Battenfeld UNIROB R10S User Manual page 112

B) Palletising program:
A handling device is to load parts into a crate
with specified dimensions.
The model program comprises:
- Program
Start routine
Removal cycle
Positioning cycle with palletising
program
Positioning cycle for defective parts
- Subprogram
Subprogram (CallSub RESET)
Line
001 Sub RESET
002 Conveyor ON 2.0s
003 PAL reset
004 Return
Section 10
Page 2
Program
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 00010.0
006 Z 00075.0
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 900.0
015 Ejector forward SET
016 Ejector forward, wait for Signal ON
017 X 00100.0
018 V1 vacuum
019 X 00010.0
020 Ejector back SET
021 Ejector back, wait for Signal ON
022 Y 00010.0
023 SET mould close
024 Eject if Signal ON
Label Defective part
025 C +++
026 wait for Positioning signal ON
027 PalProg DELIVERY START
028 V1 BLOUT time: 0.6 sec.
029 Y 00010.0
030 X 00010.0
031 To P 00075.0 01400.0
032 C - - -
033 PStop
034 Pal DELIVERY = Pallet full
Label NEW PALLET
035 Goto INIT
036 Label NEW PALLET
037 Callsub RESET
038 Goto INIT
039 Label Defective part
040 z P 1000.0 75.0
041 C +++
042 x 400.0
043 y 800.0
044 V1 BLOUT 0.6
045 y 10.0
046 x 10.0
047 To P 75.0 1000.0
048 C - - -
049 PStop
050 Goto INIT
051 End of program
Examples of programs
Start routine
Removal
cycle
Positioning
cycle
Good casting
on conveyor
Positioning
cycle
Reject
e.g. into a
crate
A: R104GB10A.PMD
B: R104DE10A.PMD
E: 310304 / TCS
G: 140404 / T. Wenger