xxxxxxxxxx
+---------------------------+
| |
v |
+---------+ Run = 1 |
| | Init.done = 1 |
| Start | Status.Ok = 1 |
| Sequence| |
| +--+ |
+----+ | IFI.ProductToDrop = 1 |
| | |
| v |
| +------------------------+ |
| | | |
+-->| Motor rotates forward +----+
| |
+------------------------+
|
|
v
+---------------------+
| |
| B2 product detected |
| |
+---+ |
| Amount = 1 |
| |
v |
+---------------+ |
| | |
| Set IFO_ReadyToPickProduct = 0 |
| | |
+---+ | |
| v |
| +-------------------+
| | |
+-->| B1 product detected |
| |
+---+ |
| |
| |
| |
v |
+---------------+ |
| | |
| Reverse motion+------+
| |
+---------------+
|
|
v
+----------------------------+
| |
| B1 product not detected |
| |
+---+ |
| |
v |
+--------------+ |
| | |
| Wait for 500ms| |
| | |
+---+ | |
| | |
v v |
+-------------------------+ |
| | |
| B1 product detected | |
| | |
+---+ +--+ | |
| | | v |
v | | +-------------------+
+-------------------------+| |
| || Signal lamp CP3PF1 |
| Heftruck detected || |
| || |
+---+ | | |+-------------------+
| | |
v v |
+-------------------------+
| |
| Heftruck not detected |
| |
+---+ | |
| | |
v v |
+-------------------------+
| |
| B1 product detected |
| |
+---+ | |
| v |
v +------------------------+
+-------------------------+| |
| || B1 product not detected|
| Wait for 2 seconds || |
| |+------------------------+
+---+ | |
| v |
v +----------------------+
+-------------------------+| |
| || Product not detected|
| Amount = 0 || |
| |+------------------+
+-------------------------+