FLEXIBLE ASSEMBLY SYSTEM FAS200
User Manual for FAS200 - 88 -
INTEGRAL PARTS
The storage module, like the others, may be divided into a series of
manipulators. Each sub-division has been made by considering it as a set of
components which performs a specific operation within the whole process
carried out at the module.
• Vertical axis:
The system of holding the components of turning
mechanism consists of parallel rod cylinder equipped
with a plate including four suction cups which to hold
the assembly until it is positioned at its storage point.
Figure 92: Vertical
axis.
• Positioning axes:
The first operation consists of placing the vertical axis mentioned above over a
fixed pick-up point over the place where the pallet is stopped.
This operation is carried out by two shafts: one of them is a pneumatic actuator
and the other one is a positioning shaft driven by servomotor with absolute
encoder to provide instantaneous reading of motor rotation, achieving the
precise regulation of position and speed via their corresponding driver which set
up a closed loop position regulation system. This involves encoder feedback
and the position setpoint required at any particular moment supplied by the PLC
controlling the module.
Figure 93: Positioning axes.
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