General data
Parameter | Value |
---|---|
Electrical connection | CEE (16 A) for connecting to room infrastructure Preconfigured modular plug for connecting to another CP Factory station |
Pneumatic connection | Hose coupling for connecting to room infrastructure Preconfigured modular plug for connecting to another CP Factory station |
Operating voltage | 230 / 400 VAC |
Operating pressure | 6 bar |
Controller | Siemens CPU 1512SP |
HMI | Siemens Simatic TP700 Comfort |
I/O | 22 DI / 18 DO (PLC) 1 DI / 2 DO (Robot controller) |
2x box transport belt | 2x Pneumatic stopper with one end-position sensor 3x Light barrier for box detection |
Box shift unit | Pneumatic X-axis with two end-position sensors 2x Light barrier for box detection RFID Read-Write-Head |
3x Belt drive | 24 VDC motor Bi-directional controller with slow and high speed |
Robot arm | Mitsubishi RV-4FL 6 axis Maximum payload: 4 kg Maximum range: 649 mm Repetition accuracy: +/- 0,02 mm |
Robot controller | Mitsubishi CR750-D Programming language: MELFA-BASIC V Program memory: 512 programs Position memory: 3,900 positions per program |
Gripper | Suction gripper with Venturi nozzle Festo VN-05-H-T4-PQ2-VQ2-O1-P |
RFID | Turk BLCEN-2M12MT-2RFID-A bus node with 1 read-write-heads |
Other sensors | Detection of pallet on carrier at work position of attached CP-F-BYPASS with light barrier Detection of work piece on carrier at work position of attached CP-F-BYPASS with light barrier |
Dimenions (H x W x D) | 1800 mm x 800 mm x 2000 mm |
PLC inputs & outputs
Digital inputs
Description | Reference tag | PLC address |
---|---|---|
TRUE = Transport box shifter at input belt | +G2-BG1 | %I0.0 |
TRUE = Transport box shifter at output belt | +G2-BG2 | %I0.1 |
TRUE = Transport box partially entered box shifter | +G2-BG3 | %I0.2 |
TRUE = Transport box fully inside box shifter | +G2-BG4 | %I0.3 |
TRUE = Pallet present on carrier at work position | +G2-BG5 | %I0.4 |
TRUE = Part present on carrier at work position | +G2-BG6 | %I0.5 |
FALSE = Emergency stop not acknowledged | +T1-FZ1 | %I1.5 |
TRUE = Safety doors closed | +K4-F2-KF1 | %I1.6 |
TRUE = Transport box detected at input belt entry | +G1-BG1 | %I2.0 |
TRUE = Transport box detected at stopper at middle of input belt | +G1-BG2 | %I2.1 |
TRUE = Transport box detected at stopper at exit of input belt | +G1-BG3 | %I2.2 |
Only with Robotino Docking-Kit: TRUE = Coupling signal from Robotino received at input belt | +G1-BG4 | %I2.3 |
TRUE = Stopper cylinder (middle of input belt) in upper end position | +G1-BG5 | %I2.4 |
TRUE = Stopper cylinder (exit of input belt) in upper end position | +G1-BG6 | %I2.5 |
TRUE = Transport box detected between stoppers of input belt | +G1-BG7 | %I2.6 |
TRUE = Transport box detected at output belt entry | +G1-BG11 | %I3.0 |
TRUE = Transport box detected at stopper at middle of output belt | +G1-BG12 | %I3.1 |
TRUE = Transport box detected at stopper at exit of output belt | +G1-BG13 | %I3.2 |
Only with Robotino Docking-Kit: TRUE = Coupling signal from Robotino received at output belt | +G1-BG14 | %I3.3 |
TRUE = Stopper cylinder (middle of output belt) in upper end position | +G1-BG15 | %I3.4 |
TRUE = Stopper cylinder (exit of output belt) in upper end position | +G1-BG16 | %I3.5 |
TRUE = Transport box detected between stoppers of output belt | +G1-BG17 | %I3.6 |
Digital outputs
Description | Reference tag | PLC address |
---|---|---|
TRUE = Move transport box shifter to input belt | +G2-MB1 | %Q0.0 |
TRUE = Move transport box shifter to output belt | +G2-MB2 | %Q0.1 |
TRUE = Pull transport box onto shifter | +G2-QA1:A1 | %Q0.4 |
TRUE = Push transport box out of shifter | +G2-QA1:A2 | %Q0.5 |
TRUE = Drive input belt in forward direction | +T1-QA1:A1 | %Q1.4 |
TRUE = Drive input belt in reverse direction | +T1-QA1:A2 | %Q1.5 |
TRUE = Drive output belt in forward direction | +T1-QA2:A1 | %Q1.6 |
TRUE = Drive output belt in reverse direction | +T1-QA2:A2 | %Q1.7 |
TRUE = Move stopper cylinder (middle of input belt) up | +G1-MB2 | %Q2.0 |
TRUE = Move stopper cylinder (middle of input belt) down | +G1-MB1 | %Q2.1 |
TRUE = Move stopper cylinder (exit of input belt) up | +G1-MB4 | %Q2.2 |
TRUE = Move stopper cylinder (exit of input belt) down | +G1-MB3 | %Q2.3 |
Only with Robotino Docking-Kit: TRUE = Switch on coupling signal to Robotino at input belt | +G1-PF1 | %Q2.4 |
TRUE = Move stopper cylinder (middle of output belt) up | +G1-MB12 | %Q3.0 |
TRUE = Move stopper cylinder (middle of output belt) down | +G1-MB11 | %Q3.1 |
TRUE = Move stopper cylinder (exit of output belt) up | +G1-MB14 | %Q3.2 |
TRUE = Move stopper cylinder (exit of output belt) down | +G1-MB13 | %Q3.3 |
Only with Robotino Docking-Kit: TRUE = Switch on coupling signal to Robotino at output belt | +G1-PF11 | %Q3.4 |
Robot controller inputs & outputs
Digital inputs
Description | Reference tag | Address |
---|---|---|
TRUE = Work piece attached, vacuum created | +G2-K6-BG1 | IN900 |
Digital outputs
Description | Reference tag | Address |
---|---|---|
TRUE = Switch vacuum on | +G2-K6-MB1 | OUT900 |
TRUE = Switch vacuum off | +G2-K6-MB2 | OUT901 |
All information on this page is subject to change without notice