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Festo CP Factory Manual

Festo CP Factory Manual

Robot feeding for mill
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CP Factory
Manual
Robot feeding for mill
Festo Didactic
CP Factory
12/2018

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  • Page 1 ® CP Factory Manual Robot feeding for mill Festo Didactic CP Factory 12/2018...
  • Page 2 Festo Didactic accepts no liability for injury or harm to trainees, the training company and/or any third parties which may occur when the installation is used beyond a genuine training situation, except Festo Didactic has caused such injury or harm intentionally or by grossly negligence.

  • Page 3: Table Of Contents

    3.7.2 Electrical commissioning ___________________________________________________________ 37 3.8 Adjusting the sensors _________________________________________________________________ 38 3.8.1 Proximity switch (stopper Identsensor) _______________________________________________ 38 3.8.2 Proximity switch (stopper cylinder) ___________________________________________________ 40 3.9 Adjusting the one-way flow control valves _________________________________________________ 42 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 4 4.3 Sequence description of robot feeding for mill _____________________________________________ 47 4.4 Sequence description of the Basic Module ByPass _________________________________________ 49 4.4.1 CP Factory Loading Robot (Mill and Turn) ______________________________________________ 54 4.4.2 Switch on robot ___________________________________________________________________ 57 4.5 Operating modes _____________________________________________________________________ 58 4.5.1 Automatic operation _______________________________________________________________ 58...
  • Page 5 5.3.9 SYS link interface ________________________________________________________________ 121 5.4 Mechanic components ________________________________________________________________ 122 5.4.1 Motor of Conveyor _______________________________________________________________ 122 5.4.2 The stopper unit _________________________________________________________________ 123 5.4.3 Transportation of the basic module _________________________________________________ 125 © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 6: General Safety Instructions

    The protective ground must always be contacted first (before voltage) and must only be separated last (after voltage separation).  If not specified differently in the technical data, the device does not have an integrated fuse. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 7: Pictographs

    Here you find important information for an appropriate handling of the machine. Disregarding this symbol may lead to malfunctions at the machine or in its surrounding area. Information This means that you obtain tips for the use and especially useful information. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 8: Safety Terminal Sockets

    (green-yellow) signal input/signal output (black) The specified protection categories and the safety can only been guaranteed when using Festo Didactic safety laboratory cables. Any damaged or faulty safety laboratory cables have to be blocked instantly and to be removed from the training area.

  • Page 9: Handling The System

    Please check that all screw connections which have been loosened during the maintenance, servicing or repair works are firmly seated. 1.4.6 Organizational measures All existing safety equipment has to be checked regularly. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 10: Staff

    Before they start work, all persons in charge of works at the system commit themselves to:  read the safety chapter and the warnings in this manual,  observe the basic principles about work safety and accident prevention. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 11: Introduction

    Festo Didactic herewith rules out any legal responsibility for damages of the trainee, the training company and/or a third party which might occur when using the system beyond a genuine training situation, unless the damage has been caused by Festo Didactic intentionally or due to gross negligence.

  • Page 12: Resources

    The training equipment of the system consists of several resources. They are used depending on the process selection. The following resources are available: Pallet carrier These pallet carriers are available for transporting the pallets. Pallet These pallets are available for receiving always one workpiece. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 13 Box with retainer for 15 raw turning pieces – Box Partnumber 26 Box with retainer for 10 PCB´s – Box Partnumber 27 Box with retainer for 10 front/backcovers or assembled workpieces – Box Partnumber 28 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 14 CP fuse on the right CP part fuse on the right no 213 no 1213 CP fuses both CP part both fuses no 214 no 1214 CP part customer no 1210 freely selectable © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 15: Design And Function

    You have to see for an appropriate distance between the system and the wall. Keep away any dust from the station resulting from construction works (covering). © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 16: Robot Feeding For Mill

    The conveyors are for transporting boards on carriers. The carriers are equipped with a read/write ID- system. This ID-system represents an important item of the CP Factory System. Current data of the workpiece to be transported is written on the carriers. Thus all information essential for the process is transported together with the carrier and is therefore available at every station.
  • Page 17 Design and function Position Description CNC milling machine Feeding robot for mill Basic module bypass © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 18 Design and function CP Factory robot feeding for mill – front side © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 19 Main switch operation panel Touchpanel E-Board for basic module bypass Multi contact plug Pressure switch (option for energy monitoring) and RFID removable corner pulley /other module available Emergency stop Passage for power supply © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 20 Design and function CP Factory robot feeding for mill – back side Position Description E-Board application Drive Unit © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 21: Mechanical Structure

