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Bag 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.
Moves to point 3, activates the clamp closing signal (Activate main clamp) and the clamp activation signal. In addition, it updates the data for the next movement.
When you receive confirmation that the gripper is closed, move to point 4.
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 clamp is activated, it adjusts the points of the path according to the Bag Offset value sent by the PLC. It will then move to point 5.
- When you reach point 5, wait for confirmation that the palletizing station area is accessible, then movement to point 6 will be initiated.
At point 6, wait for confirmation that the pallet is in position at the palletizing station (Pallet Ready), it will move to point 9.
Upon reaching point 9, it will deactivate the grapple auxiliary system and the grapple closing signal.
When confirmation is received that the gripper is open, it will move to point 10.
At point 10, a Product Placed signal pulse is emitted and activates the signal to raise the tamper.
It then moves to point 11, where it waits for confirmation that the tamper is raised.
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.