I@`V11>Z2I@?8@?@@?@@?@@3TMP2A7.TMPA8@@@@@@@I@F@J@`V11=Z2J@?8@??@@?@?@?4TMP2A8.TMPA8@?@@@@?D@J@J@?8@@5?@@?@@G@K@P Z4VAR12"@@K@?8@@?@@?@@6G@K@PZ4VAR12"@@K@?8@@?@@? @7K@L@`L@?8@@8 K@L@`L@?8@@9"P@@P@M@`V13>Z6M@?8@@? @@? @?? @@:TMP2A9.TMPA8@@ @@ @? @@#M@N@M@`V13=Z6M@?9@? @@? @@? @@;TMP2AA.TMPA9@ @@ @@ @@$M@N@N@`VAR2=1N@?9@??"@?? @@?"@<"@ffffff@TMP2AB.TMPA9@?"@? @@ffffff@"@%N@N@`N@?9@@=&N@O@O@?9@@>?"@@?"@@'N@O@P Z6VAR13"@@O@?9@@?"@@?"@@?(N@P@PZ6VAR13"@@P@?9@@?"@@?"@@@)O@@P@`@P@?9@@A*P@P@`P@?9@@B,C@P@hV2?1`P@?:@?$@??$@C"@ffffff@TMP2AC.TMPA:@$@?$@ffffff@@Lig1P@ . Processo do motor 1/ Processo do motor 20 Processo do motor 310Comando de partida para motor 2 e 32@M3 ainda roda para a direita ou para a esquerda?3@M2 ainda roda para a direita ou para a esquerda?4No5NoQ@=@@Deslig1=@Q@hZ8?0`Q@?:@???@??@DTMP2AD.TMPA:@??@?@Q@@Q@`@Q@?:@@E@Q@Q@Q@Q@?:@@??@??@FQ@Q@`Q@?:@@G@Lig1Q@ R@,@@Deslig1,@R@hZ6?0`R@?:@@?0@@?0@@HTMP2AF.TMPA:@@0@@0@@R@@R@`@R@?:@@I@R@R@R@R@?:@@?0@@?0@@JR@R@`R@?;@K@Lig1R@ S@,@@Deslig1,@S@`S@?;@?LS@@S@PZ8EA"@ @@S@?;@@?1@?1@?MZ8EAA"@ @@S@S@`S@?;@@N@Lig1S@ *T@,@@Deslig1,@S@hZ8?0`S@?;@@?1@@?1@@OTMP2B1.TMPA;@@1@@1@@S@T@`T@?;@@PT@@T@@T@@T@?;@@?1@@?1@@Q@T@T@`T@?;@@R@Lig1T@  #Pos1)Pos20Pos35Pos4Q(Rob 4: Rob de brao articuladoRO rob vai pegar um barril amarelo na posio 1 e coloca-o na posio 2. Depois pega um segundo barril da posio 3 e empilha-o sobre o primeiro barril (posio 4). Em seguida coloca os barris de volta na posio 1 e 3S(Var1: Comanda aes do rob.ThVar11: Posio terica Motor 1 Var12: Posio terica Motor 2 Var13: Posio terica Motor 3X(EA: ngulo de fecho da pina  @Deslig@Lig  @Deslig1hZ6?0`Z6?0VA`VAVA`VA@Lig1 @Deslig1hZ4?0`Z4?0VA`VAVA`VA@Lig1 @Deslig1hZ2?0`Z2?0VA`VAVA`VA@Lig1 @Deslig1-?VA?`V12>Z4V12>Z4VA`V12=Z4V12=Z4VA`VAR2=1VAR2=1VAVAR2VAR2VA@@`NOT E42 AND NOT E32NOT E42 AND NOT E32VA` NOT E43 AND NOT E33 NOT E43 AND NOT E33VA`VAP Z2VAR11"@@Z2VAR11 VA"@@ `VA PZ2VAR11"@@Z2VAR11VA"@@ `VA`VA`V11>Z2V11>Z2VA`V11=Z2V11=Z2VAP Z4VAR12"@@Z4VAR12 VA"@@PZ4VAR12"@@Z4VAR12VA"@@`VA `VA"`V13>Z6V13>Z6VA#`V13=Z6V13=Z6VA$`VAR2=1%`VA&'P Z6VAR13"@@Z6VAR13 VA"@@(PZ6VAR13"@@Z6VAR13VA"@@)`VA*`VA,hV2?1`V2?1VA@Lig1 . Processo do motor 1/ Processo do motor 20 Processo do motor 310Comando de partida para motor 2 e 32@M3 ainda roda para a direita ou para a esquerda?3@M2 ainda roda para a direita ou para a esquerda?4No5No@Deslig1`APZ8EA"@ @Z820A"@ @`A@Lig1 @Deslig1hZ8?0`Z8?0VA`VAVA`VA@Lig1