AutomaticDoorsProgram

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 %QX0.1 : BOOL;
    Motor2ToIN AT %QX0.2 : BOOL;
    Motor2ToOUT AT %QX0.3 : BOOL;
    Lamp AT %QX0.4 : BOOL;
  END_VAR
  VAR
    Door1Closed : BOOL;
    DoorsPositionIsIN : BOOL;
    DoorsPositionIsOUT : BOOL;
    DoorsOpening : BOOL;
    DoorsClosing : BOOL;
    TOF1 : TOF;
    TON0 : TON;
    F_TRIG1 : F_TRIG;
  END_VAR

  TOF1(IN := NOT(DoorsClosing) AND NOT(DoorsOpening) AND (NOT(SensorIN) OR NOT(SensorOUT)), PT := T#3s);
  IF TOF1.Q THEN
    DoorsOpening := TRUE; (*set*)
  END_IF;
  IF TOF1.Q THEN
    Door1Closed := FALSE; (*reset*)
  END_IF;
  IF NOT(SensorIN) AND TOF1.Q THEN
    DoorsPositionIsOUT := TRUE; (*set*)
  END_IF;
  IF NOT(SensorOUT) AND TOF1.Q THEN
    DoorsPositionIsIN := TRUE; (*set*)
  END_IF;
  Motor1ToOUT := DoorsPositionIsOUT AND TOF1.Q;
  Motor2ToOUT := DoorsPositionIsOUT AND TOF1.Q;
  Motor1ToIN := DoorsPositionIsIN AND TOF1.Q;
  Motor2ToIN := DoorsPositionIsIN AND TOF1.Q;
  TON0(IN := SensorOUT AND SensorIN AND DoorsOpening, PT := T#6s);
  IF TON0.Q THEN
    DoorsOpening := FALSE; (*reset*)
  END_IF;
  IF TON0.Q THEN
    DoorsClosing := TRUE; (*set*)
  END_IF;
  Motor1ToOUT := NOT(Door1Closed) AND DoorsPositionIsIN AND NOT(SensorDoor) AND DoorsClosing;
  Motor2ToOUT := DoorsPositionIsIN AND NOT(SensorDoor) AND DoorsClosing;
  Motor1ToIN := NOT(Door1Closed) AND DoorsPositionIsOUT AND NOT(SensorDoor) AND DoorsClosing;
  Motor2ToIN := DoorsPositionIsOUT AND NOT(SensorDoor) AND DoorsClosing;
  F_TRIG1(CLK := SensorDoor);
  IF NOT(Door1Closed) AND F_TRIG1.Q AND DoorsClosing THEN
    Door1Closed := TRUE; (*set*)
  END_IF;
  IF Door1Closed AND SensorDoor AND DoorsClosing THEN
    DoorsClosing := FALSE; (*reset*)
  END_IF;
  IF Door1Closed AND SensorDoor AND DoorsClosing THEN
    DoorsPositionIsIN := FALSE; (*reset*)
  END_IF;
  IF Door1Closed AND SensorDoor AND DoorsClosing THEN
    DoorsPositionIsOUT := FALSE; (*reset*)
  END_IF;
END_PROGRAM


CONFIGURATION Config0

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