(*SOFTCONTROL:        
  VERSION:2.04.01*)
PLC_CONFIG
	CPU_TYPE := FX2N / FX2NC
	VERSION := 1.00
	MEMORY_PARAMETER
		MAIN_SEQUENCE := 8
		FILE_REGISTER := 0
		COMMENT_SPACE := 0
	END_MEMORY_PARAMETER
	LATCH_RANGE
		LATCH_RELAY_LOWER := 500
		LATCH_RELAY_UPPER := 1023
		LINK_RELAY_LOWER := 500
		LINK_RELAY_UPPER := 999
		COUNTER_LOWER := 100
		COUNTER_UPPER := 199
		DATA_REGISTER_LOWER := 220
		DATA_REGISTER_UPPER := 255
		LINK_REGISTER_LOWER := 200
		LINK_REGISTER_UPPER := 511
	END_LATCH_RANGE
	SYSTEM_VARIABLES
		WORD_TYPE := 0
		WORD_LOWER := 400
		WORD_UPPER := 999
		BIT_TYPE := 0
		BIT_LOWER := 512
		BIT_UPPER := 1535
		TIMER_LOWER_100MS := 100
		TIMER_UPPER_100MS := 199
		TIMER_LOWER_10MS := 220
		TIMER_UPPER_10MS := 245
		TIMER_LOWER_RETENTIVE := -1
		TIMER_UPPER_RETENTIVE := -1
		COUNTER_LOWER := 100
		COUNTER_UPPER := 199
		LABEL_LOWER := 30
		LABEL_UPPER := 126
		STEP_FLAG_LOWER := 20
		STEP_FLAG_UPPER := 899
	END_SYSTEM_VARIABLES
	PROJECT_OPTIONS
		RD_OPTIONS
			ENABLE_RESET_DEVICES := 0
			ENABLE_RESET_LATCHED_DEVICES := 0
			ENABLE_D_DEVICES := 0
			ENABLE_M_DEVICES := 0
			ENABLE_T_DEVICES := 0
			ENABLE_C_DEVICES := 0
			ENABLE_S_DEVICES := 0
			ENABLE_ST_DEVICES := 0
		END_RD_OPTIONS
	END_PROJECT_OPTIONS
END_PLC_CONFIG

PROGRAM AUTOM
	VAR_EXTERNAL 
		POSITION_1: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		POSITION_2: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		VELOCIDADE1: DINT:=0;
			(*Inicio da variação da velocidade*)
		VELOCIDADE2: DINT:=0;
			(*Inicio da variação da velocidade*)
		TC_13: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_14: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_15: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_16: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_17: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_18: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_19: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_20: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TN_13: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_14: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_15: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_16: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_17: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_18: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_19: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_20: INT:=0;
			(*Inicio da variação da velocidade*)
		TS_13: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_14: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_15: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_16: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_17: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_18: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_19: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_20: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_COMMENT,,PROGRAMA PARA FAZER O CONTROLO AUTOMÁTICO DO ROBÔ,4,1,38,4,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_CONTACT,,X3,7,1,9,3,);
B(B_COIL,,M50,18,1,20,3,);
B(B_COMMENT,,INICIO DO MODO DE FUNCIONAMENTO AUTOMÁTICO,34,1,50,4,);
L(1,2,7,2);
L(9,2,18,2);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 13 ;
        NETWORK_BODY
B(B_CONTACT,,M50,7,2,9,4,);
B(B_CONTACT,,M65,25,2,27,4,N);
B(B_CONTACT,,X2,13,2,15,4,);
B(B_CONTACT,,M472,7,5,9,7,);
B(B_CONTACT,,M462,7,7,9,9,);
B(B_CONTACT,,M55,7,10,9,12,);
B(B_COMMENT,,MOVIMENTO PARA TRÁS,34,5,47,9,);
B(B_COIL,,M55,37,2,39,4,);
B(B_CONTACT,,X3,31,2,33,4,);
L(1,3,7,3);
L(20,3,25,3);
L(15,3,20,3);
L(9,3,13,3);
L(1,0,1,13);
L(9,6,20,6);
L(1,6,7,6);
L(9,8,20,8);
L(1,8,7,8);
L(20,3,20,8);
L(20,8,20,11);
L(9,11,20,11);
L(1,11,7,11);
L(27,3,31,3);
L(33,3,37,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 9 ;
        NETWORK_BODY
B(B_CONTACT,,X2,8,2,10,4,);
B(B_COIL,,M295,27,2,29,4,);
B(B_CONTACT,,X3,18,2,20,4,);
B(B_CONTACT,,M295,8,6,10,8,);
B(B_COMMENT,,O ROBÔ EXECUTA UM MOVIMENTO PARA TRÁS,34,2,49,6,);
L(1,0,1,9);
L(1,3,8,3);
L(10,3,18,3);
L(20,3,27,3);
L(14,3,14,7);
L(10,7,14,7);
L(1,7,8,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 14 ;
        NETWORK_BODY
B(B_CONTACT,,X1,13,2,15,4,);
B(B_CONTACT,,M50,6,2,8,4,);
B(B_COIL,,M60,29,2,31,4,);
B(B_CONTACT,,M70,23,2,25,4,N);
B(B_CONTACT,,M60,10,11,12,13,);
B(B_CONTACT,,M473,10,6,12,8,);
B(B_CONTACT,,M463,10,8,12,10,);
B(B_COMMENT,,MOVIMENTO PARA A FRENTE,34,5,48,11,);
B(B_CONTACT,,X3,26,2,28,4,);
L(15,3,19,3);
L(8,3,13,3);
L(1,3,6,3);
L(19,3,23,3);
L(1,0,1,14);
L(19,3,19,12);
L(12,12,19,12);
L(1,12,10,12);
L(12,7,19,7);
L(1,7,10,7);
L(12,9,19,9);
L(1,9,10,9);
L(28,3,29,3);
L(25,3,26,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 9 ;
        NETWORK_BODY
B(B_CONTACT,,X1,8,2,10,4,);
B(B_COIL,,M296,27,2,29,4,);
B(B_CONTACT,,X3,18,2,20,4,);
B(B_CONTACT,,M296,8,6,10,8,);
B(B_COMMENT,,O ROBÔ EXECUTA UM MOVIMENTO PARA A FRENTE,34,2,49,6,);
L(1,0,1,9);
L(1,3,8,3);
L(10,3,18,3);
L(20,3,27,3);
L(14,3,14,7);
L(10,7,14,7);
L(1,7,8,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M55,5,2,7,4,);
B(B_CONTACT,,M70,5,4,7,6,);
B(B_VARIN,,500,18,3,20,5,);
B(B_VAROUT,,VELOCIDADE1,27,3,29,5,);