    The robot feeding for mill is designed for one-sided operation (1). The module is equipped with mechanically adjustable feet. Should it be necessary to move the module to another place, it can be lowered to its rollers and thus be transported easily. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 22 Position Description Operation as independent Basic Module /not put together Operation as independent Basic Module /Basic Module put together Operation connected with another Basic Module © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 23 Design and function Installation as independent module Position Description corner pulley – the pallet carrier is reversed from one conveyor to the other on the Basic Module ByPass © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 24 – the pallet carrier is reversed from one conveyor to the other conveyor on the Basic Module ByPass The corner pulley and the support plate are only pinned and can be changed easily without tools. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 25: Supply Of The Robot Feeding For Mill

    CP Factory supply Position Description Inlet port for connection tube with voltage, communication and pneumatics Connection plug K2-XZ1 Connection plug K2-XZ2 Outlet port for the connection tube of a further module © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 26 Design and function Position Description Emergency chain linking Pressure Network 400 V © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 27: Electrical Set Up

    The electric board for the feeding is mounted on the back. The drive unit for the robot is also located on the back of the base frame. E- Board robot feeding for mill front side © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 28 Design and function E-Board robot feeding for mill back side © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 29: Siemens Plc

    Start-up current limiters K1-QA1 Kaleja M-MZS-4-30 / 06.05.020 Start-up current limiters K1-QA2 Kaleja M-MZS-4-30 / 06.05.020 Start-up current limiters K1-QA3 Kaleja M-MZS-4-30 / 06.05.020 Ethernet Switch K1-XF1 Siemens Scalance XB008 / 6GK5008-OBAOO-1AB2 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 30 Clamps for power distribution XD1 / XD10 Pilz PSEN iX1 F2-KF3 Emergency stop unit PNOZ X8P F2-KF2 Harting plug protective contact socket 230 V protective contact socket 230 V K6-XD6 K6-KF2 MIT-SUP-EL20-ER-6 © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 31: Cabling Chart

    Design and function 3.5.2 Cabling chart Overview cabling chart Mitsubishi / Siemens © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 32: Emergency Stop Structure

    Reset button SF2 / to PNOZ S33+S34; lamp clamp 24VNA/0V+ Emergency stop board for emergency stop linking / F2-XZ2 Emergency stop unit / F2-KF1 Drive Unit / K6-KF1 PSEN iX1 / F2-KF3 PNOZ X8P / F2-KF2 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 33 F2-XZ2-X4 Terminal clips for control panel, power supply, Emergency-stop relay. Example for Emergency-stop linking with 3 modules © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 34 4. If the module has been connected with other modules, the emergency-stop is effective at all stations and must therefore be acknowledged at every station by pressing the illuminated push-button “Adjusting” and acknowledging the error at the HMi © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 35: Emergency-Stop With Central Control

    At this module, you can click on the message line at the top at the HMI, where the error message will be displayed in the main window. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 36: Commissioning

    3.6.2 Electrical commissioning Now the module must be supplied with electric voltage (400 V). The voltage has to be provided by the customer. Furthermore, an expert installation must be guaranteed. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 37: Commissioning

    Now the robot feeding for mill has to be supplied with electric voltage (400 V). The voltage has to be provided by the customer. Professional installation must be guaranteed as well. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 38: Adjusting The Sensors

    Sensor stopper identify sensor / 150395 (SIEN-M8NB-PS-S-L) 1 position (BG21/BG31/BG41) 2 position (BG22/BG32/BG42) 3 position (BG23/BG33/BG43) 4 position (BG24/BG34/BG44) Screw to clamp the sensor The proximity switches are used for controlling the pallet. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 39 5. Tighten the locking screw of the proximity switch with an Allen key SW 1,3. 6. Check the position of the proximity switch by repeated removing the pallet. Documents  Data sheets / operating instructions Proximity Switch 150395 (SIEN-M8NB-PS-S-L) © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 40: Proximity Switch (Stopper Cylinder)

    The proximity switches are used for controlling the end position of the cylinder for the stopper. The proximity switches react to a permanent magnet on the piston of the cylinder. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 41 5. Tighten the locking screw of the proximity switch with an Allen key SW 1,3. 6. Check the position of the proximity switch by repeated test runs of the cylinder. Documents  Data sheets / operating instructions Proximity Switch 574334 (SMT-8M-A-PS-24V-E-0,3-M8D) © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 42: Adjusting The One-Way Flow Control Valves

