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CONTENTS
Page
Machine
Figure 1 The robot gives a part to a machine which then processes it.
First, the robot fetches a part from the In feeder and places it in the machine where the
part is processed. Then, when this has been done, the robot takes the part and places it
on the Out feeder.
The tool is controlled by a digital output signal defined in the system parameters with
the name gripper. A high signal indicates that the gripper is holding the part, and a low
signal indicates that the part has been released.
In addition, a load data, load1, is defined which describes the load held by the gripper. The
best possible motion performance is achieved if the correct load is always specified.
As the gripper grips and releases parts several times during the course of the program, it
is best to set up separate routines for this which can be called by the program.
2 Material Handling
In feeder
Out feeder
First, the robot fetches a part from the In feeder and places it in the machine. When the
machine is ready, the robot grips the part and places it on the Out feeder.
The work cycle is repeated until the operator presses a push-button “Stop production”.
The robot then completes the cycle, but does not fetch any new part from the In feeder.
The robot keeps a record of production statistics; it displays the number of parts pro-
duced during the day on the teach pendant and also, at the end of the work day, stores
this information on a diskette that can be read using a PC.
A digital input signal, prodstop, defined in the system parameters, is used to find out
if the button “Stop production” is depressed. The button remains depressed until some-
one presses it again.
The routines process_part, fetch_machine and leave_part are not included in this
example.
The gripper is controlled by electric, bistable air valves, which means that there is one
signal that controls the grip action and another that controls the release. The names of
the signals are defined in the system parameters as grip1 and release1. There is also a
signal, gripok, that is high if a part is held by the gripper. This signal is used to check
if the gripper has gripped a part correctly.
A load data, payload, is defined which describes the load held by the gripper. The best
possible motion performance is achieved if the correct load is always specified.
As the gripper grips and releases parts several times during the course of the program,
it is best to set up separate routines for this which can be called by the program. For
example:
In this example, all positions (e.g. home or p1) are named. They are stored as separate
position data and can thus be reused in subsequent instructions. However, it is often
just as easy to store the positions directly in the instructions (indicated by * in the
instruction).
Before a file can be opened, the data, file, must be created by the type iodev. The real
name of the file is logfile.doc.