Picking Up 3 Kinds Of Workpieces Flowing On The Front Conveyor And Placing Them On The Next Conveyors While Sorting - Yamaha SRCP30 User Manual

8-5-5 Picking up 3 kinds of workpieces flowing on the front
conveyor and placing them on the next conveyors while
sorting
Upper end limit
switch (DI0)
Lower end limit
switch (DI1)
q
Workpiece detection
sensor (DI2 to DI4)
Operation
q Moves to the workpiece feed
position and picks up a workpiece.
w Moves to the workpiece mount
position and places the workpiece.
General-purpose input
DI0 Upper end limit switch
DI1 Lower end limit switch
DI2 Workpiece A detection sensor 1: Detected 0: No
DI3 Workpiece B detection sensor 1: Detected 0: No
DI4 Workpiece C detection sensor 1: Detected 0: No
General-purpose output
DO0 Air cylinder 1: Down
DO1 Air chuck 1: Close
Front conveyor
Workpiece
Next conveyors
1st 2nd
Next single-axis robot
Air cylinder
(DO0)
Air chuck
(DO1)
P0 P1 P2
Actuator
Horizontal direction
Vertical direction
Hold
Point
1: ON 0: OFF P0 Workpiece feed position on the front conveyor
1: ON 0: OFF P1 Workpiece A mount position on next conveyor
P2 Workpiece B mount position on next conveyor
P3 Workpiece C mount position on next conveyor
0: Up
0: Open
8-5 Sample Programs
[TOP VIEW]
3rd
[SIDE VIEW]
AC servo
w
P3
AC servo motor
Air cylinder
Air chuck
8
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