Hexagon Manufacturing Soultions

Flexible Manufacturing System

PROD 1601
Software: Pegasus II Control Software 1.1.3

Programmer: Cayure Carneiro

Hexagon Manufacturing Solutions

1. Robot programs
1.1 Station # 1 Robot
Global slow
Global fast
English
Pmove <home>
Release
Grforce 0.5
Grwidth 3.5
Writeo 14, Off
Writeo 15, Off
Writeo 16, Off
Writeo 1,Off
Fast=200
Slow=40
Label Operation
Waiti Input_15, On
If Inp (Input_1) = On then Call Put parts
Writeo 1,0
Call Getparts
Writeo 15, On
Delay 2
Writeo 15, Off

//RELEASING THE PALLET

Call Loadfixture
Writeo 14, Off
Delay 2

//OPEN THE VICE

//TIME TO OPEN VISE

Writeo 16,1
Waiti 16,1

//OPEN CNC DOOR

//DOOR OPENED

Hexagon Manufacturing Solutions

Call Loadcnc
Writeo 14, On

//CLOSE VISE

Writeo 16, 0
Waiti 16, 0
Writeo 14, 0
Delay 2

//TELLING CNC ROBOT READY, CNC START

//WAIT FOR "CNC DONE" SIGNAL FROM CNC
//OPEN VISE

Call Unloadcnc
Writeo 14,0
Delay 2

//OPEN VISE

Pmove Point_4
Speed Fast
Pmove Point_6
Writeo Output_1,On

//Input I:5/12 on PLC

Call Loadfixture

Call Loadfixture
Branch Operation
Sub Getparts
//TAKING PART FROM THE CONVEYOR
Pmove Point_1
//READY POSITION
Pmove Point_2
//APPROACH POINT FROM THE CONVEYOR
Speed slow
Lmove Point_3
//PICK POINT FROM THE CONVEYOR
Grasp
Lmove Point_2
Speed fast
Pmove Point_1
Return
Sub Loadfixture
Pmove Point_7
Release
Pmove Point_6

//APPROACH POINT FROM THE FIXTURE

Hexagon Manufacturing Solutions

Return

Sub Loadcnc
Pmove Point_7
//APPROACH POINT FROM THE FIXTURE
Speed Slow
Lmove Point_8
//PICK POINT FROM THE FIXTURE
Grasp
Lmove Point_7
Speed Fast
Pmove Point_4
//MOVE TO APPROACH POINT FOR VISE
Speed Slow
Lmove Point_5
//MOVE TO PICK POINT FOR VISE
Release
Lmove Point_4
Speed Fast
Pmove Point_6
//MOVE TO TP CLEAR OF CNC
Return
Sub Unloadcnc
Pmove Point_4
Speed Slow
Lmove Point_5
Grasp
Return
Sub Putparts
Waiti Input_1, On
//PALLET BACK TO GET THE PART READY
Pmove Point_2
Speed Slow
Lmove Point_3
Release
Lmove Point_3
Speed Fast
Pmove Point_1
Writeo Output_15, On
//RELEASING THE PALLET
Delay 2
Writeo Output_15, Off
3

Hexagon Manufacturing Solutions

Branch Operation
Return

1.2 Station # 2 Robot

Global slow
Global fast
English
Pmove <home>
Release
Grforce 0.5
Grwidth 3.5
Writeo Output_14, Off
Writeo 15, Off
Writeo Output_16, Off
Fast=220
Slow=40

Label Operation
Waiti Input_16, ON
//SIGNAL FROM CONVEYOR, LIFTER IS ON
If Inp (Input_1) = On then Call Puttingparts
Writeo Output_1,Off
Call Getparts
Writeo 15, On
Delay 2
Writeo 15, Off

//RELEASING THE PALLET

Waiti 15,0

//OPENING CNC DOOR AND CHUCK

Call Loadcncp1
Writeo 16,1
Waiti 15,1

//SEND "PARTE READY" SIGNAL TO CNC THEN CLOSE CHUCK

//WAIT FOR "CHUCK" SIGNAL FROM CNC
4

Hexagon Manufacturing Solutions

Release
Speed slow
Ddmove 2.25,7
Speed fast
Pmove Point_11
Writeo 16,0
Waiti 15,0

//SAFE POSITION
//SIGNAL CNC TO CLOSE DOOR AND START OPERATION
//WAIT FOR OPERATION DONE AND DOOR OPENED

Delay 2
Call Unloadcnc
Writeo 16,1
Waiti 15,1
Ddmove 2.25,7
Speed fast
Pmove Point_11

