Creating

production
cycles

Trainee handbook
 ST187 – Creating production cycles

TABLE OF CONTENTS

I - SIMPLE PICK & PLACE..................................................................................................................... 3

I - 1. INSTALLING THE EOAT ................................................................................................................... 3
I - 2. CREATING THE PRODUCTION CYCLE ................................................................................................. 4
I - 3. TEACHING AND FINE TUNING ............................................................................................................ 6
I - 4. CHANGING THE CHOICES OF A "SIMPLE PICK & PLACE" CYCLE .......................................................... 8
II - EPS .................................................................................................................................................... 8

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 ST187 – Creating production cycles

I - SIMPLE PICK & PLACE

This module is used to create simple IMM unloading cycles quickly and without knowing the
programming language.
It is based on a set of questions and answers related to a graphic help. Your replies will be used to
build the production cycle. You will then move on to teaching the cycle points.

I - 1. Installing the EOAT

Pneumatic connection

You can use between 1 and 3 grip circuits:

Circuits 1 and 2 are reserved for part grips.

Circuit 3 is reserved for the sprue grip.
The other circuits are not used by Simple
Pick & Place.

Mechanical gripper: electrical connections

Part grip
If the part is gripped using a mechanical gripper, the robot
XQP checks a part present input. The gripper must therefore be
equipped with a sensor connected to the XQP plug.
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Sometimes it is not possible to set the parameters for the

XQP plug (the robot is systematically blocked at the part grip
point); contact Sepro's hot line to adjust the robot's
parameter settings.

Sprue grip
In general, the sprue grip is not checked. If you want to
check the sprue grip, the gripper's sensor must be
connected to the XQP plug. To configure the XQP plug,
contact Sepro's hot line.

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 ST187 – Creating production cycles

Rotation 2 (option)

The basic R1 rotation enables the End Of Arm Tooling (EOAT) to rotate to a horizontal position. It can
be equipped with the following options:
• rotation R2, from 0 to 180°, that can be changed to a rotation from 0 to 90°, see
below,
• rotation R2, from 0 to 180°, with intermediate stop at 90° using a retractable stop.

The diagram opposite gives the example of a rotation unit

for an SR 4020 type robot. For the other robot types, refer
to section "I" in the customer file.

If you don’t have the "intermediate stop" option, the R2

rotation angle can be limited to 90° by adding stop 20
(provided). You must also move screw 9 from position A to
position B.

This can be useful if the size of the EOAT and the parts
means you have to turn the unit 90° when moving over the
safeguards.

I - 2. Creating the production cycle

Home page

Depending on the rotations available on your

robot, the home page is as follows:

R1 rotation only:
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R1 + R2 rotation + intermediate stop

R1 + R2 rotation:
You should choose the first line if it is necessary to
turn R2 90° to pass over the safeguards (see
above).

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 ST187 – Creating production cycles

In the IMM

The part grip sequence will always be in an "L" form.

The arm's Y position is the same for the descent and
ascent.
Waiting for Mold Open is always in the IMM axis (no
offset wait on X), at a predefined Z height.
The ejectors' (or cores') forward movement is always
checked.
No multiple ejections.
The parts and the sprue, if there is one, are gripped
simultaneously.

For the release

The "Release with R2 at 90" choice appears if the robot

has an intermediate stop, or if "R2 0-90°" was chosen
on the home page.
Choosing "multiple releases" generates a stacking
sequence.

Stacking

A maximum of 50 releases along each axis.

The gap between releases is a center distance. It can
be positive or negative (except on Z).
A total Home Return resets the stacking counter to 0
and triggers a conveyor run when the cycle is resumed.

Quality
© Sepro Robotique 2010. All rights reserved.

Rejects at start-up are only done after a total Home

Return.
The quality sample will be taken as often as is shown. It
can be requested at any time by pressing the "zoom"
icon in the production environment.

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 ST187 – Creating production cycles

I - 3. Teaching and fine tuning

First cycle

If the IMM is in manual mode, it is possible to descend

into the mold without a previous injection cycle (we talk
about simulation). In this case, answer YES to the
question opposite.
Checking the part is present can be
disabled by activating this icon:

Changing the cycle parameters

Points, time delays, speeds and tolerances can be

changed in cycle.
The conveyor run time can be adjusted using the
"OT002" parameter.
The stacking pallet can be adjusted using the "STK
041" parameter.

You can teach a point again in manual mode.

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 ST187 – Creating production cycles

Counters

If you have programmed a reject or

sample at start-up, you can change them
by clicking on their value in the
"production management table":

End of cycle

Production can be stopped using the "END" key.

The robot stops (after unloading the last part) above
the release point.

Automatic end of cycle

The end of cycle is automatically triggered if the number

of parts to do and the number of parts per shot are
entered in the production management table.
The robot will stop when the number of good parts is
greater than or equal to the number of parts to do.
N.B. If the "bad part" information from the IMM is active,
the shot is counted as bad. The shot is not taken into
account in the number of parts produced.

Moving to Tool Change position

One of the programs from Simple Pick & Place

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contains a sequence to move to the tool change

position (PCO).
The sequence is called up by a specific icon
Before running it (Start depressed and held
down), a home return is run.
The sequence consists of an appropriate EOAT
unit rotation then an X movement to a predefined
position, outside of the IMM.

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 ST187 – Creating production cycles

I - 4. Changing the choices of a "Simple Pick & Place" cycle

If the active program comes from

Simple Pick & Place, you can change
your choices (e.g. add a reject at start-
up).
After going through the pages again,
you need to teach the points once
more.

II - EPS

The EPS are templates based on standard applications. To adapt the template to your application, you
just have to change the positions.

Choosing the EPS template

Click the EPS icon.

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The list of available models

appears.
Choose the model.

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 ST187 – Creating production cycles

Creating your program

A new program is automatically created.

Accept the suggested number or enter another
number.

Enter a title.

Your program is then

the active program.

Teaching the positions

You can manually teach the cycle positions before

running the cycle:

Choose the point to teach:

Click the "manual teaching"

icon:
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Move the robot to the correct position:

Confirm with OK.

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