Conair S900II System Informações Técnicas descarregar pdf (Página 64)

Programming S900–II Level 1

Version 2.2 |–>

V – Specific programming

01T01527_2

25.5.00

V – 3. Example of part palletization

Subroutines 41 to 60 are used to easily define part palletization sequences. They have a sequential

structure, but contain a header area as well as steps 0 to 999. This header describes the organization

of the pallet (number of parts per axis, gap between parts on each axis).

Each time a stacking subroutine is run, the counter associated with it is incremented. When it is equal

to the number of parts to be stacked, the counter goes back to 1 for the next cycle.

This counter enables the robot the calculate the position of the part that it must palletize. The number

of the counter associated with the stacking subroutine is formed from the program number and the

stacking subroutine number.

The counter of stacking subroutine number 41 of program number 15 is : CNT 1541.

The stacking counter is set to 0 after a TOTAL home return. A simple home return has no effect on

the stacking, unless you have programmed otherwise.

 Syntax for calling–up a stacking SP :

SP 42 N Lx or SP 42 R Lx (N means Normal and R means Reverse).

Selecting “Reverse” means that the program is executed in the opposite way to that which was initially

defined. In “normal” execution, the stacking counter is incremented before the gaps are calculated.

In “reverse” execution, the gaps are calculated before the counter is decremented.

 Specific instructions for stacking SPs

So that the axes’ movements in the stacking SPs take into account the gaps between the parts and the

stacking counter, you must use the following instructions :

X. STK xxxx

Y. STK xxxx

Z. STK xxxx

where xxxx are the absolute values defining the position of the first part when the stacking counter

equals 1.

The “end of layer or column” and “end of pallet” commands in the stacking SP header are :

 actuated as soon as the stacking SP is run,

 memorized after the stacking SP has been run.

Therefore, don’t forget to set these commands back to 0 once they have been used in the program, if

necessary.

When the “end of pallet” command is active, the “end of layer or column” command isn’t.

Two specific operations for the stacking subroutines are available :

 INC.STK Increment the counter of the stacking subroutine running.

 DEC.STK Decrement the counter of the stacking subroutine running.

These two instructions do not have a number operand. They will only be used in the home return

subroutines SR. The counter that is incremented or decremented will be that of the subroutine where

the SR is requested.

1 2 ... 59 60 61 62 63 64 65 66 67 68 69 ... 81 82

Sem comentários

Conair S900II System Informações Técnicas Página 64