FX-TRN-BEG-E
D-25
C-6: Unloading Robot
The robot operation to unload parts is described in this section.
C-6-1: Robot
The robot moves a part to the tray.
• Appearance (side view) • Operation
Moving command
- An output (Y) is assigned to the moving
command.
When the output is set ON, the moving
robot turns clockwise and carries a part.
- When the moving command is set ON, the
robot performs one complete cycle of
operation without regard to presence/
absence of part.
Robot operation finished
- When a part is put into the tray, the part in
tray signal (X) turns ON. Write the program
to turn OFF the moving command using
this input signal.
Starting point signal
- While a part is located at the starting point
as shown in the figure, the starting point
signal input (X) is ON.
It is recommended to use this starting
point signal for interlock of the part moving
command.
Part detection sensor
- This sensor detects presence/absence of
a part.
- An input (X) is assigned to the sensor.
The sensor turns ON when it detects a
part (NO contact).
Moving robot
Tray
Part
detection
sensor
Part
Conveyor
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