Implementing a Seal in Concurrent I/O

This document explains how to implement seal logic in our concurrent IO program. A seal allows you to keep an output energized until the logic for that output becomes untrue. Below is an example of sealing in a universal input for a part ready to be processed.

STR #78550              // Side A Part Ready for Processing Button

STR #50157              // Robot at Safe Position for Processing

STR #01210              //IN #961 - Side A Part Ready for Processing SEAL 

OR-STR

AND #30015              //Robot in Remote Mode

AND #78000              //Estops Ok

AND-NOT #78551   //Side B Not Ready for Processing 

OUT #01210              //IN #961 - Side A Part Ready for Processing

The way this works: when the robots status is at safe positioning for processing “Interference Cube 64 #50157”, robot in remote mode “Dedicated External Output 30015”, robot is clear of any ESTOPS “Auxiliary relay 78000” and Side B not ready for processing “Auxiliary Relay 78551”. Once the above status is true and the Side A Part Ready for Processing Button is pressed “Auxiliary Relay 78550” this will then seal the output coil Side A Part Ready for Processing “Universal Input 961 #01210”. This will remain on until one of the above conditions become untrue.