B(B_F,DMOV_M,,20,1,27,5,);
B(B_VARIN,,750,18,9,20,11,);
B(B_VAROUT,,POSITION_1,27,9,29,11,);
B(B_F,DMOV_M,,20,7,27,11,);
B(B_VARIN,,500,18,14,20,16,);
B(B_VAROUT,,VELOCIDADE2,27,14,29,16,);
B(B_F,DMOV_M,,20,12,27,16,);
B(B_VARIN,,-750,18,19,20,21,);
B(B_VAROUT,,POSITION_2,27,19,29,21,);
B(B_F,DMOV_M,,20,17,27,21,);
B(B_COMMENT,,MOVIMENTO DO ROBÔ PARA TRÁS,35,4,43,8,);
L(9,4,9,9);
L(9,9,9,14);
L(1,0,1,23);
L(9,3,9,4);
L(1,3,5,3);
L(7,3,9,3);
L(8,3,8,5);
L(7,5,8,5);
L(1,5,5,5);
L(9,3,20,3);
L(9,9,20,9);
L(9,14,20,14);
L(9,14,9,19);
L(9,19,20,19);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M60,4,3,6,5,);
B(B_CONTACT,,M65,4,6,6,8,);
B(B_VARIN,,500,17,3,19,5,);
B(B_VAROUT,,VELOCIDADE1,26,3,28,5,);
B(B_F,DMOV_M,,19,1,26,5,);
B(B_VARIN,,-750,17,9,19,11,);
B(B_VAROUT,,POSITION_1,26,9,28,11,);
B(B_F,DMOV_M,,19,7,26,11,);
B(B_VARIN,,500,17,14,19,16,);
B(B_VAROUT,,VELOCIDADE2,26,14,28,16,);
B(B_F,DMOV_M,,19,12,26,16,);
B(B_VARIN,,750,17,18,19,20,);
B(B_VAROUT,,POSITION_2,26,18,28,20,);
B(B_F,DMOV_M,,19,16,26,20,);
B(B_COMMENT,,FRENTE,35,4,43,5,);
L(9,4,9,9);
L(9,9,9,14);
L(6,4,9,4);
L(1,4,4,4);
L(8,4,8,7);
L(6,7,8,7);
L(1,7,4,7);
L(1,0,1,23);
L(9,3,9,4);
L(9,3,19,3);
L(9,9,19,9);
L(9,14,19,14);
L(9,14,9,18);
L(9,18,19,18);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 9 ;
        NETWORK_BODY
L(1,0,1,9);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 12 ;
        NETWORK_BODY
B(B_COIL,,M70,35,1,37,3,);
B(B_CONTACT,,M71,25,1,27,3,N);
B(B_CONTACT,,M70,10,9,12,11,);
B(B_CONTACT,,X3,30,1,32,3,);
B(B_CONTACT,,M60,5,1,7,3,);
B(B_CONTACT,,M296,17,1,19,3,);
B(B_CONTACT,,X0,11,1,13,3,);
L(1,0,1,12);
L(1,10,10,10);
L(32,2,35,2);
L(27,2,30,2);
L(1,2,5,2);
L(19,2,25,2);
L(13,2,17,2);
L(7,2,11,2);
L(15,2,15,10);
L(12,10,15,10);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,X0,12,2,14,4,);
B(B_VAROUT,,M12,20,3,22,5,);
B(B_F,PLS_M,,14,1,20,5,);
L(1,0,1,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VAROUT,,M18,19,2,21,4,);
B(B_F,ALT_M,,13,0,19,4,);
B(B_VARIN,,M12,11,1,13,3,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_COMMENT,,Depois da detecção do obstáculo á frente há um processo de rotação para a direita,7,2,46,4,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,X0,16,2,18,4,);
B(B_VARIN,,0,16,3,18,5,);
B(B_VAROUT,,D15,24,3,26,5,);
B(B_F,MOV_M,,18,1,24,5,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M128,16,2,18,4,);
B(B_VARIN,,1,16,3,18,5,);
B(B_VARIN,,D15,16,4,18,6,);
B(B_VAROUT,,D15,25,3,27,5,);
B(B_F,ADDP_M,,18,1,25,6,);
L(1,0,1,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M70,17,1,19,3,);
B(B_VARIN,,D15,17,2,19,4,);
B(B_VARIN,,2,17,3,19,5,);
B(B_F,EQ_E-2,,19,0,24,5,);
B(B_VAROUT,,M71,35,3,37,5,);
B(B_F,PLS_M,,29,1,35,5,);
L(1,0,1,7);
L(24,3,29,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 14 ;
        NETWORK_BODY
B(B_COMMENT,,OBSTACULO A TRÁS                   M65 -ROBÔ DÁ DOIS PASSOS PARA TRÁS,38,3,52,7,);
B(B_COIL,,M65,33,3,35,5,);
B(B_CONTACT,,M66,25,3,27,5,N);
B(B_CONTACT,,M65,12,11,14,13,);
B(B_CONTACT,,M55,6,3,8,5,);
B(B_CONTACT,,X0,11,3,13,5,);
B(B_CONTACT,,M295,20,3,22,5,);
L(1,0,1,14);
L(1,12,12,12);
L(27,4,33,4);
L(1,4,6,4);
L(22,4,25,4);
L(13,4,20,4);
L(8,4,11,4);
L(17,4,17,12);
L(14,12,17,12);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,X0,16,2,18,4,);
B(B_VARIN,,0,16,3,18,5,);
B(B_VAROUT,,D16,24,3,26,5,);
B(B_F,MOV_M,,18,1,24,5,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M128,16,2,18,4,);
B(B_VARIN,,1,16,3,18,5,);
B(B_VARIN,,D16,16,4,18,6,);
B(B_VAROUT,,D16,25,3,27,5,);
B(B_F,ADDP_M,,18,1,25,6,);
L(1,0,1,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M65,17,1,19,3,);
B(B_VARIN,,D16,17,2,19,4,);
B(B_VARIN,,2,17,3,19,5,);
B(B_F,EQ_E-2,,19,0,24,5,);
B(B_VAROUT,,M66,38,3,40,5,);
B(B_F,PLS_M,,32,1,38,5,);
L(1,0,1,7);
L(24,3,32,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 18 ;
        NETWORK_BODY
B(B_CONTACT,,M71,9,1,11,3,);
B(B_CONTACT,,M18,16,1,18,3,N);
B(B_COIL,,M72,35,1,37,3,);
B(B_CONTACT,,TS_18,24,1,26,3,N);
B(B_CONTACT,,M72,9,12,11,14,);
B(B_CONTACT,,M66,9,6,11,8,);
L(1,2,9,2);
L(11,2,12,2);
L(12,2,16,2);
L(26,2,35,2);
L(18,2,24,2);
L(1,13,9,13);
L(11,13,15,13);
L(11,7,15,7);
L(1,7,9,7);
L(1,0,1,18);
L(22,2,22,13);
L(15,13,22,13);
L(15,2,15,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 13 ;
        NETWORK_BODY
B(B_COMMENT,,Temporização de 1 segundo depois do afastamento para fazer a rotação,34,2,51,4,);
B(B_VARIN,,TC_17,15,3,17,5,);
B(B_VARIN,,35,15,4,17,6,);
B(B_F,TIMER_M,,17,1,24,6,);
B(B_CONTACT,,M72,5,2,7,4,);
B(B_VARIN,,TC_18,15,9,17,11,);
B(B_VARIN,,90,15,10,17,12,);
B(B_F,TIMER_M,,17,7,24,12,);
L(1,3,5,3);
L(1,0,1,13);
L(12,3,12,9);
L(12,9,17,9);
L(12,3,17,3);
L(7,3,12,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_VARIN,,TS_17,14,2,16,4,);
B(B_VAROUT,,M465,22,3,24,5,);
B(B_F,PLS_M,,16,1,22,5,);
B(B_COMMENT,,DESACERTO,32,1,44,4,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,TS_18,14,2,16,4,);
B(B_VAROUT,,M466,22,3,24,5,);
B(B_F,PLS_M,,16,1,22,5,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M466,6,1,8,3,);
B(B_COIL,,M467,30,1,32,3,);
B(B_CONTACT,,M467,6,4,8,6,);
B(B_CONTACT,,M469,20,1,22,3,N);
L(1,0,1,8);
L(1,2,6,2);