//SIGNAL TO OPEN THE CHUCK

//SIGNAL FROM CNC TELLING THE CHUCK IS OPENED

//SAFE POSITION

Call Loadfixture_p1
Writeo 16,0
Waiti 15,0

//OPEN THE DOOR AND CHUCK FOR SECOND OPERATION

//SIGNAL FROM CNC TELLING DOOR AND CHUCK OPENED

Call Loadcncp2
Writeo 16,1
Waiti 15,1
Release
Ddmove 2.25,7
Speed fast
Pmove Point_11
Writeo 16,0
Waiti 15,0

//SEND "PARTE READY" SIGNAL TO CNC CLOSE CHUCK

//WAIT FOR "CHUCK" SIGNAL FROM CNC

//SAFE POSITION
//SIGNAL CNC TO CLOSE DOOR AND START OPERATION
//WAIT FOR OPERATION DONE AND DOOR OPENED

Delay 2
Call Unloadcnc
Writeo 16,1
Waiti 15,1

//OPEN THE CHUCK

5

Hexagon Manufacturing Solutions

Ddmove 2.25,7
Speed fast
Pmove Point_11

//SAFE POSITION

//INPUT I:5/15 ON PLC, MAKING THE INPUT_1 GOING HIGH TO CALL THE PALLET BACK
Writeo Output_1,On
Call Loadfixture_p2

Branch Operation
Sub Getparts
Pmove Point_1
Pmove Point_2
Speed slow
Lmove Point_3
Grasp
Lmove Point_2
Speed fast
Pmove Point_19

//READY POSITION
//APPROACH POINT FROM THE CONVEYOR
//PICK POINT FROM THE CONVEYOR PIN 1

Call Loadfixture_p1
Pmove Point_19
Pmove Point_4
Speed slow
Lmove Point_5
Grasp
Lmove Point_4
Speed fast

//APPROACH POINT FROM THE CONVEYOR

//PICK POINT FROM THE CONVEYOR PIN 2

Call Loadfixture_p2
Return
Sub Loadcncp1
Pmove Point_6
Pmove Point_14

//APPRACH POINT FOR THE FIXTURE PIN 1

//APPRACH POINT ON THE RIGHT ORIENTATION
6

Hexagon Manufacturing Solutions

Speed slow
Lmove Point_13
//PICK POINT FOR THE FIXTURE PIN 1
Grasp
Lmove Point_14
Speed fast
Pmove Point_11
//AVOIDANCE POINT FROM CNC
//LOAD CNC MACHINE
Pmove Point_10
//APPROACH POINT FOR THE CHUCK
Ddmove -2.25,7
Return
Sub Loadcncp2
Pmove Point_8
//APPRACH POINT FOR THE FIXTURE PIN 2
Pmove Point_16
//APPRACH POINT ON THE RIGHT ORIENTATION
Speed slow
Lmove Point_15
//PICK POINT FOR THE FIXTURE PIN 2
Grasp
Lmove Point_16
Pmove Point_11
Speed fast
//LOAD CNC MACHINE
Pmove Point_10
//APPROACH POINT FOR THE CHUCK
Speed slow
Ddmove -2.25,7
Return
Sub Unloadcnc
//UNLOAD CNC MACHINE
Pmove Point_10
//APPROACH POINT FOR THE CHUCK
Speed slow
Ddmove -2.25,7
Grasp
//OPEN CHUCK
Return
Sub Loadfixture_p1
Pmove Point_6
Release

//APPROACH POINT FOR THE FIXTURE PIN 1

7

Hexagon Manufacturing Solutions

Pmove Point_6
Pmove Point_12
Speed fast

//AVOIDANCE FOR PINS

Return
Sub Loadfixture_p2
Pmove Point_19
Pmove Point_8
Release
Speed Slow
Pmove Point_12
Speed fast
Return

//APPRACH POINT FOR THE FIXTURE PIN 2

Sub Puttingparts
Pmove Point_6
Speed slow
Lmove Point_7
Grasp
Lmove Point_6
Speed fast
Pmove Point_19
Pmove Point_2
Speed slow
Release

//APPRACH POINT FOR THE FIXTURE PIN 1

//PICK POINT FOR THE FIXTURE PIN 1

//APPROACH POINT FROM THE CONVEYOR PIN 1

Speed fast
Pmove Point_19
Pmove Point_8
Speed slow
Lmove Point_9
Grasp
Lmove Point_8
Pmove Point_19
Pmove Point_4
Speed slow
Lmove Point_5
Release
Lmove Point_4

//APPROACH POINT FOR THE FIXTURE PIN 2

//PICK POINT FOR THE FIXTURE PIN 2

//APPROACH POINT FROM THE CONVEYOR PIN 2

//PICK POINT FROM THE CONVEYOR PIN 2

Hexagon Manufacturing Solutions

Speed fast
Pmove Point_1
Writeo Output_15,On
Delay 2
Writeo Output_15,Off

//RELEASING THE PALLET

Branch Operation
Return