Robot Manual ROBOTIC PALLETIZING SINGLE TOOL SINGLE ZONE CHOICE BAGGING EQUIPMENT, LTD

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Kathlyn Palmer
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1 Robot Manual ROBOTIC PLLETIZING SINGLE TOOL SINGLE ZONE

2 (robot) sequence description, basic systems description and operating procedures: The sequence description is as follows: 1. The system is initiated via the HMI instructions a. Pallet placement is verified b. Bag number for each pallet is verified c. MIN program on the robot is selected d. The required job is selected e. The System Start is selected f. Cycle Start is pressed on the robot controller 1. This will be initiate from the robot controls for the first pallet 2. The robot analyzes the PLC data for: a. Bags in place b. Pallet in place 3. The bags are delivered to the system via the supplied pick conveyor 4. The rollers will continue to run until the end photo eye is blocked a. t this point conveyor stops b. t this point the robot is signaled bags in place c. The robot will retrieve the first bag i. Using the Robot Output signal 1. The clamshell grippers close 2. The hold down air springs inflate 5. The robot processes the program based on the MIN, MINJ1, MINJ2, MINJ3, MINJ4 and using BG COUNT, Register 1 a. There are 8 position registers (PR) for each pallet for the 4 per layer pattern i. Bags 1 thru 8 are represented b. The bag count determines what offset, if any is required to place the bags i. For example (bag 1 is also bag 5, 9, 13, 17, 21, 25 but with a mathematical offsets) for the 7 layer jobs c. DURING THE PROCESS, THE RED STCK LIGHT WILL BE SOLID RED. i. THIS INDICTES THT THE CELL IS NOT CCESSBLE VI THE OPERTOR ii. ONCE THEY REMOVE THE COMPLETED PLLET, THE OPERTOR WILL RESET FULT, CHECK BG COUNT, ND PRESS CYCLE STRT 6. IF T NY POINT THERE IS N INTERUPT IN THE ROBOT MOTION, THERE WILL BE FULT SHOWN ON THE TOP OF THE TECH PENNT ND THE ROBOT MOTION WILL BE CESED. a. THE OPERTOR MUST DDRESS THE FULT (i.e. FENCE CIRCUIT, COLLISION DETECTED OR NY OF THE 1000s VILBLE)

3 b. CLER THE FULT c. RESET THE FULT CONDITION d. PRESS CYCLE STRT i. THIS WILL CONTINUE THE PROGRM FROM WHERE IT WS WHEN THE FULT OCCURRED 7. IF T NY POINT POWER IS LOST ND THE ROBOT NEEDS TO BE RESET a. POWER UP THE ROBOT ND REFER TO ITEM ONE IN THE SEQUENCE b. IF THERE IS BG IN THE GRIPPER T THE TIME, THE BG WILL BE DROPPED IF UTOMTIC OPERTION IS INITITED i. TO VOID THE BG DROPPING 1. JOG THE ROBOT TO SFE HEIGHT 2. PRESS THE I/O BUTTON ON THE TECH PENDNT 3. PRESS F1 FOR TYPE 4. SELECT ROBOT (for robot i/o) 5. RELESE THE IR SPRINGS ND THE GRIPPER 6. JOG THE ROBOT TO SFE HEIGHT 7. CLER THE BG MNULLY 8. REFER TO ITEM ONE IN THE SEQUENCE The robot palletizing cell consists of: 1. Pick conveyors (1 each) a. 1 motors b. Photo electric sensor signaling c. Urethane coated rollers d. Bag end stop (bag 1) 2. Clamshell style ULTR-LITE end of arm tool (EOT) a. luminum framed b. Stainless steel finger c. Pneumatic cylinders d. Center yoke e. luminum hold down plate f. ir springs 3. System controls a. 3 phase 24 VDC power supply b. PLC (utomation Direct [D0-06DR-D]) i. 24 VDC input ii. Relay output c. HMI (human machine interface) (C-More) d. Motor starters with overloads (Fuji) i. Pick bag conveyor e. Safety relay (Banner) f. Safety light curtains (Banner) (2) g. Stack lights (Banner) (1) h. 24 volt DC control relays i. Interface with upstream equipment

4 ii. Robot fence circuit interface (1) The HMI consist of: 1. HOME page a. Job Select button i. Current process has 2 jobs (28 bag and 32 bag) bag (28 bags, 7 layers) (JOB1) bag (32 bags, 8 layers) (JOB2) a. Enter button (confirms job selected) b. System Start button i. Becomes System Stop when in automatic 2. When the system boots up, the home screen will be displayed. 3. Select product via 28 bag or 32 bag. 4. System Start to start the system. 5. fter System Start is pressed, the System Stop button will appear. Press the System Stop button to cease operation of the system. 6. t any time press the Home button to return home or press the CBE button to go to the CBE info page. 7. In order to view I/O s go to the I/O page located on the Home screen. 8. From the Home screen, press Help Pages to view the help table of contents.

5 9. SPRE PRTS Part # Vender Discription 1 SCE 1614CHNF Fibox Enclosure 2 SCE 16P14 Fibox Back Plate 3 DDS2-340-DHMRY BB Disconnect 4 SC26-2D Turk Safety Relay 5 E9-T7CL utomation Direct HMI 6 RV8H-L-D24 utomation Direct 24VDC Relay 7 FZ-C6-3-N utomation Direct Power Supply 8 SK910R4Q Southern Controls Receiver 9 FEN20-4DIP-4DXP Southern Controls Expansion Module 10 n/a utomation Direct Terminal 11 DO-06DR utomation Direct PLC 12 VS d utomation Direct Pneumatic Valve 13 VS d utomation Direct Pneumatic Valve 14 SC-E02/G utomation Direct Contactor 15 TK-E02 utomation Direct Overload 16 FBP-DP-0E utomation Direct Photo Eye 17 OY046S Banner Light Curtain 18 SK919TP2H-NOQ SecoLarm Remote Transmitter 19 SK910R4Q SecoLarm Remote Receiver 20 n/a Elevation PKG EOT Rebuild Kit

6 10. DRWINGS (electrical)

9 11. PLC LOGIC 1 Bag PE 1 X0 Bag Conv 1 Y2 Conv 1 > HMI C200 2 Pall Comp > Rob X5 pall done latch C250 SET 3 pall done latch C250 PallDone Dn Time T2 E/R TMR PallDone Up Time T1 K5 4 pall done latch C250 PallDone Up Time T1 E/R TMR PallDone Dn Time T2 K5

10 5 PallDone Up Time T1 Flasher 1 Y0 6 Light Crt Muted X6 Pallet Clr>Robot Y7 7 Light Crt Muted X6 pall done latch C250 pall done latch C250 RST 8 In Cycle < Robot X4 Rob In Cycle C212 9 JOB 1 HMI C210 JOB 2 HMI C211 Job 1 Select Y11 10 JOB 2 HMI C211 JOB 1 HMI C210 Job 2 Select Y12 11

11 12 Pall Comp > Rob X5 Pallet Complete C Bag PE 1 X0 E/R TMR Fault Delay T0 V Fault Delay T0 System Fault Y6 15 END 16 NOP 12. ROBOT PROGRMS: a. SEE TTCHED FILES

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Section Content. Power Turntable Manual Turntable Low Profile Manual Turntable Optional Equipment and Devices s Section Content Power Manual Low Profile Manual Optional Equipment and Devices P.O. Box 352 Alpena, Michigan 49707 Phone 989.358.7000 Fax 989.358.7020 info@omni.com www.omni.com 105 TT s WHY TT? Provide