L(14,2,14,5);
L(8,5,14,5);
L(1,5,6,5);
L(8,2,14,2);
L(14,2,20,2);
L(22,2,30,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_VARIN,,M467,10,2,12,4,);
B(B_VAROUT,,M468,18,3,20,5,);
B(B_F,PLS_M,,12,1,18,5,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,0,10,3,12,5,);
B(B_VAROUT,,D18,18,3,20,5,);
B(B_F,MOV_M,,12,1,18,5,);
B(B_VARIN,,M468,10,2,12,4,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M128,9,2,11,4,);
B(B_VARIN,,1,9,3,11,5,);
B(B_VARIN,,D18,9,4,11,6,);
B(B_VAROUT,,D18,18,3,20,5,);
B(B_F,ADDP_M,,11,1,18,6,);
L(1,0,1,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M467,4,2,6,4,);
B(B_VARIN,,D18,4,3,6,5,);
B(B_VARIN,,2,4,4,6,6,);
B(B_F,EQ_E-2,,6,1,11,6,);
B(B_VAROUT,,M469,28,4,30,6,);
B(B_F,PLS_M,,22,2,28,6,);
L(1,0,1,7);
L(11,4,22,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_CONTACT,,M469,6,1,8,3,);
B(B_CONTACT,,TS_20,18,1,20,3,N);
B(B_COIL,,M470,27,1,29,3,);
B(B_CONTACT,,M470,6,4,8,6,);
L(1,0,1,7);
L(1,2,6,2);
L(20,2,27,2);
L(15,2,15,5);
L(8,5,15,5);
L(1,5,6,5);
L(8,2,15,2);
L(15,2,18,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,M470,13,2,15,4,);
B(B_VARIN,,TC_19,13,3,15,5,);
B(B_VARIN,,45,13,4,15,6,);
B(B_F,TIMER_M,,15,1,22,6,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_VARIN,,TS_19,14,2,16,4,);
B(B_VAROUT,,M115,22,3,24,5,);
B(B_F,PLS_M,,16,1,22,5,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_VARIN,,M470,14,2,16,4,);
B(B_VARIN,,TC_20,14,3,16,5,);
B(B_VARIN,,90,14,4,16,6,);
B(B_F,TIMER_M,,16,1,23,6,);
L(1,0,1,8);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,TS_20,15,3,17,5,);
B(B_VAROUT,,M471,23,4,25,6,);
B(B_F,PLS_M,,17,2,23,6,);
L(1,0,1,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_COIL,,M472,28,4,30,6,);
B(B_CONTACT,,M471,6,4,8,6,);
B(B_CONTACT,,M295,15,4,17,6,);
B(B_COMMENT,,INICIA O MOVIMENTO TRÁS,34,3,48,6,);
L(1,0,1,8);
L(1,5,6,5);
L(8,5,15,5);
L(17,5,28,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_COIL,,M473,28,4,30,6,);
B(B_CONTACT,,M471,6,4,8,6,);
B(B_CONTACT,,M296,15,4,17,6,);
B(B_COMMENT,,INICIA MOVIMENTO PARA A FRENTE,34,2,49,5,);
L(1,0,1,8);
L(1,5,6,5);
L(8,5,15,5);
L(17,5,28,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 14 ;
        NETWORK_BODY
B(B_CONTACT,,M66,9,1,11,3,);
B(B_CONTACT,,M67,9,8,11,10,);
B(B_COIL,,M67,39,1,41,3,);
B(B_CONTACT,,M71,9,4,11,6,);
B(B_CONTACT,,TS_14,28,1,30,3,N);
B(B_CONTACT,,M18,23,1,25,3,);
L(1,2,9,2);
L(1,0,1,14);
L(1,9,9,9);
L(11,9,19,9);
L(1,5,9,5);
L(11,5,19,5);
L(11,2,19,2);
L(30,2,39,2);
L(19,2,23,2);
L(25,2,28,2);
L(20,2,20,5);
L(19,5,20,5);
L(27,2,27,9);
L(19,9,27,9);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 13 ;
        NETWORK_BODY
B(B_COMMENT,,Temporização de 1 segundo depois do afastamento para fazer a rotação,34,2,51,4,);
B(B_VARIN,,TC_13,15,3,17,5,);
B(B_VARIN,,35,15,4,17,6,);
B(B_F,TIMER_M,,17,1,24,6,);
B(B_CONTACT,,M67,5,2,7,4,);
B(B_VARIN,,TC_14,15,9,17,11,);
B(B_VARIN,,90,15,10,17,12,);
B(B_F,TIMER_M,,17,7,24,12,);
L(1,3,5,3);
L(1,0,1,13);
L(12,3,12,9);
L(12,9,17,9);
L(12,3,17,3);
L(7,3,12,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_VARIN,,TS_13,14,2,16,4,);
B(B_VAROUT,,M455,22,3,24,5,);
B(B_F,PLS_M,,16,1,22,5,);
B(B_COMMENT,,DESACERTO,32,1,44,4,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,TS_14,14,2,16,4,);
B(B_VAROUT,,M456,22,3,24,5,);
B(B_F,PLS_M,,16,1,22,5,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M456,6,1,8,3,);
B(B_COIL,,M457,30,1,32,3,);
B(B_CONTACT,,M457,6,4,8,6,);
B(B_CONTACT,,M459,20,1,22,3,N);
L(1,0,1,8);
L(1,2,6,2);
L(14,2,14,5);
L(8,5,14,5);
L(1,5,6,5);
L(8,2,14,2);
L(14,2,20,2);
L(22,2,30,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_VARIN,,M457,10,2,12,4,);
B(B_VAROUT,,M458,18,3,20,5,);
B(B_F,PLS_M,,12,1,18,5,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,0,10,3,12,5,);
B(B_VAROUT,,D17,18,3,20,5,);
B(B_F,MOV_M,,12,1,18,5,);
B(B_VARIN,,M458,10,2,12,4,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M128,9,2,11,4,);
B(B_VARIN,,1,9,3,11,5,);
B(B_VARIN,,D17,9,4,11,6,);
B(B_VAROUT,,D17,18,3,20,5,);
B(B_F,ADDP_M,,11,1,18,6,);
L(1,0,1,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,M457,4,2,6,4,);
B(B_VARIN,,D17,4,3,6,5,);
B(B_VARIN,,2,4,4,6,6,);
B(B_F,EQ_E-2,,6,1,11,6,);
B(B_VAROUT,,M459,28,4,30,6,);
B(B_F,PLS_M,,22,2,28,6,);
L(1,0,1,7);
L(11,4,22,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_CONTACT,,M459,6,1,8,3,);
B(B_CONTACT,,TS_16,18,1,20,3,N);
B(B_COIL,,M460,27,1,29,3,);
B(B_CONTACT,,M460,6,4,8,6,);
L(1,0,1,7);
L(1,2,6,2);
L(20,2,27,2);
L(15,2,15,5);
L(8,5,15,5);
L(1,5,6,5);
L(8,2,15,2);
L(15,2,18,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,M460,13,2,15,4,);
B(B_VARIN,,TC_15,13,3,15,5,);
B(B_VARIN,,45,13,4,15,6,);
B(B_F,TIMER_M,,15,1,22,6,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_VARIN,,TS_15,14,2,16,4,);
B(B_VAROUT,,M105,22,3,24,5,);
B(B_F,PLS_M,,16,1,22,5,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_VARIN,,M460,14,2,16,4,);
B(B_VARIN,,TC_16,14,3,16,5,);
B(B_VARIN,,90,14,4,16,6,);
B(B_F,TIMER_M,,16,1,23,6,);
L(1,0,1,8);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,TS_16,15,3,17,5,);
B(B_VAROUT,,M461,23,4,25,6,);
B(B_F,PLS_M,,17,2,23,6,);
