Battenfeld UNIROB R10S User Manual page 111

Examples of programs
Examples of programs
A) Standard Removal – Positioning:
A handling device removes an article from a
machine and places it on the conveyor. The
handling device is mounted on the machine with
the positioning side at the rear of the machine.
The following program is divided into:
- Start routine
- Removal cycle
- Positioning cycle for good parts
- Positioning cycle for defective parts
REMOVAL POSITION
X 00010.00
Y 00900.00
Z 00075.00
REMOVAL LIFTX
X 00100.00
Y 00900.00
Z 00075.00
DELIVERYPOS.GUT
X 00400.00
Y 00800.00
Z 01400.00
DELIVERYPOS.DEFECTIVE
X 00400.00
Y 00800.00
Z 01000.00
A: R104GB10A.PMD
B: R104DE10A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger
Line
001 Start operation, wait for Signal ON
002 Ejector back, wait for Signal ON
003 Automatic mode, wait for Signal ON
004 Y 00010.0
005 X REMOVAL POSITION
006 z REMOVAL POSITION
007 C - - -
008 SET mould close
009 Conveyor ON time: 2.0 sec.
010 Label INIT
011 Start operation, wait for Signal ON
012 Ejector back, wait for Signal ON
013 Automatic mode, wait for Signal ON
014 Y REMOVAL POSITION
015 Ejector forward SET
016 Ejector forward, wait for Signal ON
017 X REMOVAL LIFT X
018 V1 VACUUM
019 X REMOVAL POSITION
020 Ejector back SET
021 Ejector back, wait for Signal ON
022 y 10.0
023 SET mould close
024 Eject if Signal ON
Defective part label
025 To P DELIVERYPOS.ACCEPT 00075.0
026 C +++
027 wait for Positioning signal ON
028 X DELIVERYPOS.ACCEPT
029 Y DELIVERYPOS.ACCEPT
030 V1 BLOUT 0.6
031 Y 10.0
032 Conv ON 2.0s
033 X 10.0
034 To P REMOVAL POS. 1400.0
035 C - - -
036 PStop
037 Goto INIT
038 Label Defective part
039 To P DELIVERYPOS.DEFECTIVE 75.0
040 C +++
041 X DELIVERYPOS.DEFECTIVE
042 Y DELIVERYPOS.DEFECTIVE
043 V1 BLOUT time: 0.6 sec.
044 Y REMOVAL POSITION
045 X REMOVAL POSITION
046 To P 75.0 1000.0
047 C - - -
048 PStop
049 Goto INIT
050 End of program
Start routine
Removal
cycle
Positioning
cycle
Good casting
on conveyor
Positioning
cycle
Reject
e.g. into a
crate
Section 10
Page 1