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Sequence by measurement sensor
The robot sends the PLC the signal Going to pallet area, to indicate that it is requesting to enter the pallet pick-up area and remains waiting.
When the PLC confirms to the robot that it can access the area, it moves to point 1.
At point 1, the robot sends signals to the PLC to place the gripper in position to pick up the pallet.
When the signal is received that the pallet is ready and moves to point 2.
At point 2, it waits for confirmation that the paddle acquisition mode is active. It then moves to measuring point A.
Once at measurement point A, it emits a pulse to indicate that it is in position and remains in position until it receives a signal indicating that measurement A has been performed. It then moves to measurement point B.
Once at measurement point B, it emits a pulse to indicate that it is in position and remains in position until it receives a signal indicating that measurement B has been performed. It then moves to measuring point C.
Once at measurement point C, it emits a pulse to indicate that it is in position and remains in position until it receives a signal indicating that measurement C has been performed. It then moves to point 3.
When the robot receives the signal that the measurement sent by the Measure Sensor channel is correct, it performs the appropriate calculations to obtain the point resulting from the measurement, and moves to it.
When the robot reaches the measuring point, it sends the signal to activate the pallet pick-up system.
When it receives confirmation that the pallet has been taken, it moves to point 3, and from there to point 4.
Upon reaching point 4, the robot sends a pulse indicating that the pallet has been picked up.
Waits for the PLC to indicate that it has made a decision, and whether that decision is to continue the cycle or repeat the pallet pickup sequence.
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 pallet storage area is deactivated.
From point 5, move to point 6.
It then moves to point 7.
When you reach point 7, you will deactivate the pallet pick-up system signal.
Wait for confirmation that it is deactivated and then return to point 6.
At point 6 presses Pallet place and deactivates the pallet pick-up 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 pallet pick-up mode has been deactivated.