Preface
MicroLogix 1000 Programmable Controllers User Manual
E–26
Rung 2:4
Loads the high-speed counter with the following parameters:
N7:0 – 0001h – Output Mask – high-speed counter control only O:0/0
(gripper)
N7:1 – 0000h – Output Pattern for High Preset – turn OFF gripper
(release part)
N7:2 – 100d – High Preset – loaded from table in the rung above
N7:3 – 0001h – Output Pattern for Low Preset – turn ON gripper
(grab part)
N7:4 – 0d – Low Preset – home position when encoder triggers Z-reset
| Home |
| Position |
| Reached |
| C5:0 +HSL–––––––––––––––+ |
|–+––––] [–––––+–––––––––––––––––––––––––––––––––+HSC LOAD +–|
| | LP | |Counter C5:0| |
| | | |Source N7:0| |
| | | |Length 5| |
| | | +––––––––––––––––––+ |
| | First Pass | |
| | Bit | |
| | S:1 | |
| +––––] [–––––+ |
| 15 |
Rung 2:5
Start up the high-speed counter with the above parameters. Each time
this rung is evaluated the hardware accumulator is written to C5:0.ACC.
| +HSC––––––––––––––––––––+ |
|––––––––––––––––––––––––––––––––––––––+HIGH SPEED COUNTER +–(CU)–|
| |Type Encoder (Res,Hld)+–(CD) |
| |Counter C5:0+–(DN) |
| |Preset 100| |
| |Accum –2| |
| +–––––––––––––––––––––––+ |
Rung 2:6
When the pick and place head reaches either its home position to pick
up a part or its destination bin to drop off a part, start up a dwell
timer. The purpose of this is to keep the head stationary long enough
for the gripper to either grab or release the part.
| Bin |
| Location Dwell Timr |
| Reached |
| C5:0 +TON–––––––––––––––+ |
|–+––––] [–––––+––––––––––––––––––––––––––––+TIMER ON DELAY +–(EN)–|
| | HP | |Timer T4:0+–(DN) |
| | | |Time Base 0.01| |
| | | |Preset 100| |
| | | |Accum 100| |
| | | +––––––––––––––––––+ |
| | Home | |
| | Position | |
| | Reached | |
| | C5:0 | |
| +––––] [–––––+ |
| LP |
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