FX-TRN-BEG-E E: Intermediate Challenge 5
B-55
5.3.3 Control Objective
Give the command to a robot to move a part to a new location.
5.3.4 Control Specifications
1) The operator supplies parts.
The operator confirms the indicator lamp [Supply allowed] is lit and supplies a part to the
conveyor.
If the indicator lamp is always lit, the operator continuously supplies parts.
2) While the PLC is in RUN status, the conveyor always moves forward.
3) When [PB1] (X20) on the operation panel is pressed,
Supply command
(Y0) is turned ON
and the [Supply allowed] indicator lamp is lit. The operator supplies a part.
When [PB1] (X20) is released, the indicator lamp is extinguished.
However, if a part is still located on the table,
Supply command
(Y0) is not turned ON so
that the indicator lamp [Supply allowed] is not lit.
4) When
Part on table
(X1) is turned ON in the robot,
Unload command
(Y2) is set ON.
When
Robot operation finished
(X2) is turned ON (it is ON when a part is placed on the
tray),
Unload command
(Y2) is set OFF.
Unload command
(Y2) should be set ON only when the robot is at the starting point.
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