Palletizing station with robot - With Mitsubishi RV4FL
  • General
  • Order numberD14017
    Type codeCP-F-PALROB-B-C11R14
    SeriesCP Systems
    Sub seriesCP Factory
    CategoriesStation
  • Description

  • This station is designed to pick work pieces from carriers and palletize them inside a transport box or vice versa. It is joined to the carrier transport flow using an additional CP-F-BYPASS module. Transport boxes can either be fed and removed by Robotino or by hand.

  • 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
    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
  • Integrated PLC
    DescriptionReferenceDatatypeAddress
    Inputs
    TRUE = Transport box shifter at input belt+G2-BG1Bool%I0.0
    TRUE = Transport box shifter at output belt+G2-BG2Bool%I0.1
    TRUE = Transport box partially entered box shifter+G2-BG3Bool%I0.2
    TRUE = Transport box fully inside box shifter+G2-BG4Bool%I0.3
    TRUE = Pallet present on carrier at work position+G2-BG5Bool%I0.4
    TRUE = Part present on carrier at work position+G2-BG6Bool%I0.5
    FALSE = Emergency stop not acknowledged+T1-FZ1Bool%I1.5
    TRUE = Safety doors closed+K4-F2-KF1Bool%I1.6
    TRUE = Transport box detected at input belt entry+G1-BG1Bool%I2.0
    TRUE = Transport box detected at stopper at middle of input belt+G1-BG2Bool%I2.1
    TRUE = Transport box detected at stopper at exit of input belt+G1-BG3Bool%I2.2
    Only with Robotino Docking-Kit: TRUE = Coupling signal from Robotino received at input belt+G1-BG4Bool%I2.3
    TRUE = Stopper cylinder (middle of input belt) in upper end position+G1-BG5Bool%I2.4
    TRUE = Stopper cylinder (exit of input belt) in upper end position+G1-BG6Bool%I2.5
    TRUE = Transport box detected between stoppers of input belt+G1-BG7Bool%I2.6
    TRUE = Transport box detected at output belt entry+G1-BG11Bool%I3.0
    TRUE = Transport box detected at stopper at middle of output belt+G1-BG12Bool%I3.1
    TRUE = Transport box detected at stopper at exit of output belt+G1-BG13Bool%I3.2
    Only with Robotino Docking-Kit: TRUE = Coupling signal from Robotino received at output belt+G1-BG14Bool%I3.3
    TRUE = Stopper cylinder (middle of output belt) in upper end position+G1-BG15Bool%I3.4
    TRUE = Stopper cylinder (exit of output belt) in upper end position+G1-BG16Bool%I3.5
    TRUE = Transport box detected between stoppers of output belt+G1-BG17Bool%I3.6
    Outputs
    TRUE = Move transport box shifter to input belt+G2-MB1Bool%Q0.0
    TRUE = Move transport box shifter to output belt+G2-MB2Bool%Q0.1
    TRUE = Pull transport box onto shifter+G2-QA1:A1Bool%Q0.4
    TRUE = Push transport box out of shifter+G2-QA1:A2Bool%Q0.5
    TRUE = Drive input belt in forward direction+T1-QA1:A1Bool%Q1.4
    TRUE = Drive input belt in reverse direction+T1-QA1:A2Bool%Q1.5
    TRUE = Drive output belt in forward direction+T1-QA2:A1Bool%Q1.6
    TRUE = Drive output belt in reverse direction+T1-QA2:A2Bool%Q1.7
    TRUE = Move stopper cylinder (middle of input belt) up+G1-MB2Bool%Q2.0
    TRUE = Move stopper cylinder (middle of input belt) down+G1-MB1Bool%Q2.1
    TRUE = Move stopper cylinder (exit of input belt) up+G1-MB4Bool%Q2.2
    TRUE = Move stopper cylinder (exit of input belt) down+G1-MB3Bool%Q2.3
    Only with Robotino Docking-Kit: TRUE = Switch on coupling signal to Robotino at input belt+G1-PF1Bool%Q2.4
    TRUE = Move stopper cylinder (middle of output belt) up+G1-MB12Bool%Q3.0
    TRUE = Move stopper cylinder (middle of output belt) down+G1-MB11Bool%Q3.1
    TRUE = Move stopper cylinder (exit of output belt) up+G1-MB14Bool%Q3.2
    TRUE = Move stopper cylinder (exit of output belt) down+G1-MB13Bool%Q3.3
    Only with Robotino Docking-Kit: TRUE = Switch on coupling signal to Robotino at output belt+G1-PF11Bool%Q3.4
    Integrated robot controller
    DescriptionReferenceDatatypeAddress
    Inputs
    TRUE = Work piece attached, vacuum created+G2-K6-BG1BoolIN900
    Outputs
    TRUE = Switch vacuum on+G2-K6-MB1BoolOUT900
    TRUE = Switch vacuum off+G2-K6-MB2BoolOUT901
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