FMS-200

MANUAL DE USUARIO

ANEXO D:
GRAFCETS
 POWERFLEX VARIABLE FRECUENCY DRIVER CONFIGURATION

1.- Press ESC and d0001 is diplayed.

2.- Press ESC and d flashes.
3.- Press upward arrow until P31 is displayed.
4.- Press SEL or ENTER.
5.- Press upward arrow until P36 is displayed.
6.- Press SEL.
7.- Press upward arrow until value 2 is displayed.
8.- Press ENTER.
9.- Press ESC until the first screen is diplayed (output frecuency: 0.0Hz).
10.- Press SEL and P36 is displayed.
11.- Press upward arrow and A051 is displayed.
12.- Press SEL and 1 flashes.
13.- Press upward arrow until A089 is displayed.
14.- Press SEL.
15.- Press downward arrow until 2.8 value is displayed.”.
16.- Press ENTER.
17.- Press ESC until the first screen is displayed (output frecuency: 0.0Hz).
18.- Switch off and switch back on so the new values are restored.
FMS-200

FMS-200 (STATION7_MITSUBISHI ROBOT): GRAFCET OF THE

PROGRAM FOR MITSUBISHI ROBOT

robot2tools

M_OUT(5) = 0
“cycle end”

wait M_IN(8)=1
“cycle start”

M_OUT(4) = 1
“assembling”

*CCOVER
catch_cover

if M1=1
“change shaft”

if M1=0 “no
*CSHAFT
change shaft”
catch_shaft

*PSHAFT
put_shaft

if M2=0
“cover”
if M2=1
“no cover”
*PCOVER
put_cover

if M1=1
if M1=0 no “change shaft”
“change shaft”
*XSHAFT
change_shaft

MITSUBISHI ROBOT – GRAFCET 1

FMS-200

robot2tools
if M2=0
if M2=1 “cover”
“no cover”
*XCOVER
change_cover

M_OUT(4) = 0
“assembling”

M_OUT(8) = 1
“screwing”

*SCREWS
screwing

M_OUT(8) = 0
“screwing”

M_OUT(5) = 1
“cycle end”

M_OUT(6) = 0
“close gripper”

NOTE: If the robot receives the turning mechanism without cover, it will
check if shaft has to be replaced. If not, the screwing process will start.
Otherways, the shaft will be replaced and later the screwing process will be
executed.

MITSUBISHI ROBOT – GRAFCET 2

 FMS-200 (STATION7):
POINTS FOR MITSUBISSHI ROBOT

P103
P102

P101
P100

P203
P202
P201 P51
P200
P50
P17 P15
P16 P14

P13
P12 P11
P10
 POWERFLEX VARIABLE FRECUENCY DRIVER CONFIGURATION

1.- Press ESC and d0001 is diplayed.

2.- Press ESC and d flashes.
3.- Press upward arrow until P31 is displayed.
4.- Press SEL or ENTER.
5.- Press upward arrow until P36 is displayed.
6.- Press SEL.
7.- Press upward arrow until value 2 is displayed.
8.- Press ENTER.
9.- Press ESC until the first screen is diplayed (output frecuency: 0.0Hz).
10.- Press SEL and P36 is displayed.
11.- Press upward arrow and A051 is displayed.
12.- Press SEL and 1 flashes.
13.- Press upward arrow until A089 is displayed.
14.- Press SEL.
15.- Press downward arrow until 5.4 value is displayed.
16.- Press ENTER.
17.- Press ESC until the first screen is displayed (output frecuency: 0.0Hz).
18.- Switch off and switch back on so the new values are restored.