AutomaticDoorsFinalProgram

PROGRAM AutomaticDoors
  VAR
    SensorIN AT %IX0.2 : BOOL;
    SensorOUT AT %IX0.3 : BOOL;
    SensorDoor AT %IX0.4 : BOOL;
    SensorSound AT %IX1.5 : BOOL;
    Motor1ToIN AT %QX0.7 : BOOL;
    Motor1ToOUT AT %QX1.2 : BOOL;
    Motor2ToIN AT %QX0.2 : BOOL;
    Motor2ToOUT AT %QX0.3 : BOOL;
    Lamp AT %QX0.4 : BOOL;
  END_VAR
  VAR
    Wait : BOOL;
    Open : BOOL;
    Close : BOOL;
    TON0 : TON;
    TON1 : TON;
    TON2 : TON;
    error : BOOL;
    checkdoors : BOOL;
    TON3 : TON;
  END_VAR

  IF NOT(checkdoors) AND NOT(error) AND NOT(Close) AND NOT(Wait) AND (SensorIN OR SensorOUT) THEN
    Open := TRUE; (*set*)
  END_IF;
  Motor1ToOUT := Open;
  Motor2ToOUT := Open;
  TON0(IN := Open, PT := T#0.7s);
  IF TON0.Q THEN
    Wait := TRUE; (*set*)
  END_IF;
  IF TON0.Q THEN
    Open := FALSE; (*reset*)
  END_IF;
  TON1(IN := NOT(SensorOUT) AND NOT(SensorIN) AND Wait, PT := T#4s);
  IF TON1.Q THEN
    Close := TRUE; (*set*)
  END_IF;
  IF TON1.Q THEN
    Wait := FALSE; (*reset*)
  END_IF;
  Motor1ToIN := Close;
  Motor2ToIN := Close;
  TON2(IN := Close, PT := T#0.7s);
  IF TON2.Q THEN
    checkdoors := TRUE; (*set*)
  END_IF;
  IF TON2.Q THEN
    Close := FALSE; (*reset*)
  END_IF;
  TON3(IN := checkdoors, PT := T#1s);
  IF SensorDoor AND TON3.Q THEN
    error := TRUE; (*set*)
  END_IF;
  IF NOT(SensorDoor) AND checkdoors THEN
    checkdoors := FALSE; (*reset*)
  END_IF;
  Lamp := error;
END_PROGRAM


CONFIGURATION Config0

  RESOURCE Res0 ON PLC
    TASK task0(INTERVAL := T#20ms,PRIORITY := 0);
    PROGRAM instance0 WITH task0 : AutomaticDoors;
  END_RESOURCE
END_CONFIGURATION