Material Processor (MP) MPSG
The MPSG for material processor integrates the capabilities of all the machines that are included in this project. As in all of the controller accessibility graphs, the main objective was to make a generic graph that is capable of handling all the machinery included in the manufacturing system. Therefore, different capabilities of the machines are included in the MP graph as alternative loops and routes. The graph begins with the assign messages, then for HAAS HS1RP, there is a rotate message loop. This loop takes care of the pallet exchanger in HS1RP. The grasp message is another alternative at node 3. This message can be used for automatic clamping, which is available in HAAS SL20 CNC lathes. Release is the counterpart of the grasp which tells the machine to unclamp the part.
M file
If this controller is used for a machine, which is not capable of, for example, automatic clamping, since BIG-E will not send a grasp message to this controller, the entity (object) will not take the grasp (release) route. Instead, BIG-E will directly send a process message, that will take the part through the following states.
When the part is done in MP, it is unassigned from the controller and controller waits for a new part at state zero.