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Example 4

The document outlines the procedure for a robot to pick and place products from five evenly spaced areas (A to E) along the Y axis, ensuring proper grabbing and placement signals are monitored. It details the robot's movement, including offsets and safety checks, as well as the requirement for the robot to return to its initial position after completing tasks in both the product and G device areas. Additionally, it emphasizes the need for program annotations and separate functions for safety and initialization signals.

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ofertasmercadolivre100
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12 views2 pages

Example 4

The document outlines the procedure for a robot to pick and place products from five evenly spaced areas (A to E) along the Y axis, ensuring proper grabbing and placement signals are monitored. It details the robot's movement, including offsets and safety checks, as well as the requirement for the robot to return to its initial position after completing tasks in both the product and G device areas. Additionally, it emphasizes the need for program annotations and separate functions for safety and initialization signals.

Uploaded by

ofertasmercadolivre100
Copyright
© All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd

1、There are 5 product areas ABCDE evenly distributed along the base Y

axis, spaced 100mm apart.

(Here we assume that the size of the 5 products are same

And we assume that the size is 100*100*100mm, then we can use

the”offs” commond.

From A to B area, offset 150mm is ok in Y dirction.)

At pHome point, the robot goes to A to grab the product, first to the top

point(use the”offs” commond), then to the grab point, grab the product

(trigIO(a commond) closes the claw DO0_0 20mm in advance), and then

returns to the top point after grabbing. Because of the possibility of

manual leakage of the product, it is determined whether there is a

clamping signal DI0_0 after grabbing, if not, it will continue to grab the

next area B, and so on. After the grasp signal DI0_0 is in place, the robot

goes to the waiting point outside the G device, waits for the release

signal DI0_1 of the G device, first reaches the point above the place of

the G device(use the”offs” commond), arrives at the place of the G

device, and places the product (trigIO opens the claw 20mm in advance).

Then return to the upper point, the external waiting point, and give the

G device a start signal DO0_1. Back to the pHome point.

NEXT part is related to the CRobt() and

The robot is required to automatically return to the initial position in the

ABCDE area (sharing an area) and the G device area. If it is in the ABCDE
region, first raise the z-axis to 400mm and then return to the origin. If

inside the G device, first return to the upper point, then to the waiting

point outside the G device, and then return to the origin. Programs

should be annotated. The safety return bit and the initialization signal

program should be written separately in their respective functions.

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