General data

ParameterValue
Electrical connectionCEE (16 A) for connecting to room infrastructure
Preconfigured modular plug for connecting to another CP Factory station
Pneumatic connectionHose coupling for connecting to room infrastructure
Preconfigured modular plug for connecting to another CP Factory station
Operating voltage230 / 400 VAC
Operating pressure6 bar
ControllerSiemens CPU 1512SP
HMISiemens Simatic TP700 Comfort
I/O26 DI / 14 DO onboard
2x Stopper unitPneumatic stopper cylinder with one end-position sensor
4x Carrier detection & identification: inductive
RFID Read-Write-Head
2x Belt drive24 VDC motor
Bi-directional controller with slow and high speed
Storage robot X-axisServo motor Festo EMMS-AS-55-M-LS-TS
Servo controller Festo CMMP-AS-C2-3A-M3 via PROFINET
Storage robot Z-axisServo motor Festo EMMS-AS-55-M-LS-TSB
Servo controller Festo CMMP-AS-C2-3A-M3 via PROFINET
Storage robot Y-axisPneumatic
2x end-position sensor
Storage robot revolving axisPneumatic
2x end-position sensor
Storage robot gripperParallel gripper
Pneumatic
2x end-position sensor
Optoelectrical sensor for detecting pallets on shelf
Number of shelf positions32
RFIDTurk BLCEN-2M12MT-2RFID-A bus node with 2 read-write-heads
Other sensors4x carrier detection: optoelectrical
Dimenions (H x W x D)1800 mm x 1200 mm x 800 mm

PLC inputs & outputs

Digital inputs
DescriptionReference tag PLC address
FALSE = Emergency stop button pushed (n.c.)+K1-F2-KF1%I0.0
TRUE = Safety doors closed+U1-F2-KF3%I0.1
TRUE = Emergency stop button pushed+S-F2-FQ1%I0.3
TRUE = Carrier detected at belt 2 entry+G1-BG36%I0.6
TRUE = Carrier detected at belt 2 exit+G1-BG37%I0.7
TRUE = Stopper 1 in lower end position+G1-BG20%I1.0
TRUE = Carrier detected at stopper 1 / Stopper 1 carrier ident code bit 0 detected+G1-BG21%I1.1
TRUE = Stopper 1 carrier ident code bit 1 detected+G1-BG22%I1.2
TRUE = Stopper 1 carrier ident code bit 2 detected+G1-BG23%I1.3
TRUE = Stopper 1 carrier ident code bit 3 detected+G1-BG24%I1.4
TRUE = Carrier detected at belt 1 entry+G1-BG26%I1.6
TRUE = Carrier detected at belt 1 entry+G1-BG27%I1.7
TRUE = Stopper 2 in lower end position+G1-BG30%I2.0
TRUE = Carrier detected at stopper 2 / Stopper 2 carrier ident code bit 0 detected+G1-BG31%I2.1
TRUE = Stopper 2 carrier ident code bit 1 detected+G1-BG32%I2.2
TRUE = Stopper 2 carrier ident code bit 2 detected+G1-BG33%I2.3
TRUE = Stopper 2 carrier ident code bit 3 detected+G1-BG34%I2.4
TRUE = Y-axis retracted+U1-BG46%I2.6
TRUE = Y-axis extended towards shelf+U1-BG47%I2.7
TRUE = Revolving cylinder in end position 0°+U1-BG50%I3.0
TRUE = Revolving cylinder in end position 180°+U1-BG51%I3.1
TRUE = Gripper closed & pallet gripped+U1-BG52%I3.2
TRUE = Pallet detected at shelf space+U1-BG53%I3.3
TRUE = Pallet present on carrier at stopper 1+U1-BG54%I3.4
TRUE = Part present on carrier at stopper 1 (not being evaluated)+U1-BG55%I3.5
TRUE = Pallet present on carrier at stopper 2+U1-BG56%I3.6
TRUE = Part present on carrier at stopper 2 (not being evaluated)+U1-BG57%I3.7
Digital outputs
DescriptionReference tag PLC address
TRUE = Drive belt 1 in forward direction+K1-QA1:A1%Q0.0
TRUE = Drive belt 1 in reverse direction+K1-QA1:A2%Q0.1
Select belt 1 speed (FALSE = normal, TRUE = slow)+K1-QA1:A3%Q0.2
TRUE = Drive belt 2 in forward direction+K1-QA2:A1%Q0.4
TRUE = Drive belt 2 in reverse direction+K1-QA2:A2%Q0.5
Select belt 2 speed (FALSE = normal, TRUE = slow)+K1-QA2:A3%Q0.6
TRUE = Move stopper 1 down+G1-MB20%Q1.0
TRUE = Move stopper 2 down+G1-MB30%Q2.0
TRUE = Retract y-axis+U1-MB50%Q3.0
TRUE = Extend y-axis towards shelf+U1-MB51%Q3.1
TRUE = Move revolving cylinder to 0°+U1-MB52%Q3.2
TRUE = Move revolving cylinder to 180°+U1-MB53%Q3.3
TRUE = Close gripper (grip pallet)+U1-MB54%Q3.4
TRUE = Open gripper (release pallet)+U1-MB55%Q3.5

All information on this page is subject to change without notice