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/O22 DI / 18 DO (PLC)
1 DI / 2 DO (Robot controller)
2x box transport belt2x Pneumatic stopper with one end-position sensor
3x Light barrier for box detection
Box shift unitPneumatic X-axis with two end-position sensors
2x Light barrier for box detection
RFID Read-Write-Head
3x Belt drive24 VDC motor
Bi-directional controller with slow and high speed
Robot armMitsubishi RV-4FL
6 axis
Maximum payload: 4 kg
Maximum range: 649 mm
Repetition accuracy: +/- 0,02 mm
Robot controllerMitsubishi CR750-D
Programming language: MELFA-BASIC V
Program memory: 512 programs
Position memory: 3,900 positions per program
GripperSuction gripper with Venturi nozzle Festo VN-05-H-T4-PQ2-VQ2-O1-P
RFIDTurk BLCEN-2M12MT-2RFID-A bus node with 1 read-write-heads
Other sensorsDetection 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
DescriptionReference 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
DescriptionReference 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
DescriptionReference tag Address
TRUE = Work piece attached, vacuum created+G2-K6-BG1IN900
Digital outputs
DescriptionReference tag Address
TRUE = Switch vacuum on+G2-K6-MB1OUT900
TRUE = Switch vacuum off+G2-K6-MB2OUT901

All information on this page is subject to change without notice