L(1,0,1,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_COIL,,M462,28,4,30,6,);
B(B_CONTACT,,M461,6,4,8,6,);
B(B_CONTACT,,M295,15,4,17,6,);
B(B_COMMENT,,INICIA MOVIMENTO PARA TRÁS,36,4,49,6,);
L(1,0,1,8);
L(1,5,6,5);
L(8,5,15,5);
L(17,5,28,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_COIL,,M463,28,4,30,6,);
B(B_CONTACT,,M461,6,4,8,6,);
B(B_CONTACT,,M296,15,4,17,6,);
B(B_COMMENT,,INICIA MOVIMENTO PARA FRENTE,36,3,49,5,);
L(1,0,1,8);
L(1,5,6,5);
L(8,5,15,5);
L(17,5,28,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_COMMENT,,MOVIMENTOS DE ROTAÇÃO,13,1,33,4,);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 9 ;
        NETWORK_BODY
B(B_VAROUT,,M405,26,3,28,5,);
B(B_F,PLS_M,,20,1,26,5,);
B(B_CONTACT,,M455,8,2,10,4,);
B(B_CONTACT,,M465,8,6,10,8,);
L(1,0,1,9);
L(10,3,20,3);
L(1,3,8,3);
L(15,3,15,7);
L(10,7,15,7);
L(1,7,8,7);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 10 ;
        NETWORK_BODY
L(1,0,1,10);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 11 ;
        NETWORK_BODY
B(B_CONTACT,,M405,6,1,8,3,);
B(B_VARIN,,400,15,2,17,4,);
B(B_VAROUT,,VELOCIDADE1,24,2,26,4,);
B(B_F,DMOV_M,,17,0,24,4,);
B(B_VARIN,,750,15,8,17,10,);
B(B_VAROUT,,POSITION_1,24,8,26,10,);
B(B_F,DMOV_M,,17,6,24,10,);
B(B_COMMENT,,DESACERTO DA PERNA DO ROBÔ PARA A ROTAÇÃO,35,4,46,8,);
L(1,2,6,2);
L(8,2,9,2);
L(1,0,1,11);
L(9,2,17,2);
L(9,2,9,8);
L(9,8,17,8);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M457,6,3,8,5,);
B(B_VARIN,,400,21,14,23,16,);
B(B_VAROUT,,VELOCIDADE2,30,14,32,16,);
B(B_F,DMOV_M,,23,12,30,16,);
B(B_VARIN,,-752,21,20,23,22,);
B(B_VAROUT,,POSITION_2,30,20,32,22,);
B(B_F,DMOV_M,,23,18,30,22,);
B(B_VARIN,,-752,21,9,23,11,);
B(B_VAROUT,,POSITION_1,30,9,32,11,);
B(B_F,DMOV_M,,23,7,30,11,);
B(B_VARIN,,400,21,4,23,6,);
B(B_VAROUT,,VELOCIDADE1,30,4,32,6,);
B(B_F,DMOV_M,,23,2,30,6,);
B(B_COMMENT,,ROTAÇÃO PARA A DIREITA,39,12,51,14,);
L(1,4,6,4);
L(8,4,9,4);
L(9,4,9,9);
L(9,9,9,14);
L(1,0,1,23);
L(9,14,23,14);
L(9,14,9,20);
L(9,20,23,20);
L(9,9,23,9);
L(9,4,23,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M467,6,3,8,5,);
B(B_VARIN,,752,21,9,23,11,);
B(B_VAROUT,,POSITION_1,30,9,32,11,);
B(B_F,DMOV_M,,23,7,30,11,);
B(B_VARIN,,400,21,14,23,16,);
B(B_VAROUT,,VELOCIDADE2,30,14,32,16,);
B(B_F,DMOV_M,,23,12,30,16,);
B(B_VARIN,,752,21,20,23,22,);
B(B_VAROUT,,POSITION_2,30,20,32,22,);
B(B_F,DMOV_M,,23,18,30,22,);
B(B_VARIN,,400,21,4,23,6,);
B(B_VAROUT,,VELOCIDADE1,30,4,32,6,);
B(B_F,DMOV_M,,23,2,30,6,);
B(B_COMMENT,,ROTAÇÃO PARA A ESQUERDA,39,10,50,12,);
L(1,4,6,4);
L(8,4,9,4);
L(9,4,9,9);
L(9,9,9,14);
L(9,9,23,9);
L(1,0,1,23);
L(9,14,23,14);
L(9,14,9,20);
L(9,20,23,20);
L(9,4,23,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 12 ;
        NETWORK_BODY
B(B_VARIN,,-752,13,7,15,9,);
B(B_VAROUT,,POSITION_1,22,7,24,9,);
B(B_F,DMOV_M,,15,5,22,9,);
B(B_VARIN,,400,13,2,15,4,);
B(B_VAROUT,,VELOCIDADE1,22,2,24,4,);
B(B_F,DMOV_M,,15,0,22,4,);
B(B_COMMENT,,ACERTO DA PERNA,34,5,44,7,);
B(B_CONTACT,,M105,4,1,6,3,);
B(B_CONTACT,,M115,4,3,6,5,);
L(1,0,1,12);
L(9,2,9,7);
L(9,7,15,7);
L(9,2,15,2);
L(6,2,9,2);
L(1,2,4,2);
L(7,2,7,4);
L(6,4,7,4);
L(1,4,4,4);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

PROGRAM FORWARD
	VAR_EXTERNAL 
		VELOCIDADE1: DINT:=0;
			(*Inicio da variação da velocidade*)
		VELOCIDADE2: DINT:=0;
			(*Inicio da variação da velocidade*)
		POSITION_1: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		POSITION_2: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 10 ;
        NETWORK_BODY
B(B_CONTACT,,X5,7,4,9,6,N);
B(B_CONTACT,,X2,3,4,5,6,);
B(B_CONTACT,,X4,12,4,14,6,N);
B(B_CONTACT,,X1,17,4,19,6,N);
B(B_CONTACT,,X3,21,4,23,6,N);
B(B_COIL,,M400,26,4,28,6,);
L(5,5,7,5);
L(1,5,3,5);
L(9,5,12,5);
L(14,5,17,5);
L(19,5,21,5);
L(23,5,26,5);
L(1,0,1,10);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M400,6,1,8,3,);
B(B_VARIN,,400,23,2,25,4,);
B(B_VAROUT,,VELOCIDADE1,32,2,34,4,);
B(B_F,DMOV_M,,25,0,32,4,);
B(B_VARIN,,750,23,7,25,9,);
B(B_VAROUT,,POSITION_1,32,7,34,9,);
B(B_F,DMOV_M,,25,5,32,9,);
B(B_VARIN,,400,23,12,25,14,);
B(B_VAROUT,,VELOCIDADE2,32,12,34,14,);
B(B_F,DMOV_M,,25,10,32,14,);
B(B_VARIN,,-750,23,17,25,19,);
B(B_VAROUT,,POSITION_2,32,17,34,19,);
B(B_F,DMOV_M,,25,15,32,19,);
L(1,2,6,2);
L(8,2,9,2);
L(9,2,9,7);
L(1,0,1,23);
L(9,7,9,12);
L(9,2,25,2);
L(9,7,25,7);
L(9,12,25,12);
L(9,12,9,17);
L(9,17,25,17);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

PROGRAM left
	VAR_EXTERNAL 
		POSITION_1: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		POSITION_2: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		VELOCIDADE1: DINT:=0;
			(*Inicio da variação da velocidade*)
		VELOCIDADE2: DINT:=0;
			(*Inicio da variação da velocidade*)
		TC_10: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TC_12: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TN_10: INT:=0;
			(*Inicio da variação da velocidade*)
		TN_12: INT:=0;
			(*Inicio da variação da velocidade*)
		TS_10: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TS_12: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		var_M0: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		var_M1: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		var_M2: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 11 ;
