Mitsubishi MELSEC-F FX-TRN-BEG-E - Page 105

FX-TRN-BEG-E F: Advanced Challenge 6
B-77
6.7.3 Control Objective
Detect the part size, and sort each part to the specified place according to the size.
6.7.4 Control Specifications
1) When [PB1] (X20) on the operation panel is pressed,
Supply command
(Y0) for the robot
is turned ON.
Supply command
(Y0) is turned OFF when the robot has finished moving the part and
returned to the starting point.
When
Supply command
(Y0) is turned ON, the robot supplies a part.
2) When [SW1] (X24) on the operation panel is turned ON, the conveyors move forward.
When [SW1] (X24) is turned OFF, the conveyors stop.
3) Large, medium and small parts on the conveyors are sorted by the input of sensors
Upper
(X1),
Middle
(X2) and
Lower
(X3) and carried to the specified trays.
- Large part : Led to the rear conveyor when
Sorting wing
(Y3) of the branch conveyor
is set ON and then carried on the conveyor and dropped from the right end.
- Medium part: Led to the front conveyor when
Sorting wing
(Y3) of the branch conveyor
is set OFF and then moved onto the tray by the robot.
- Small part : Led to the rear conveyor when
Sorting wing
(Y3) of the branch conveyor
is set ON.
When the sensor for
Detect part
(X6) in the branch conveyor is turned
ON, the conveyor stops and the part is pushed onto the tray.
4) When
Part on table
(X11) is turned ON in the robot,
Unload command
(Y7) is set ON.
When
Robot operation finished
(X12) is turned ON (it is ON when a part is placed on the
tray),
Unload command
(Y7) is set OFF.
5) While [SW2] (X25) on the operation panel is ON, a new part is to be automatically supplied
at the following time.
- When the robot starts to carry a medium part.
- When a small part is put into the tray, or when a large part is dropped from the right end
of the conveyor.
6) The flashing lights are lit as follows.
- Red : Lit while the robot is supplying a part.
- Green : Lit while the conveyor is moving.
- Yellow : Lit while the conveyor is stopped.
Output
Y0 Supply command
One part is supplied when Y0 is ON. A process cycle begins:
Wooden part repeats in order S, M, L, S, L, M.
Y1 Conveyor forward Conveyor moves forward when Y1 is ON.
Y2 Conveyor forward Conveyor moves forward when Y2 is ON.
Y3 Sorting wing Moves toward front when Y3 is ON.
Y4 Conveyor forward Conveyor moves forward when Y4 is ON.
Y5 Conveyor forward Conveyor moves forward when Y5 is ON.
Y6 Pusher
Extends when Y6 is ON and retracts when Y6 is OFF. The
pusher cannot be stopped in the mid stroke.
Y7 Unload command
Robot moves part to tray when Y7 is ON. A process cycle begins.
Y10 Red Lit when Y10 is ON.
Y11 Green Lit when Y11 is ON.
Y12 Yellow Lit when Y12 is ON.
Type Device No. Device name Operation