#
Sequence by Contact Sensor
The robot sends the PLC the signal Going to interlayer area, to indicate that it is requesting to enter the interlayer pick-up area and remains waiting.
When the PLC confirms to the robot that it can access the area, it moves to point 1.
When reaching point 1, the robot activates interlayer mode to position the electromechanical elements of the gripper in position to pick up the spacers.
When the signal is received that the carton is ready and moves to point 2.
At point 2 it waits for confirmation that the interlayer pick-up mode is active. It then moves to point 3.
Once at point 3, the robot starts a downward movement at low speed until it detects cardboard (interlayer detected).
When it detects that it has come into contact with the interlayer (contact point) it sends the signal to activate the vacuum system. Once the vacuum is active, it starts a downward movement (3cm) to search for the interlayer, which will stop when it detects that the vacuum has been reached (point 4).
The robot returns to point 2, where it checks by means of the vacuum signal that it is still carrying the interlayer. If so, it emits an Interlayer picked pulse and continues the cycle. If not, it emits an error pulse, and waits for the PLC to indicate that it has made a decision, and if this decision is to continue the cycle or repeat the sequence of taking the interlayer.
If the cycle continues, it moves to point 1.
Once the robot is waiting at point 1, the PLC sends the signal that the palletizing station is free and moves to point 5.
When the robot reaches point 5, the signal requesting permission to access the interlayer dispenser area is deactivated.
From point 5, move to point 6.
When it receives confirmation that the pallet is in position at the palletizing station (Pallet Ready), it will move to point 7.
When it reaches point 7, it will deactivate the vacuum signal, and emit a puff pulse.
At point 7 give an interlayer placed pulse and return to point 6.
At point 6 deactivate the interlayer acquisition mode. And moves to point 5.
- At the end of the sequence, you will remain at point 5 before continuing the palletizing cycle, until you receive confirmation that the interlayer pick-up mode has been deactivated.