        NETWORK_BODY
B(B_CONTACT,,M450,3,4,5,6,);
B(B_CONTACT,,X3,27,4,29,6,N);
B(B_CONTACT,,X2,20,4,22,6,N);
B(B_CONTACT,,X1,14,4,16,6,N);
B(B_CONTACT,,X5,10,4,12,6,N);
B(B_COIL,,M210,40,4,42,6,S);
B(B_CONTACT,,X4,3,7,5,9,);
L(1,5,3,5);
L(22,5,27,5);
L(16,5,20,5);
L(12,5,14,5);
L(29,5,40,5);
L(1,0,1,11);
L(7,5,7,8);
L(5,8,7,8);
L(1,8,3,8);
L(7,5,10,5);
L(5,5,7,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,T40,18,3,20,5,);
B(B_VARIN,,55,18,4,20,6,);
B(B_VAROUT,,M450,27,3,29,5,);
B(B_F,STMR_M,,20,1,27,6,);
B(B_VARIN,,X4,7,1,9,3,);
B(B_F,PLS_M,,9,0,15,4,);
L(1,0,1,7);
L(15,3,20,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,M210,18,2,20,4,);
B(B_VAROUT,,M100,26,3,28,5,);
B(B_F,PLS_M,,20,1,26,5,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 10 ;
        NETWORK_BODY
B(B_CONTACT,,M100,6,1,8,3,);
B(B_VARIN,,752,18,7,20,9,);
B(B_VAROUT,,POSITION_1,27,7,29,9,);
B(B_F,DMOV_M,,20,5,27,9,);
B(B_VARIN,,400,18,2,20,4,);
B(B_VAROUT,,VELOCIDADE1,27,2,29,4,);
B(B_F,DMOV_M,,20,0,27,4,);
L(1,2,6,2);
L(8,2,9,2);
L(1,0,1,10);
L(9,2,9,7);
L(9,7,20,7);
L(9,2,20,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M210,7,2,9,4,);
B(B_CONTACT,,X4,7,5,9,7,);
B(B_VARIN,,TC_10,18,3,20,5,);
B(B_VARIN,,50,18,4,20,6,);
B(B_F,TIMER_M,,20,1,27,6,);
L(1,3,7,3);
L(9,3,13,3);
L(1,0,1,8);
L(13,3,13,6);
L(9,6,13,6);
L(1,6,7,6);
L(13,3,20,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,TS_10,9,1,11,3,);
B(B_COIL,,M200,30,1,32,3,);
L(1,2,9,2);
L(11,2,30,2);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M200,6,3,8,5,);
B(B_VARIN,,752,21,9,23,11,);
B(B_VAROUT,,POSITION_1,30,9,32,11,);
B(B_F,DMOV_M,,23,7,30,11,);
B(B_VARIN,,400,21,14,23,16,);
B(B_VAROUT,,VELOCIDADE2,30,14,32,16,);
B(B_F,DMOV_M,,23,12,30,16,);
B(B_VARIN,,752,21,20,23,22,);
B(B_VAROUT,,POSITION_2,30,20,32,22,);
B(B_F,DMOV_M,,23,18,30,22,);
B(B_COIL,,M210,16,1,18,3,E);
B(B_VARIN,,400,21,4,23,6,);
B(B_VAROUT,,VELOCIDADE1,30,4,32,6,);
B(B_F,DMOV_M,,23,2,30,6,);
L(1,4,6,4);
L(8,4,9,4);
L(9,4,9,9);
L(9,9,9,14);
L(9,9,23,9);
L(1,0,1,23);
L(9,14,23,14);
L(9,14,9,20);
L(9,20,23,20);
L(9,2,9,4);
L(9,2,16,2);
L(9,4,23,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_CONTACT,,X6,7,1,9,3,);
B(B_CONTACT,,X6,7,3,9,5,N);
B(B_CONTACT,,X7,14,1,16,3,);
B(B_CONTACT,,X7,14,3,16,5,N);
B(B_COIL,,M103,28,1,30,3,);
L(19,2,19,4);
L(16,4,19,4);
L(9,2,14,2);
L(9,4,14,4);
L(1,4,7,4);
L(1,2,7,2);
L(1,0,1,6);
L(16,2,19,2);
L(19,2,28,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_CONTACT,,M450,4,2,6,4,N);
B(B_CONTACT,,M200,14,2,16,4,N);
B(B_CONTACT,,M475,10,2,12,4,N);
B(B_CONTACT,,M300,18,2,20,4,N);
B(B_CONTACT,,M128,22,2,24,4,);
B(B_CONTACT,,M103,26,2,28,4,N);
B(B_COIL,,M101,37,2,39,4,);
B(B_CONTACT,,X3,32,2,34,4,N);
L(1,3,4,3);
L(1,0,1,6);
L(12,3,14,3);
L(6,3,10,3);
L(16,3,18,3);
L(20,3,22,3);
L(24,3,26,3);
L(28,3,32,3);
L(34,3,37,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 12 ;
        NETWORK_BODY
B(B_CONTACT,,M101,6,1,8,3,);
B(B_VARIN,,-752,13,7,15,9,);
B(B_VAROUT,,POSITION_1,22,7,24,9,);
B(B_F,DMOV_M,,15,5,22,9,);
B(B_VARIN,,400,13,2,15,4,);
B(B_VAROUT,,VELOCIDADE1,22,2,24,4,);
B(B_F,DMOV_M,,15,0,22,4,);
L(8,2,9,2);
L(1,0,1,12);
L(9,2,9,7);
L(9,7,15,7);
L(9,2,15,2);
L(1,2,6,2);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

PROGRAM MOTOR_1
	VAR_EXTERNAL 
		POSITION_1: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		VELOCIDADE1: DINT:=0;
			(*Inicio da variação da velocidade*)
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,M8011,7,1,9,3,);
B(B_COIL,,M445,29,1,31,3,);
L(1,0,1,5);
L(1,2,7,2);
L(9,2,29,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 34 ;
        NETWORK_BODY
B(B_VARIN,,0,12,21,14,23,);
B(B_VARIN,,0,12,22,14,24,);
B(B_VARIN,,6,12,23,14,25,);
B(B_VARIN,,1,12,24,14,26,);
B(B_F,TO_M,,14,19,19,26,);
B(B_VARIN,,1000,12,12,14,14,);
B(B_VARIN,,0,12,13,14,15,);
B(B_VARIN,,4,12,14,14,16,);
B(B_VARIN,,1,12,15,14,17,);
B(B_F,DTO_M,,14,10,20,17,);
B(B_VARIN,,500,12,29,14,31,);
B(B_VARIN,,0,12,30,14,32,);
B(B_VARIN,,15,12,31,14,33,);
B(B_VARIN,,1,12,32,14,34,);
B(B_F,TO_M,,14,27,19,34,);
B(B_VARIN,,H210E,12,4,14,6,);
B(B_VARIN,,0,12,5,14,7,);
B(B_VARIN,,3,12,6,14,8,);
B(B_VARIN,,1,12,7,14,9,);
B(B_F,TO_M,,14,2,19,9,);
B(B_COMMENT,,Pulsos (FP) associados à direcção (RP).,24,5,43,6,);
B(B_COMMENT,,Vmax - Definição da velocidade máxima.,24,13,43,14,);
B(B_COMMENT,,V Bias - Definição da velocidade referência para fazer a rampa de aceleração e desaceleração.,24,22,43,24,);
B(B_COMMENT,,Ta - Tempo deAceleração e desaceleração,24,31,43,32,);
B(B_CONTACT,,M8000,3,3,5,5,);
L(8,4,8,12);
L(8,12,8,21);
L(8,21,14,21);
L(8,12,14,12);
L(8,4,14,4);
L(1,4,3,4);
L(5,4,8,4);
L(8,21,8,29);
L(8,29,14,29);
L(1,0,1,34);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 12 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,7,3,9,5,);
B(B_VARIN,,POSITION_1,20,4,22,6,);
B(B_VARIN,,0,20,5,22,7,);
B(B_VARIN,,17,20,6,22,8,);
B(B_VARIN,,1,20,7,22,9,);
B(B_F,DTO_M,,22,2,28,9,);
L(1,4,7,4);
L(9,4,13,4);
L(13,4,22,4);
L(1,0,1,12);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 11 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,3,7,5,);
B(B_VARIN,,VELOCIDADE1,21,4,23,6,);
