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Advanced options
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Pallet Magazine Group
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Inputs
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Pallet ready (IN 97)
Signal of pallet available in warehouse.
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Pallet Area Free by PLC (IN 98)
Zone occupied signal from the PLC. The robot will not be able to enter the area until the signal is released.
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Decission taken (IN 99)
Signal sent by the PLC to the robot, indicating that a decision has been made to continue the sequence to position the pallet in the palletizing station, or to repeat the pallet pick-up movement in the magazine/dispenser. The decision taken is indicated by the signal Continue or Repeat (IN 100). The decision taken is indicated by the signal **Continue or Repeat (IN 100).
The decision making process must be performed in every execution cycle in which a pallet is to be positioned at a station. For more information, please contact us.
Consult the PLC integration manual.
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Continue or Repeat (IN 100)
Signal indicating the value of the decision taken by the Decission taken (IN 99) signal. Being a value 0 (False) to continue the execution cycle to position the pallet in the palletizing station, and a value 1 (True) to repeat the pallet pick-up movement in the magazine/dispenser.
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Measure OK A (IN 101).
Signal that indicates to the robot that the measurement to be performed at point A has been correctly performed by the PLC.
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Measure OK B (IN 102)
Signal indicating to the robot that the measurement to be made at point B has been correctly performed by the PLC.
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Measure OK C (IN 103)
Signal indicating to the robot that the measurement to be made at point C has been correctly performed by the PLC.
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Measure OK (IN 104)
Signal indicating that the value received by the Robot via the Measure Sensor signal (IN 129 - 144) is valid.
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Outputs
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Pallet picked (OUT 97)
Signal that the robot has successfully picked up the pallet.
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Going to pallet area (OUT 98)
Signal that the robot is performing operations in the pallet storage area, preventing PLC intervention.
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Measure A (OUT 101)
Signal that tells the PLC to measure at point A, since the robot is at that position.
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Measure B (OUT 102)
Signal that tells the PLC to measure at point B, since the robot is at that position.
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Measure C (OUT 103)
Signal that tells the PLC to measure at point C, since the robot is at that position.
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Pallet Placed (OUT 104)
Signal to the PLC, indicating that the Robot has positioned the pallet in the palletizing station.
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Interlayer Dispenser Group
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Inputs
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Interlayer ready (IN 105)
Signal indicating that an interlayer is available in stock.
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Interlayer Area Free PLC (IN 106)
Signal indicating that the PLC is performing operations in the magazine/splitter dispenser, preventing robot intervention.
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Decission taken (IN 107)
Signal sent by the PLC to the robot, indicating that a decision has been made whether to continue the sequence to position the separator in the palletizing station, or to repeat the movement to pick up the separator in the magazine/dispenser. The decision taken will be indicated by the signal Continue or Repeat (IN 108). The decision taken will be indicated by the signal **Continue or Repeat (IN 108).
If the robot detects that, after picking up the separator, it has lost the signal indicating that it continues to carry it (Vacuum Ok - IN 13), the robot emits a pulse indicating the error (Interlayer Pick Error-OUT 107) and will wait for the user to decide whether to repeat the movement or continue the cycle.
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Continue or Repeat (IN 108)
Signal indicating the value of the decision taken by the Decision taken (IN 107) signal. Being a value 0 (False) that continues the execution cycle to position the separator in the palletizing station, and a value 1 (True) that repeats the movement to pick up the separator in the magazine/dispenser.
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Measure OK (IN 112)
Signal indicating that the value received by the Robot from the Measure Sensor (IN 129 - 144) signal is valid.
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Outputs
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Interlayer Picked (OUT 105)
Error signal from the robot when it picks up the interlayer if it detects an error.
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Interlayer Pick Pick error (OUT 107)
Signal that the robot has correctly picked the separator.
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Going to interlayer Area (OUT 106)
Signal that the robot is performing operations in the magazine/separator dispenser preventing PLC intervention.
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Measure (OUT 109)
Signal that tells the PLC to measure at the point, since the robot is at that position.
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Interlayer Placed (OUT 112)
Signal to the PLC, indicating that the Robot has positioned the interlayer in the palletizing station.
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Group Height Pallet Sensor
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Inputs
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Pallet Height (IN 113 - 128)
Laser pallet height measurement at palletizing station. Wepall will adjust the pallet heights based on the 16-bit signal received, allowing further adjustment of the mosaic by depositing the product at an optimal height. In this way, the same mosaic can be defined, regardless of the height of the pallet to be palletized.
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Measure sensor group
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Inputs
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Measure sensor (IN 129 - 144)
16-bit signal from the measure installed on the robot hand. It allows to perform the pallet and separator picking movements at higher speed, if no automatic dispenser is available. Once the hand is positioned on the corresponding magazine, it performs a measurement, which allows to determine the height at which the element to be picked up is located. It will perform a fast movement until the final approach distance is reached.
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Bag Offset Group
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Inputs
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Bag Offset (IN 145 - 160)
16-bit value to define manually by the user the height at which the product will be left on the pallet (difference between points 7 and 8). Used when depositing bags, as its behavior is highly variable, so that the operator can adjust it dynamically.
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Product Size Group
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Outputs
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Length (OUT 113 - 128)
Measurement of the side of the product that is on the opposite side of the pickup stopper, whose recipe is selected. The value is updated after data loading.
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Width (OUT 129 - 144)
Measurement of the side of the product that comes into contact with the Stopper of the pickup, whose recipe is selected. The value is updated after data loading.
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Height (OUT 145 - 160)
Height of the product, whose recipe is selected. The value is updated after the data upload.
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Lift Group
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Inputs
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Measure Reached (IN 489)
Signal in which the PLC indicates to the robot that it has reached the required position at the required value Measure Lift Column (OUT 497-512).
Option only available for collaborative robots.
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Outputs
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Move to Measure (OUT 489)
Signal in which the robot instructs the PLC to move the lifting column to the height indicated by the value Measure Lift Column (OUT 497-512). Option only available for collaborative robots.
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Measure Lift Column (OUT 497 - 512)
16-bit signal in which the robot tells the PLC the position in which the lifting column must move. Value indicated in millimeters.
Option only available for collaborative robots.