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Programming S900–II Level 1

Version 2.2 |–>

V – Specific programming

01T01527_2

25.5.00

V – 7. Example of program with insert placing

For applications where an insert is placed in the mould, a special type of programming is necessary.

This is because the IMM cycle must only be launched once the insert has been placed (i.e. once the

mould has been accessed).

For the first cycle, the robot must first place an insert then launch the IMM cycle before it is able to

descend into the mould to take an overmoulded part and place an insert.

This special type of program uses the instruction Await end of robot cycle which is

accessible by pressing

twice.

Note : If this instruction is not accessible, change parameter 178 to 1 (see the “Configuration” manual).

This instruction does not wait for the mould to open before validating continuation to the next step.

This test must therefore be programmed.

1st cycle processing

– grip insert

– await machine in starting

position

– place insert in the mould

– restart the IMM

“Normal” cycle

– grip insert

– await end of machine cycle

– grip overmoulded part

– place insert

– restart IMM

– release part

Cycle end processing

– await end of machine cycle

– grip overmoulded part

– release part

– await end of robot cycle

Await cycle end

yes

Step 0

PLC 00

SP 10 L0 grip insert

Step 1

Await end of robot cycle

Step 2

SP 5 L0 place insert in the mould

Step 3

Machine cycle validation

Step 4

SP 10 L0 grip insert

Step 5

Await end of machine cycle

Step 6

SP 1 L0 grip overmoulded part

Step 7

SP 5 L0 place insert

Step 8

Machine cycle validation

Step 9

SP 2 L0 release part

Step 10

IF/WRD 36 AND 2

SP 0 L1

Step 11

Await end of machine cycle

Step 12

SP 1 L0 grip part

Step 13

SP 2 L0 release part

Step 14

Await end of robot cycle

Step 15

END

V 1.3 robot

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