B(B_VARIN,,0,21,5,23,7,);
B(B_VARIN,,19,21,6,23,8,);
B(B_VARIN,,1,21,7,23,9,);
B(B_F,DTO_M,,23,2,29,9,);
L(1,0,1,11);
L(1,4,5,4);
L(7,4,23,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_CONTACT,,X14,6,2,8,4,);
B(B_COIL,,M0,17,2,19,4,);
B(B_COMMENT,,Reset erro.,24,3,43,4,);
L(1,3,6,3);
L(8,3,17,3);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_COIL,,M1,17,1,19,3,);
B(B_CONTACT,,X15,6,1,8,3,);
B(B_COMMENT,,STOP Impulsos -  O botão de emergencia está ligado à entrada X1 do PLC (normalmente ligado). Quando é accionado deixam de ser enviados impulsos para o motor.,24,1,43,5,);
L(1,0,1,6);
L(1,2,6,2);
L(8,2,17,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,7,1,9,3,);
B(B_COIL,,M7,14,1,16,3,);
L(1,0,1,5);
L(1,2,7,2);
L(9,2,14,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 54 ;
        NETWORK_BODY
B(B_COMMENT,,Variable speed operation start - Só existe rotação do motor I se houver ordem para este rodar num sentido ou noutro e o motor II estar em funcionamento.,47,1,61,6,);
B(B_CONTACT,,M400,4,17,6,19,);
B(B_CONTACT,,M500,4,20,6,22,);
B(B_CONTACT,,M300,4,14,6,16,);
B(B_CONTACT,,M200,4,11,6,13,);
B(B_CONTACT,,M445,13,11,15,13,);
B(B_CONTACT,,M302,7,6,9,8,);
B(B_CONTACT,,M100,7,4,9,6,);
B(B_COIL,,M8,29,5,31,7,);
B(B_COMMENT,,Rotação,11,14,17,15,);
B(B_COMMENT,,Desacerto,6,2,15,3,);
B(B_CONTACT,,M55,4,22,6,24,);
B(B_CONTACT,,M60,4,24,6,26,);
B(B_CONTACT,,M70,4,26,6,28,);
B(B_CONTACT,,M101,9,43,11,45,);
B(B_CONTACT,,M301,9,40,11,42,);
B(B_CONTACT,,M65,4,28,6,30,);
B(B_CONTACT,,M405,7,8,9,10,);
B(B_CONTACT,,M457,4,30,6,32,);
B(B_CONTACT,,M105,9,45,11,47,);
B(B_COMMENT,,Acerto final,9,36,18,38,);
B(B_CONTACT,,M467,4,32,6,34,);
B(B_CONTACT,,M115,9,48,11,50,);
L(19,6,19,16);
L(19,16,19,21);
L(1,18,4,18);
L(1,21,4,21);
L(1,15,4,15);
L(1,12,4,12);
L(15,12,19,12);
L(1,7,7,7);
L(1,5,7,5);
L(19,6,29,6);
L(9,5,19,5);
L(19,5,19,6);
L(9,7,19,7);
L(6,12,13,12);
L(9,12,9,15);
L(6,15,9,15);
L(9,15,9,18);
L(6,18,9,18);
L(9,18,9,21);
L(6,21,9,21);
L(19,21,19,27);
L(9,21,9,23);
L(6,23,9,23);
L(1,23,4,23);
L(1,25,4,25);
L(9,23,9,25);
L(6,25,9,25);
L(9,25,9,27);
L(6,27,9,27);
L(1,27,4,27);
L(19,27,19,44);
L(11,44,19,44);
L(1,44,9,44);
L(1,41,9,41);
L(11,41,19,41);
L(9,27,9,29);
L(6,29,9,29);
L(1,29,4,29);
L(9,9,19,9);
L(1,9,7,9);
L(9,29,9,31);
L(6,31,9,31);
L(1,31,4,31);
L(19,44,19,46);
L(11,46,19,46);
L(1,46,9,46);
L(9,31,9,33);
L(6,33,9,33);
L(1,33,4,33);
L(1,0,1,54);
L(19,46,19,49);
L(11,49,19,49);
L(1,49,9,49);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 26 ;
        NETWORK_BODY
B(B_VARIN,,K4M0,14,2,16,4,);
B(B_VARIN,,0,14,3,16,5,);
B(B_VARIN,,25,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_F,TO_M,,16,0,21,7,);
B(B_VARIN,,0,14,11,16,13,);
B(B_VARIN,,25,14,12,16,14,);
B(B_VARIN,,1,14,13,16,15,);
B(B_VAROUT,,D200,23,11,25,13,);
B(B_F,FROM_M,,16,9,23,15,);
B(B_COMMENT,,Definição do tipo de movimento.,30,3,44,4,);
B(B_COMMENT,,Leitura,30,12,44,13,);
B(B_CONTACT,,M8000,3,1,5,3,);
L(9,11,16,11);
L(9,2,9,11);
L(9,2,16,2);
L(1,2,3,2);
L(5,2,9,2);
L(1,0,1,26);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,3,2,5,4,);
B(B_VARIN,,0,14,3,16,5,);
B(B_VARIN,,28,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_VAROUT,,K3M20,23,3,25,5,);
B(B_F,FROM_M,,16,1,23,7,);
L(1,3,3,3);
L(5,3,16,3);
L(1,0,1,8);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,M28,4,1,6,3,);
B(B_COIL,,M128,18,1,20,3,);
L(1,0,1,5);
L(6,2,18,2);
L(1,2,4,2);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

PROGRAM MOTOR_2
	VAR_EXTERNAL 
		POSITION_2: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		VELOCIDADE2: DINT:=0;
			(*Inicio da variação da velocidade*)
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 36 ;
        NETWORK_BODY
B(B_VARIN,,0,12,21,14,23,);
B(B_VARIN,,1,12,22,14,24,);
B(B_VARIN,,6,12,23,14,25,);
B(B_VARIN,,1,12,24,14,26,);
B(B_F,TO_M,,14,19,19,26,);
B(B_VARIN,,1000,12,12,14,14,);
B(B_VARIN,,1,12,13,14,15,);
B(B_VARIN,,4,12,14,14,16,);
B(B_VARIN,,1,12,15,14,17,);
B(B_F,DTO_M,,14,10,20,17,);
B(B_VARIN,,500,12,29,14,31,);
B(B_VARIN,,1,12,30,14,32,);
B(B_VARIN,,15,12,31,14,33,);
B(B_VARIN,,1,12,32,14,34,);
B(B_F,TO_M,,14,27,19,34,);
B(B_VARIN,,H210E,12,4,14,6,);
B(B_VARIN,,1,12,5,14,7,);
B(B_VARIN,,3,12,6,14,8,);
B(B_VARIN,,1,12,7,14,9,);
B(B_F,TO_M,,14,2,19,9,);
B(B_COMMENT,,Pulsos (FP) associados à direcção (RP).,24,5,43,6,);
B(B_COMMENT,,Vmax - Definição da velocidade máxima.,24,13,43,14,);
B(B_COMMENT,,V Bias - Definição da velocidade referência para fazer a rampa de aceleração e desaceleração.,24,22,43,24,);
B(B_COMMENT,,Ta - Tempo deAceleração e desaceleração,24,31,43,32,);
B(B_CONTACT,,M8000,3,3,5,5,);
L(8,4,8,12);
L(8,12,8,21);
L(8,21,14,21);
L(8,12,14,12);
L(8,4,14,4);
L(1,4,3,4);
L(5,4,8,4);
L(8,21,8,29);
L(8,29,14,29);
L(1,0,1,36);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 14 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,7,3,9,5,);
B(B_VARIN,,POSITION_2,20,4,22,6,);
B(B_VARIN,,1,20,5,22,7,);
B(B_VARIN,,17,20,6,22,8,);
B(B_VARIN,,1,20,7,22,9,);
B(B_F,DTO_M,,22,2,28,9,);
L(1,0,1,14);
L(1,4,7,4);
L(9,4,13,4);
L(13,4,22,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 11 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,3,7,5,);