    Design and function 3.9 Adjusting the one-way flow control valves One-way flow control valves Description One-way flow control valves GRLA for stopper cylinder One-way flow control valves GRLA for stopper cylinder © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 43: Visual Inspection

    2. The robot feeding for mill is supplied by about 6 bar compressed air. On initial start-up, please pay attention to slowly increasing the pressure (herewith unpredictable events are prevented). 3. Now you can work with the module. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 44: Operation

    The stations are to be operated only from trained personnel. Operation is to ensue according to operating instructions. Uncontrolled pressing of the various switches/push-buttons of the control units is to be omitted / prevented. No work-piece carriers should to be removed from the system. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 45: The Control Units Of The Robot Feeding For Mill

    4.2 The control units of the robot feeding for mill CP Factory control panel front side Position Description Main switch -QB1 Manometer Touch Panel – PH1 Emergency- stop switch – F2-FQ1 Network socket- XPN3 Controller on pushbutton – F2-SF1 © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 46: Touch Panel

    Current consumption (rated value) 0.5 A Starting current inrush I²t 0.5 A²·s Power Power consumption, typ. 12 W Processor Processor type Memory Flash Memory available for user data 12 Mbyte © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 47: Sequence Description Of Robot Feeding For Mill

    Operation 4.3 Sequence description of robot feeding for mill Reset sequence © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 48 Operation Automatic sequence © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 49: Sequence Description Of The Basic Module Bypass

    Operation 4.4 Sequence description of the Basic Module ByPass Position Description Stopper in bypass Stopper without RFID Branch Stopper branch bypass © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 50 Operation Sequence description bypass stopper without RFID © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 51 Operation Automatic stopper in bypass area © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 52 Operation Bypass bend off © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 53 Operation Bypass straight © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 54: Cp Factory Loading Robot (Mill And Turn)

    12. Now align the robot straightening and the key switch on the TeachBox into the horizontal position 13. Select T1 mode 14. Set the key switch vertically 15. Delete error messages with Confirm 16. On the right-hand side of the Teachbox, select "Cell" © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 55 1. Turn the left rotary switch for the operating mode on the CNC keyboard to the "Reference mode" position. 2. Turn the right rotary speed switch on the CNC keyboard to 20% 3. Close the door using this button. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 56 Sinumerik control to open the program selection 10. Select a program e.g. Program 20 11. Press the Green Start button 12. Open the clamping device 13. Confirm any HMI error messages displayed © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 57: Switch On Robot

    Be very careful with the doors open, making sure that the robot does not move. When the doors are closed again, the reset process must be carried out again. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 58: Operating Modes

    The operation on the basic modules is always the same. A basic module with the drilling module application module serves as an example. Additional operating options are described separately in the respective manuals. The operation is not dependent on the type of the control panel, Festo and Siemens Panel have the same functions.

  • Page 59: Menu Architecture From Panel

    Submenu in the main menu Changing content, depending on the main menu Changing content, depending on the main or submenu Announcement of operation mode automatic or set up Announcement of default or MES Mode © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 60: Menu Navigation Robot Feeding For Mill

    The doors can be opened while the robot is running. In this case there is no interactive error message, only the yellow warning message. The robot stops, until the doors are opened. After closing them, the robot keep continues its actual task © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 61 If you click on the blue marked field (no matter where you are in the menu), the following window will open (Pos 2) Operating window – the operating window is always the same and allows a fast operating of the station © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 62: Display Operation Modus

    In the upper right-hand area, the order data of the workpiece carrier are displayed in the MES mode, while the RFID status code is displayed in the default mode. The status of the application is displayed in the lower right area, which is independent of the selected mode. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 63: Operation Mode Home

    End Button: The currently active operating mode is stopped here. Select the mode: Default - Automatic sequence is executed with the stored transitions MES software is fully controlled by MES software © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 64 Area Order Carrier ST2 - the information provided by MES are standing on the workpiece carrier Carrier ID: Carrier number ONo: Order number OPos: Order position PNo: Part number OpNo: Operation number Resc: Resource RFID Busy ( set hook to activate RFID) © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 65 Operation Submenu overview Default Mode © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 66 Set: determines in this context, how many goods carriers should be initialized according to the above procedure. Act: Shows how many goods carriers have been initialized. RFID active (tick to activate RFID) © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 67 Click on the button "User Dialog" to open the following window. If you click on the User or Password fields, the input window opens and the user data can be entered. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 68 Operation Here the user data can be entered, confirm with the return key. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 69: Operating Mode Setup

