High bay storage for pallets (Rel. B)
  • General
  • Order numberD12002
    Type codeCPF-B-ASRS32-P
    SeriesCP Systems
    Sub seriesCP Factory
    CategoriesStation, Logistics
  • Description

  • The Automatic Storage and Retrieval System (ASRS) is equipped with a cartesian robot for automatic storage and retrieval of pallets. Up to 32 pallets can be stored and retrieved. Two parallel conveyors move in opposite directions, each has one working position where pallets can be retrieved from or put on carriers.

  • AttributeValue
    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
    Network switchSiemens Scalance XB008
    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 TBEN-S2-2RFID-4DXP 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
  • Integrated PLC
    DescriptionReferenceDatatypeAddress
    Inputs
    FALSE = Emergency stop button pushed (n.c.)+K1-F2-KF1Bool%I0.0
    TRUE = Safety doors closed+U1-F2-KF3Bool%I0.1
    TRUE = Emergency stop button pushed+S-F2-FQ1Bool%I0.3
    TRUE = Carrier detected at belt 2 entry+G1-BG36Bool%I0.6
    TRUE = Carrier detected at belt 2 exit+G1-BG37Bool%I0.7
    TRUE = Stopper 1 in lower end position+G1-BG20Bool%I1.0
    TRUE = Carrier detected at stopper 1 / Stopper 1 carrier ident code bit 0 detected+G1-BG21Bool%I1.1
    TRUE = Stopper 1 carrier ident code bit 1 detected+G1-BG22Bool%I1.2
    TRUE = Stopper 1 carrier ident code bit 2 detected+G1-BG23Bool%I1.3
    TRUE = Stopper 1 carrier ident code bit 3 detected+G1-BG24Bool%I1.4
    TRUE = Carrier detected at belt 1 entry+G1-BG26Bool%I1.6
    TRUE = Carrier detected at belt 1 entry+G1-BG27Bool%I1.7
    TRUE = Stopper 2 in lower end position+G1-BG30Bool%I2.0
    TRUE = Carrier detected at stopper 2 / Stopper 2 carrier ident code bit 0 detected+G1-BG31Bool%I2.1
    TRUE = Stopper 2 carrier ident code bit 1 detected+G1-BG32Bool%I2.2
    TRUE = Stopper 2 carrier ident code bit 2 detected+G1-BG33Bool%I2.3
    TRUE = Stopper 2 carrier ident code bit 3 detected+G1-BG34Bool%I2.4
    TRUE = Y-axis retracted+U1-BG46Bool%I2.6
    TRUE = Y-axis extended towards shelf+U1-BG47Bool%I2.7
    TRUE = Revolving cylinder in end position 0°+U1-BG50Bool%I3.0
    TRUE = Revolving cylinder in end position 180°+U1-BG51Bool%I3.1
    TRUE = Gripper closed & pallet gripped+U1-BG52Bool%I3.2
    TRUE = Pallet detected at shelf space+U1-BG53Bool%I3.3
    TRUE = Pallet present on carrier at stopper 1+U1-BG54Bool%I3.4
    TRUE = Part present on carrier at stopper 1 (not being evaluated)+U1-BG55Bool%I3.5
    TRUE = Pallet present on carrier at stopper 2+U1-BG56Bool%I3.6
    TRUE = Part present on carrier at stopper 2 (not being evaluated)+U1-BG57Bool%I3.7
    Outputs
    TRUE = Drive belt 1 in forward direction+K1-QA1:A1Bool%Q0.0
    TRUE = Drive belt 1 in reverse direction+K1-QA1:A2Bool%Q0.1
    Select belt 1 speed (FALSE = normal, TRUE = slow)+K1-QA1:A3Bool%Q0.2
    TRUE = Drive belt 2 in forward direction+K1-QA2:A1Bool%Q0.4
    TRUE = Drive belt 2 in reverse direction+K1-QA2:A2Bool%Q0.5
    Select belt 2 speed (FALSE = normal, TRUE = slow)+K1-QA2:A3Bool%Q0.6
    TRUE = Move stopper 1 down+G1-MB20Bool%Q1.0
    TRUE = Move stopper 2 down+G1-MB30Bool%Q2.0
    TRUE = Retract y-axis+U1-MB50Bool%Q3.0
    TRUE = Extend y-axis towards shelf+U1-MB51Bool%Q3.1
    TRUE = Move revolving cylinder to 0°+U1-MB52Bool%Q3.2
    TRUE = Move revolving cylinder to 180°+U1-MB53Bool%Q3.3
    TRUE = Close gripper (grip pallet)+U1-MB54Bool%Q3.4
    TRUE = Open gripper (release pallet)+U1-MB55Bool%Q3.5
    • QR marker
    • QR marker