B(B_VARIN,,VELOCIDADE2,21,4,23,6,);
B(B_VARIN,,1,21,5,23,7,);
B(B_VARIN,,19,21,6,23,8,);
B(B_VARIN,,1,21,7,23,9,);
B(B_F,DTO_M,,23,2,29,9,);
L(1,0,1,11);
L(1,4,5,4);
L(7,4,23,4);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_CONTACT,,X14,6,2,8,4,);
B(B_COIL,,M0,17,2,19,4,);
B(B_COMMENT,,Reset erro.,24,3,43,4,);
L(1,3,6,3);
L(8,3,17,3);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_COIL,,M1,17,1,19,3,);
B(B_CONTACT,,X15,6,1,8,3,);
B(B_COMMENT,,STOP Impulsos -  O botão de emergencia está ligado à entrada X1 do PLC (normalmente ligado). Quando é accionado deixam de ser enviados impulsos para o motor.,24,1,43,5,);
L(1,0,1,6);
L(1,2,6,2);
L(8,2,17,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,7,1,9,3,);
B(B_COIL,,M7,14,1,16,3,);
B(B_COMMENT,,Posicionamento relativo,26,1,46,3,);
L(1,0,1,5);
L(1,2,7,2);
L(9,2,14,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 33 ;
        NETWORK_BODY
B(B_COMMENT,,Variable speed operation start - Só existe rotação do motor I se houver ordem para este rodar num sentido ou noutro e o motor II estar em funcionamento.,47,1,61,6,);
B(B_CONTACT,,M400,7,9,9,11,);
B(B_CONTACT,,M300,7,6,9,8,);
B(B_CONTACT,,M200,7,4,9,6,);
B(B_CONTACT,,M500,7,12,9,14,);
B(B_CONTACT,,M445,18,4,20,6,);
B(B_COIL,,M8,28,4,30,6,);
B(B_CONTACT,,M55,7,14,9,16,);
B(B_CONTACT,,M60,7,17,9,19,);
B(B_CONTACT,,M70,7,19,9,21,);
B(B_CONTACT,,M65,7,21,9,23,);
B(B_CONTACT,,M457,7,24,9,26,);
B(B_CONTACT,,M467,7,27,9,29,);
L(1,10,7,10);
L(1,7,7,7);
L(1,5,7,5);
L(9,13,15,13);
L(1,13,7,13);
L(9,5,15,5);
L(9,7,15,7);
L(9,10,15,10);
L(15,5,15,13);
L(15,5,18,5);
L(20,5,28,5);
L(15,13,15,15);
L(9,15,15,15);
L(1,15,7,15);
L(1,18,7,18);
L(15,15,15,18);
L(9,18,15,18);
L(15,18,15,20);
L(9,20,15,20);
L(1,20,7,20);
L(15,20,15,22);
L(9,22,15,22);
L(1,22,7,22);
L(1,0,1,33);
L(15,22,15,25);
L(9,25,15,25);
L(1,25,7,25);
L(15,25,15,28);
L(9,28,15,28);
L(1,28,7,28);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 16 ;
        NETWORK_BODY
B(B_VARIN,,K4M0,14,2,16,4,);
B(B_VARIN,,1,14,3,16,5,);
B(B_VARIN,,25,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_F,TO_M,,16,0,21,7,);
B(B_VARIN,,1,14,11,16,13,);
B(B_VARIN,,25,14,12,16,14,);
B(B_VARIN,,1,14,13,16,15,);
B(B_VAROUT,,D200,23,11,25,13,);
B(B_F,FROM_M,,16,9,23,15,);
B(B_COMMENT,,Definição do tipo de movimento.,30,3,44,4,);
B(B_COMMENT,,Leitura,30,12,44,13,);
B(B_CONTACT,,M8000,3,1,5,3,);
L(9,11,16,11);
L(9,2,9,11);
L(1,0,1,16);
L(9,2,16,2);
L(1,2,3,2);
L(5,2,9,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,3,2,5,4,);
B(B_VARIN,,1,14,3,16,5,);
B(B_VARIN,,28,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_VAROUT,,K3M30,23,3,25,5,);
B(B_F,FROM_M,,16,1,23,7,);
L(1,3,3,3);
L(5,3,16,3);
L(1,0,1,8);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,M38,4,1,6,3,);
B(B_COIL,,M138,18,1,20,3,);
L(1,0,1,5);
L(6,2,18,2);
L(1,2,4,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

PROGRAM REVERSE
	VAR_EXTERNAL 
		VELOCIDADE1: DINT:=0;
			(*Inicio da variação da velocidade*)
		VELOCIDADE2: DINT:=0;
			(*Inicio da variação da velocidade*)
		POSITION_1: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		POSITION_2: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 10 ;
        NETWORK_BODY
B(B_CONTACT,,X5,7,4,9,6,N);
B(B_CONTACT,,X1,3,4,5,6,);
B(B_CONTACT,,X4,12,4,14,6,N);
B(B_CONTACT,,X2,17,4,19,6,N);
B(B_CONTACT,,X3,21,4,23,6,N);
B(B_COIL,,M500,26,4,28,6,);
L(5,5,7,5);
L(1,5,3,5);
L(9,5,12,5);
L(14,5,17,5);
L(19,5,21,5);
L(23,5,26,5);
L(1,0,1,10);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M500,6,1,8,3,);
B(B_VARIN,,400,23,2,25,4,);
B(B_VAROUT,,VELOCIDADE1,32,2,34,4,);
B(B_F,DMOV_M,,25,0,32,4,);
B(B_VARIN,,-750,23,7,25,9,);
B(B_VAROUT,,POSITION_1,32,7,34,9,);
B(B_F,DMOV_M,,25,5,32,9,);
B(B_VARIN,,400,23,12,25,14,);
B(B_VAROUT,,VELOCIDADE2,32,12,34,14,);
B(B_F,DMOV_M,,25,10,32,14,);
B(B_VARIN,,750,23,17,25,19,);
B(B_VAROUT,,POSITION_2,32,17,34,19,);
B(B_F,DMOV_M,,25,15,32,19,);
L(1,2,6,2);
L(8,2,9,2);
L(9,2,9,7);
L(1,0,1,23);
L(9,7,9,12);
L(9,2,25,2);
L(9,7,25,7);
L(9,12,25,12);
L(9,12,9,17);
L(9,17,25,17);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

PROGRAM right
	VAR_EXTERNAL 
		POSITION_1: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		POSITION_2: DINT:=0;
			(*Velocidade do motor I no sentido negativo*)
		VELOCIDADE1: DINT:=0;
			(*Inicio da variação da velocidade*)
		VELOCIDADE2: DINT:=0;
			(*Inicio da variação da velocidade*)
		TC_11: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
		TN_11: INT:=0;
			(*Inicio da variação da velocidade*)
		TS_11: BOOL:=FALSE;
			(*Inicio da variação da velocidade*)
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 0 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 11 ;
        NETWORK_BODY
B(B_CONTACT,,X5,3,4,5,6,);
B(B_CONTACT,,X3,27,4,29,6,N);
B(B_CONTACT,,X2,20,4,22,6,N);
B(B_CONTACT,,X1,14,4,16,6,N);
B(B_CONTACT,,X4,10,4,12,6,N);
B(B_CONTACT,,M475,3,8,5,10,);
B(B_COIL,,M310,35,4,37,6,S);
L(1,5,3,5);
L(22,5,27,5);
L(16,5,20,5);
L(12,5,14,5);
L(5,5,10,5);
L(7,5,7,9);
L(5,9,7,9);
L(1,9,3,9);
L(1,0,1,11);
L(29,5,35,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 7 ;
