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/O33 DI / 17 DO (PLC)
15 DI / 5 DO (Robot controller)
Box transport beltPneumatic indexer for box
2x Light barrier for box detection
RFID read-write-head
Box orientation check with inductive sensor
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
Gripper changer flangePneumatic gripper coupling
Fixed part: Zimmer-Group WWR40F-B
Loose part: Zimmer-Group WWR40L-B
Electrical signal transmission through WER02FF04 resp. WER02LF04
2x Connector for pressurized air for gripper
Detection of loose part at fixed part with inductive sensor NJR04-E2SK
Gripper changer storage3x Gripper storage position with Zimmer-Group ALSR1-40-B
Gripper detection at storage position with inductive sensors
Gripper1. For PCBs: Suction gripper with Venturi nozzle Festo VN-05-H-T2-PQ1-VQ1-RO1
2. For cover parts: Parallel gripper Festo DHPS-16-A
3. For fuses: Parallel gripper Festo DHPS-10-A
Vision SystemFesto SBOC-Q-R2C
Sensor: colour sensor
Resolution: 752 x 480 pixel
Interfaces: Ethernet; CANopen
2 digital inputs / 3 digital outputs
Integrated controller: CoDeSys; IEC 61131-3
Frame rate: 150 frames/sec.
Protection class: IP65
RFID2x Turk BLCEN-2M12MT-2RFID-A bus node with 3 read-write-heads
Other sensors3x Light barrier for checking work piece orientation in the assembly bay
Dimenions (H x W x D)1800 mm x 1200 mm x 1600 mm

PLC inputs & outputs

Digital inputs
DescriptionReference tag PLC address
FALSE = Emergency stop not acknowledged+K1-F2-KF1%I0.0
TRUE = Safety doors closed+H1-F2-KF2%I0.1
TRUE = Emergency stop button pushed+S1-F2-FQ1%I0.3
TRUE = Stopper cylinder (branch) in lower end position+G1-BG20%I1.0
TRUE = Carrier detected at stopper (branch) / Stopper (branch) carrier ident code bit 0 detected+G1-BG21%I1.1
TRUE = Stopper (branch) carrier ident code bit 1 detected+G1-BG22%I1.2
TRUE = Stopper (branch) carrier ident code bit 2 detected+G1-BG23%I1.3
TRUE = Stopper (branch) carrier ident code bit 3 detected+G1-BG24%I1.4
TRUE = Carrier detected at conveyor entry (empty belt)+G1-BG26%I1.6
TRUE = Carrier detected at conveyor exit (empty belt)+G1-BG27%I1.7
TRUE = Stopper cylinder (work belt) in lower end position+G1-BG30%I2.0
TRUE = Carrier detected at stopper (work belt) / Stopper (work belt) carrier ident code bit 0 detected+G1-BG31%I2.1
TRUE = Stopper (work belt) carrier ident code bit 1 detected+G1-BG32%I2.2
TRUE = Stopper (work belt) carrier ident code bit 2 detected+G1-BG33%I2.3
TRUE = Stopper (work belt) carrier ident code bit 3 detected+G1-BG34%I2.4
TRUE = Congestion on work belt detected+G1-BG35%I2.5
TRUE = Deflector arm closed (carrier continues straight on bypass belt)+G1-BG40%I2.6
TRUE = Deflector arm opened (carrier gets diverted to work belt) +G1-BG41%I2.7
TRUE = Stopper cylinder (junction) in lower end position+G1-BG42%I3.0
TRUE = Carrier detected at stopper (junction)+G1-BG43%I3.1
TRUE = Congestion on bypass belt detected+G1-BG44%I3.2
FALSE = Junction occupied by carrier+G1-BG45%I3.3
FALSE = Pallet present on carrier at work position+G1-BG50%I3.4
FALSE = Part present on carrier at work position+G1-BG51%I3.5
TRUE = Carrier detected at conveyor entry (bypass belt)+G1-BG52%I3.6
TRUE = Carrier detected at conveyor exit (bypass belt)+G1-BG53%I3.7
FALSE = Transport box present in work position+H1-BG1%I4.0
FALSE = Transport box present in loading position+H1-BG2%I4.1
TRUE = Transport box in work position has correct orientation+H1-BG3%I4.2
TRUE = Indexing bolt 1 extended+H1-BG5%I4.4
TRUE = Indexing bolt 2 extended+H1-BG6%I4.5
TRUE = Confirmation button for box exchange pressed+H1-BG7%I4.6
Only with Robotino Docking-Kit: TRUE = Coupling signal from Robotino received+H1-KG8%I4.7
Digital outputs
DescriptionReference tag PLC address
TRUE = Drive empty belt in forward direction+K1-QA1:A1%Q0.0
TRUE = Drive empty belt in reverse direction+K1-QA1:A2%Q0.1
Select empty belt speed (FALSE = normal, TRUE = slow)+K1-QA1:A3%Q0.2
TRUE = Drive bypass belt in forward direction+K1-QA2:A1%Q0.3
TRUE = Drive bypass belt in reverse direction+K1-QA2:A2%Q0.4
Select bypass belt speed (FALSE = normal, TRUE = slow)+K1-QA2:A3%Q0.5
TRUE = Drive work belt in forward direction+K1-QA3:A1%Q0.6
TRUE = Drive work belt in reverse direction+K1-QA3:A2%Q0.7
TRUE = Move stopper cylinder (branch) down+G1-MB20%Q1.0
Select work belt speed (FALSE = normal, TRUE = slow)+K1-QA3:A3%Q1.7
TRUE = Move stopper cylinder (work position) down+G1-MB30%Q2.0
TRUE = Close deflector arm (let carrier continue straight on bypass belt)+G1-MB40%Q2.6
TRUE = Open deflector arm (divert carrier to work belt)+G1-MB41%Q2.7
TRUE = Move stopper cylinder (junction) down+G1-MB42%Q3.0
TRUE = Drive transport box belt in forward direction+H1-QA4:A1%Q4.0
TRUE = Drive transport box belt in reverse direction+H1-QA4:A2%Q4.1
Select transport box belt speed (FALSE = normal, TRUE = slow)+H1-QA4:A3%Q4.2