    PCB Pos. - Position of the board inside the box Return value - Return value of the robot program Repeat - try again Exit Cycle - end the current cycle Textual description of the return value © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 70 Slow: move the conveyor slowly (actuator QA3_A3 is activated, lights up blue when active) To right: move conveyor to the right (actuator QA3_A1 is activated, lights up blue when active) Display conveyors and stoppers (light up green when active) © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 71 Delete data: all data in the input mask is deleted - not directly on the RFID (for easier entry) Area Display of the active sensors (lit green when active) and actuators (lit orange if active) on the stopper Display of the RFID read status © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 72 Delete data: all data in the input mask is deleted - not directly on the RFID (for easier entry) Area Display of the active sensors (lit green when active) and actuators (lit orange if active) on the stopper Display of the RFID read status © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 73 G1_BG42: Sensor G1_BG42 stopper down (lit green when active) Stopper: display stopper Area Display of the active sensors (lit green when active) and actuators (lit orange if active) on the stopper © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 74 Bypass: turn shunt to bending / bypass (Actuator G_MB41 is activated, lights blue if active) Area Display of the active sensors (lit green when active) and actuators (lit orange if active) on the stopper © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 75 EndDnc – disconnect DNC controller OpenDoory – open door of milling machine LoadPrg – load program at milling machine StartPrg – execute program milling machine Actual program - display Program No. - display © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 76: Operation Mode Parameters

    To set up the application module, the application module must be set to setup mode. 1. On the Start screen, click Setup 2. Change to parameter page (1) and select application (2). © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 77 Stop the belt before the application starts: The conveyor is stopped before the application starts to work - set the hook for this Robot: Switch off Servo after program end: set hook to switch off the Servos of the robot after a program is ended © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 78 Operation Sub menu - Transitions © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 79 The carrier is only released from the stopper if the belt is not occupied at the belt outlet. Belt 3 energy saving mode with sensors: If no workpiece is detected on the belt via the sensors, the belt is switched off © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 80: Operation Mode System - Settings

    Display date and time of the PLC Display date and time of the HMI touch panel Display of the MES IP address additionally the IP of the MES can be set here. (Password protected) User: festo, PW: festo) Input fields for your own resource number, query port and status port of the MES connection...

  • Page 81: Automatic Operation

    A gray button with a blue font indicates that this function is selectable. 1. Switch on the station and wait until HMi is raised. The following screen appears 2. Press Setup button © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 82 Operation 3. Select the default or MES mode, for the example the default mode is selected 4. Press the automatic button 5. Automatic is active © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 83: Stop Automatic

    Operation 4.7.2 Stop automatic 1. Press the cycle end button, the automatic sequence is immediately stopped. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 84: Writing On The Rfid Tag Manually

    4. The data of the RFID tag can be read out and displayed by pressing the "read" button. 5. Press the Delete Data button For easier input, all data is only deleted in the input mask, the data remains on the tag itself. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 85 Parameter 1 = 3 - Input of the 3 parameter value (e.g., 3 / both sides drilling) Parameters 2 - 4 - not used in this example 7. Press the "Write" button to write the changes made to the tag. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 86: Boxes

    BoxPNo – Here, the part number of the box and the retainer for the workpieces to be picked up are displayed or entered. 7. Press the „write“ button in order to write the performed modifications on the tag. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 87: Parameter Cp Factory Feeding Robot And Mill

    Limitation: none, value: 5s, changeable Note: This parameter is only included in the internal time calculation of the work plan and has no effect on the error handling of the station. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 88: Components

     0.02mm. Its maximum speed amounts to 9900 mm/s. There is an end position and overload monitoring programme integrated. The maximum reach of the robot arm is 648,7 mm. RV-4FL Performance Inputs 32 Inputs for communication Outputs 32 Outputs for communication Max. reservation 1 work piece/pallet © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 89: Drive Unit Cr750-D

    Key switch for teach or auto modes Interface cover for USB and battery Plug for teach pendant Servo on button Servo off button Start button Up button Main switch END button RESET button Stop button © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 90 CN2 for robot communication CNUSER 11 CNUSER 12 CNUSER 13 Slot 1 / for connector 1 (in/output 0-15) Slot 2 / for connector 2 (in/output 16-31) CNUSER 2 LAN1 for ethernet © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 91: Teach Pendant R32Tb