        NETWORK_BODY
B(B_VARIN,,T50,18,3,20,5,);
B(B_VARIN,,55,18,4,20,6,);
B(B_VAROUT,,M475,27,3,29,5,);
B(B_F,STMR_M,,20,1,27,6,);
B(B_VARIN,,X5,7,1,9,3,);
B(B_F,PLS_M,,9,0,15,4,);
L(1,0,1,7);
L(15,3,20,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_VARIN,,M310,18,2,20,4,);
B(B_VAROUT,,M302,26,3,28,5,);
B(B_F,PLS_M,,20,1,26,5,);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 10 ;
        NETWORK_BODY
B(B_CONTACT,,M302,6,1,8,3,);
B(B_VARIN,,752,18,7,20,9,);
B(B_VAROUT,,POSITION_1,27,7,29,9,);
B(B_F,DMOV_M,,20,5,27,9,);
B(B_VARIN,,400,18,2,20,4,);
B(B_VAROUT,,VELOCIDADE1,27,2,29,4,);
B(B_F,DMOV_M,,20,0,27,4,);
L(1,2,6,2);
L(8,2,9,2);
L(1,0,1,10);
L(9,2,9,7);
L(9,7,20,7);
L(9,2,20,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M310,7,2,9,4,);
B(B_CONTACT,,X5,7,5,9,7,);
B(B_VARIN,,TC_11,18,3,20,5,);
B(B_VARIN,,50,18,4,20,6,);
B(B_F,TIMER_M,,20,1,27,6,);
L(1,3,7,3);
L(9,3,13,3);
L(1,0,1,8);
L(13,3,13,6);
L(9,6,13,6);
L(1,6,7,6);
L(13,3,20,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_CONTACT,,TS_11,9,1,11,3,);
B(B_COIL,,M300,19,1,21,3,);
L(1,2,9,2);
L(1,0,1,6);
L(11,2,19,2);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 23 ;
        NETWORK_BODY
B(B_CONTACT,,M300,6,3,8,5,);
B(B_VARIN,,-752,21,9,23,11,);
B(B_VAROUT,,POSITION_1,30,9,32,11,);
B(B_F,DMOV_M,,23,7,30,11,);
B(B_VARIN,,400,21,14,23,16,);
B(B_VAROUT,,VELOCIDADE2,30,14,32,16,);
B(B_F,DMOV_M,,23,12,30,16,);
B(B_VARIN,,-752,21,20,23,22,);
B(B_VAROUT,,POSITION_2,30,20,32,22,);
B(B_F,DMOV_M,,23,18,30,22,);
B(B_COIL,,M310,16,1,18,3,E);
B(B_VARIN,,400,21,4,23,6,);
B(B_VAROUT,,VELOCIDADE1,30,4,32,6,);
B(B_F,DMOV_M,,23,2,30,6,);
L(1,4,6,4);
L(8,4,9,4);
L(9,4,9,9);
L(9,9,9,14);
L(9,9,23,9);
L(1,0,1,23);
L(9,14,23,14);
L(9,14,9,20);
L(9,20,23,20);
L(9,2,9,4);
L(9,2,16,2);
L(9,4,23,4);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

CONFIGURATION scConfiguration
	RESOURCE scResource ON scResourceType

		VAR_GLOBAL 
			POSITION_1 AT %MD0.113: DINT:=0;
				(*Velocidade do motor I no sentido negativo*)
			POSITION_2 AT %MD0.115: DINT:=0;
				(*Velocidade do motor I no sentido negativo*)
			VELOCIDADE1 AT %MD0.36: DINT:=0;
				(*Inicio da variação da velocidade*)
			VELOCIDADE2 AT %MD0.38: DINT:=0;
				(*Inicio da variação da velocidade*)
			TC_10 AT %MX5.10: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_11 AT %MX5.11: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_12 AT %MX5.12: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_13 AT %MX5.13: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_14 AT %MX5.14: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_15 AT %MX5.15: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_16 AT %MX5.16: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_17 AT %MX5.17: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_18 AT %MX5.18: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_19 AT %MX5.19: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TC_20 AT %MX5.20: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TN_10 AT %MW3.10: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_11 AT %MW3.11: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_12 AT %MW3.12: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_13 AT %MW3.13: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_14 AT %MW3.14: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_15 AT %MW3.15: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_16 AT %MW3.16: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_17 AT %MW3.17: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_18 AT %MW3.18: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_19 AT %MW3.19: INT:=0;
				(*Inicio da variação da velocidade*)
			TN_20 AT %MW3.20: INT:=0;
				(*Inicio da variação da velocidade*)
			TS_10 AT %MX3.10: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_11 AT %MX3.11: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_12 AT %MX3.12: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_13 AT %MX3.13: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_14 AT %MX3.14: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_15 AT %MX3.15: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_16 AT %MX3.16: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_17 AT %MX3.17: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_18 AT %MX3.18: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_19 AT %MX3.19: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			TS_20 AT %MX3.20: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			var_M0 AT %MX3.13: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			var_M1 AT %MX3.14: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
			var_M2 AT %MX3.15: BOOL:=FALSE;
				(*Inicio da variação da velocidade*)
		END_VAR

		TASK
			MAIN_LD(SINGLE:=TRUE, INTERVAL:=0, PRIORITY:=31)

		PROGRAM MOTOR_1 WITH MAIN_LD: scProgramType
		PROGRAM MOTOR_2 WITH MAIN_LD: scProgramType
		PROGRAM left WITH MAIN_LD: scProgramType
		PROGRAM right WITH MAIN_LD: scProgramType
		PROGRAM FORWARD WITH MAIN_LD: scProgramType
		PROGRAM REVERSE WITH MAIN_LD: scProgramType
		PROGRAM AUTOM WITH MAIN_LD: scProgramType

	END_RESOURCE
END_CONFIGURATION