Robot controller inputs & outputs

Digital inputs
DescriptionReference tag Address
TRUE = Part gripped+H1-BG9IN16
TRUE = Part present in assembly position+H1-BG10IN17
FALSE = Part in assembly position is upside down+H1-BG11IN18
FALSE = Part in assembly position is backwards+H1-BG12IN19
TRUE = 2 or more fuses available in tube 1+H1-BG14IN21
TRUE = 2 or more fuses available in tube 2+H1-BG15IN22
TRUE = 2 or more fuses available in tube 3+H1-BG16IN23
TRUE = PCB gripper present in gripper storage+H1-BG18IN25
TRUE = Work piece gripper present in gripper storage+H1-BG19IN26
TRUE = Fuse gripper present in gripper storage+H1-BG20IN27
TRUE = Camera ready+H1-BY1:OUT0IN28
TRUE = Camera inspection passed+H1-BY1:OUT1IN29
TRUE = Camera inspection failed+H1-BY1:OUT2IN30
TRUE = Gripper opened (case gripper & fuse gripper)
TRUE = PCB attached, vacuum created (PCB suction gripper)
+H1-K6-BG1
+H1-K6-BG3
+H1-K6-BG5
IN900
TRUE = Gripper attached to robot+H1-K6-BG6IN902
Digital outputs
DescriptionReference tag Address
TRUE = Fasten vise+H1-MB9OUT16
TRUE = Trigger camera+H1-BY1:IN0OUT24
TRUE = Close gripper (case gripper & fuse gripper)
TRUE = Switch off vacuum (PCB suction gripper)
+H1-K6-MB1OUT900
TRUE = Open gripper (case gripper & fuse gripper)
TRUE = Switch on vacuum (PCB suction gripper)
+H1-K6-MB2OUT901
TRUE = Werkzeugwechsler entriegeln+H1-K6-MB3OUT902

All information on this page is subject to change without notice