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Asynchronous and synchronous gripper Sequence
- The robot remains stationary until it receives 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 main clamp signal (Activate main clamp). In addition, it updates the data for the next movement.
When you receive confirmation that the claw is closed, move on to step 4.
When the point is reached, a pulse is emitted indicating that the product has been picked (Product Picked) and the auxiliary system of the gripper is activated. It will then move 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 you reach point 8, you will deactivate the auxiliary system of the claw.
Moves to point 9 when confirmation is received that the claw auxiliary system is deactivated.
At point 9 the claw closing signal is deactivated.
When confirmation is received that the gripper is open, it will move to point 10.
Upon reaching point 10, a Product Placed signal pulse is emitted and then moves to point 11.
At the end of the sequence, if the end of production signal is present or the last pallet movement has been performed, a Pallet Finished pulse is emitted.
Otherwise, the next corresponding layer and pick count is updated.