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Fork and Servo Fork gripper Sequence
- The robot remains stationary until receiving the line enabled signal (L1 Enable) associated to the recipe. Once the signal is received, the palletizing sequence starts, moving to point 1.
When reaching point 1, the PLC sends the corresponding signals to place the gripper in position to pick up the product.
When confirmation is received that the gripper is in position, it moves to point 2.
The robot remains in position (2), until the PLC indicates that the product is ready to be removed from the pickup.
It moves to point 3 and activates the down signal of the gripper clamp. In addition, it updates the data of the next movement.
When the point is reached, a pulse is emitted indicating that the product has been picked up (Product Picked).
When it receives confirmation that the gripper auxiliary system is active (tamper), it moves to point 5.
When you reach point 5, wait for confirmation that the gripper auxiliary system is activated.
Upon receiving confirmation that the palletizing station area is accessible, movement to point 6 will be initiated.
From point 6, move to point 7.
When it receives confirmation that the pallet is in position at the palletizing station (Pallet Ready), it will move to point 8.
When reaching point 8, it will deactivate the claw clamp lowering system, and moves to point 9.
At point 9 the claw closing signal is deactivated, allowing the fork to open.
When confirmation is received that the gripper is open, it will move to point 10.
Upon reaching point 10, it pulses the Product Placed signal and positions the gripper to pick up product. It then moves to point 11.
At the end of the sequence, update the next layer and pick count, and wait for the claw to be in position.
If the end of production signal is present or the last pallet movement has been made, a pulse is emitted to indicate that the pallet is finished (Pallet Finished). Otherwise, the sequence continues.