    Drive Unit.  Auto position (OP) for the stand alone mode  Auto position (EXT) for the communication with other controls  Teach position for the Teach mode. Teachpendant © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 92: Teachpendant R56Tb

    With the key switch at the Drive unit, it is possible to choose the following three modes.  Position Auto (OP) for standalone mode.  Position Auto (EXT) for communication with other controller.  Position Teach for teach mode. Teachpendant © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 93: Set Up

    50 Pin cable from Ria-Box to slot 1 / there is a special cable necessary, this cable is plugged at the Drive Unit and then connected to the 50 PIN cable RIA Box © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 94 Components Robot RV4-FL set up example for standalone mode Position Description Cable to Drive Unit Programming PC Drive Unit CR750D Cable to Ethernet interface © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 95 Components Robot RV4-FL set up example for standalone mode Position Description Cable to Drive Unit Programming PC Drive Unit CR750D Cable to Ethernet interface © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 96: Interface Drive Unit

    Retry last step 104,0 DI_ExitCurrCyc Input 2033 Exit current program cycle 104,1 Reserve_RobS 2034 - Input tate1 2039 Reserved for extension Reserve_RobS 2040 - Input tate2 2047 Byte Reserved for extension © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 97 Stop CNC program OpenDoor Output Open door of CNC machine CloseDoor Output Close door of CNC machine OpenVice Output Open vice of CNC machine CloseVice Output Close vice of CNC machine © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 98 Reserved Byte 2 Region 2088 - Output ReserveByte3 2095 Byte Reserved Byte 3 2096 - Output ReserveByte4 2103 Byte Reserved Byte 4 2104 - Output ReserveByte5 2111 Byte Reserved Byte 5 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 99 Output 2011 Byte Reserved for sensor group 2 ReserveSensor 2160 - Output 2167 Byte Reserved for sensor group 3 ReserveSensor 2168 - Output 2175 Byte Reserved for sensor group 4 © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 100: Parameter

     COMDEV=Us,"","OPT12","OPT13","","","","","";  NETHSTIP=Us,"192.168.0.2","192.168.0.3","Camera_IP_Address","192.168.0.5","192.168.0.6","192 .168.0.7","192.168.0.8","192.168.0.9","192.168.0.10";  NETPORT=10000, 10001, 10002, Camera_Port, 10004, 10005, 10006, 10007, 10008, 10009  NETMODE=Ud,1,1,0,1,1,1,1,1,1; Slot Parameter:  SLT1=Us,"3","CYC","START","1";  SLT2=Us,"MONITORHOME","REP","ALWAYS","1";  SLT3=Us,"ENRGSAVEVACU","REP","ALWAYS","1";  SLT4=Us,"PCBTRAYCNTRL","REP","ALWAYS","1";  SLT5=Us,"MONITORPALWS","REP","ALWAYS","1"; © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 101: Main Tasks/Programmes

    PCB at pallet position available All fuse magazines are empty Unknown fuse magazine number Fuse magazine is full 5.1.9 Further information to robot To operate and further information to robot, see Mitsubishi robot manual. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 102: Robot Positions

    5.2 Robot positions Position Description P_ByPassPalPose = Tool 1 front cover pick up position at the bypass station P_MillClampPose = Tool 1 product held at the vice of the Mill machine © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 103: Electrical Components

     Switch-over from high speed to the speed adjusted at the TR.1  Port for limit switch for stop  Short-circuit proof and temperature protected  Limitation for starting circuit © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 104 Any assembly position / DIN-rail assembly No / Yes Housing Plastic housing light grey Dimensions 59x77x50 Weight Approx. 100 Temperature / short guard Yes / Yes Connection type 4mm², 2,5mm² screw connection © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 105 Conveyor drive unit creep speed Control -5K2 / Q0.6:29 X1:st Conveyor drive unit Stop Conveyor motor DC / -X3M1:4 X2:M1 Conveyor motor connection Conveyor motor DC / -X3M2:3 X2:M2 Conveyor motor connection © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 106: Controller Siemens

    Components 5.3.2 Controller Siemens Siemens ET200 SP / CPU 1512SP F-1PN For detailed information see electrical circuit diagram. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 107: Controller Festo Cecc

    Position Description Comment USB interface For external memory Ethernet interface RJ 45 For PC (for programming with CodeSys) or for external operation panel CDPX CanOpen interface To connect CanOpen slaves © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 108: Turck Interface

