Example Of Ist Instruction Introduction (Example Of Workpiece Transfer Mechanism) - Mitsubishi FX3G Series Programming Manual

FX /FX /FX /FX
3G 3U 3GC 3UC
Programming Manual - Basic & Applied Instruction Edition
14.1.2

Example of IST instruction introduction (example of workpiece transfer mechanism)

1. Operation mode
Zero return
Zero return
operation mode
PB
X021
X025
Individual
operation mode
X020
Leftward
Moving up
travel
PB PB
X005 X006
Rightward
Moving down
travel
PB PB
X010 X011
Pushbutton switches for individual operations
of the robot hand shown in the figure on the right
Pushbutton switches for the external circuit to
turn ON and OFF the load power supply
Operation mode
Individual
operation mode
Manual
mode
Zero return
operation mode
Stepping
operation mode
Cycle operation
Auto-
mode
matic
mode
Continuous
operation mode
2. Transfer mechanism
Start
X026
Zero point
(1) Moving
down
Y000
Lower
limit
X001
Clamping
(2) Clamping
Y001 ON
The upper left position is regarded as the zero point. The machine transfers a workpiece from the left to the right in the
order "moving down → clamping → moving up → rightward travel → moving down → unclamping → moving up →
leftward travel."
Double-solenoid type solenoid valves (with two inputs for driving and non-driving) are adopted for moving down,
moving up, leftward travel and rightward travel. Single type solenoid valves (which operate only while the power is
ON) are adopted for clamping.
Series
Stepping
operation X022
Cycle
operation mode
X023
Continuous
Power supply
operation mode
X024
PB
Unclamping
PB
PB
X007
Start X 026
Emergency stop
Clamping
PB
PB PB
X012
Stop X027
Each load is turned ON and OFF by an individual pushbutton switch.
When the pushbutton switch for zero return is pressed, the machine automatically returns to the zero point.
Every time the start button is pressed, the machine performs one process.
When the start button is pressed while the machine is located at the zero point, the machine performs one
cycle of automatic operation and stops at the zero point.
If the stop button is pressed in the middle of one cycle, the machine stops immediately. When the start
button is pressed after that, the machine performs the continuous operation from the last position, and
automatically stops at the zero point.
When the start button is pressed while the machine is located at the zero point, the machine starts
continuous operation.
When the stop button is pressed, the machine finishes the current cycle until the zero point, and then stops
at the zero point.
Left limit X004
(4) Rightward Y003
(8) Leftward Y004
Upper limit X002
(3) Moving up
Y002
What is the zero point condition?
Upper limit X002 is ON, left limit
X004 is ON and unclamping Y001
is OFF.
14 Handy Instruction – FNC 60 to FNC 69
14.1 FNC 60 – IST / Initial State
Mechanism for transferring a workpiece from the
point A to the point B using the robot hand
Y003
Rightward Right limit X003
Y004
Leftward
Left limit X004
Upper
limit X002 Moving down
Y002
Moving
Workpiece
Point A
Contents of operation
Right limit
X003
(1) Moving down
Y000
(7) Moving up
Y002
Lower
limit
X001
Unclamping
(6) Unclamping
Y001 OFF
Y000
Lower
up limit X001
Clamping Y001
Unclamping Y001
Point B
Upper
limit
X002
385
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