    Components 5.3.4 Turck Interface Turck interface For detailed information see electrical circuit diagram. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 109: Scalance Ethernet Switch

    Components 5.3.5 Scalance Ethernet Switch Siemens Scalance Ethernet switch The SCALANCE X208 has eight RJ-45 jacks for the connection of end devices or other network segments. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 110 If the autonegotiation function is disabled, the MDI/MDI-X auto crossover function is also inactive. This means it may be necessary to use a crossover cable. © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 111 Such a loop can lead to network overload and network failures. Auto polarity exchange If the pair of receiving cables are incorrectly connected (RD+ and RD- swapped over), the polarity is reversed automatically. © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 112: Rfid With Ethernet

    Ethernet connection RSSD-RSSD 441-2M Ethernet connection RSSD-RSSD 441-2M Rotary coding switch for addressing RFID connection socket RK4.5T-5-RS4.5T/S2500 for read-write head 1 RFID connection socket RK4.5T-5-RS4.5T/S2500 for read-write head 2 Power supply Power supply © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 113 Bit 0 Control word channel 0- low byte Chanel 0 Control word channel 0- high byte Control word channel 1- low byte Chanel 1 Control word channel 1- high byte © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 114 Ethernet cable from Turck module to controller (via Scalance) Turck cable from Turck read-write head to Turck module Turck cable from Turck read-write head to Turck module Turck Ethernet module with RFID interface (equipment identifier K2-KF80) © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 115 Its designation is TB-M18-H1147. Name Operating voltage 10…30 VDC DC rated operating current 0-80 mA Operating voltage Data transfer Inductive coupling Working frequency 13,56 MHz Read-write distance max. 30 mm © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 116: Rfid With Canbus

    1 LED green flashing light Operational mode Displays / operating elements 1 LED Red flashing light Error 1 LED yellow continuous light tag communication Connection M12 connector Not used Wiring CAN_H CAN_L © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 117: Mini Terminal

    Pin 14 and Pin 15 Pin allocation M8 socket corresponding to IEC 947-5-2  slots 0 to 11  Signal line socket 4  DC 24V socket 1  socket 3 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 118 Reserve Bit 8 Identity sensor 4 / -BG34 Bit 9 Reserve Bit 10 Congestion bypass / -BG35 Bit 11 Reserve / Option station occupied 1 +24 V 14 und 15 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 119 Reserve Bit 4 Reserve Bit 5 Reserve Bit 6 Reserve Bit 7 Reserve Bit 8 Reserve Bit 9 Reserve Bit 10 Reserve Bit 11 Reserve +24 V 14 and 15 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 120 PIN 9 Inscription label Mounting hole M3 OUT 0 IN 0 OUT 1 IN 1 OUT 2 IN 2 OUT 3 IN 3 OUT 4 IN 4 OUT 5 IN 5 © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 121: Sys Link Interface

    Output AX.4 InputEX.4 Output AX.5 Input EX.5 Output AX.6 InputEX.6 Output AX.7 Input EX.7 Power Supply Power Supply Power Supply Power Supply Power Supply Power Supply Power Supply Power Supply © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 122: Mechanic Components

    Nominal voltage UN /Volt Idling speed n0 [min-1] Rated torque MN [Nm] Starting torque MA [Nm] Gear ratio i 53/2 3400 Connection r 3000 Protection class IP 30 Weight [kg] © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 123: The Stopper Unit

    Pallet available Ident sensor 4 / Ordernumber 150395 / SIEN-M8NB-PS-S- Stopping unit Stopper cylinder / Ordernumber 157211 / AEVUZ-16-5-P-A Sensor Stopper lowered / Ordernumber 574334 / SMT-8M-A-PS-24V-E-0,3-M8D one-way flow control valve / Ordernumber. 193967 / GR-QS-4 © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 124 Components Diagram of pneumatics, Stopper Unit © Festo Didactic CP Factory ° Robot feeding for mill...

  • Page 125: Transportation Of The Basic Module

    In this way, an easy transport is possible. If you wind up the machine mounts, you can move the basic module easily to another place. Position Description Star knob for adjusting the height of the machine mount Roller Lock nut for locking the machine mount in the position required © Festo Didactic CP Factory ° Robot feeding for mill...
  • Page 126 Components Festo Didactic SE Rechbergstraße 3 73770 Denkendorf Germany Internet: www.festo-didactic.com E-mail: did@de.festo.com © Festo Didactic CP Factory ° Robot feeding for mill...

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