18-002 robot manual - choice bagging equipment

CHOICE BAGGING EQUIPMENT, LTD

18-002 Robot Manual

ROBOTIC PALLETIZING SINGLE TOOL SINGLE ZONE


18-012 (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. “MAIN” 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. At this point conveyor stops b. At 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 “MAIN”, “MAINJ1, MAINJ2, MAINJ3, MAINJ4”

and using “BAG 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 STACK LIGHT WILL BE A SOLID RED. i. THIS INDICATES THAT THE CELL IS NOT ACCESSABLE VIA THE OPERATOR

ii. ONCE THEY REMOVE THE COMPLETED PALLET, THE OPERATOR WILL RESET FAULT, CHECK BAG COUNT, AND PRESS CYCLE START

6. IF AT ANY POINT THERE IS AN INTERUPT IN THE ROBOT MOTION, THERE WILL BE A “FAULT” SHOWN ON THE TOP OF THE TEACH PENANT AND THE ROBOT MOTION WILL BE CEASED.

a. THE OPERATOR MUST ADDRESS THE FAULT (i.e. FENCE CIRCUIT, COLLISION DETECTED OR ANY OF THE 1000s AVAILABLE)


b. CLEAR THE FAULT c. RESET THE FAULT CONDITION d. PRESS CYCLE START

i. THIS WILL CONTINUE THE PROGRAM FROM WHERE IT WAS WHEN THE FAULT OCCURRED

7. IF AT ANY POINT POWER IS LOST AND THE ROBOT NEEDS TO BE “RESET” a. POWER UP THE ROBOT AND REFER TO ITEM ONE IN THE SEQUENCE b. IF THERE IS A BAG IN THE GRIPPER AT THE TIME, THE BAG WILL BE DROPPED IF

AUTOMATIC OPERATION IS INITIATED i. TO AVOID THE BAG DROPPING

1. JOG THE ROBOT TO A SAFE HEIGHT 2. PRESS THE I/O BUTTON ON THE TEACH PENDANT 3. PRESS F1 FOR TYPE 4. SELECT ROBOT (for robot i/o) 5. RELEASE THE AIR SPRINGS AND THE GRIPPER 6. JOG THE ROBOT TO A SAFE HEIGHT 7. CLEAR THE BAG MANUALLY 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 ULTRA-LITE end of arm tool (EOAT)

a. Aluminum framed b. Stainless steel finger c. Pneumatic cylinders d. Center yoke e. Aluminum “hold down” plate f. Air springs

3. System controls

a. 3 phase – 24 VDC power supply b. PLC (Automation 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


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) 1. 28 bag (28 bags, 7 layers) (JOB1) 2. 32 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. After “System Start” is pressed, the “System Stop” button will appear. Press the “System

Stop” button to cease operation of the system.

6. At 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.


9. SPARE PARTS

Part # Vender Discription

1 SCE 1614CHNF Fibox Enclosure

2 SCE 16P14 Fibox Back Plate

3 DDS2-340-DHMRY ABB Disconnect

4 SC26-2D Turk Safety Relay

5 EA9-T7CL Automation Direct HMI

6 RV8H-L-AD24 Automation Direct 24VDC Relay

7 FAZ-C6-3-NA Automation Direct Power Supply

8 SK910R4Q Southern Controls Receiver

9 FEN20-4DIP-4DXP Southern Controls Expansion Module

10 n/a Automation Direct Terminal

11 DO-06DR Automation Direct PLC

12 AVS-5312-24d Automation Direct Pneumatic Valve

13 AVS-3312-24d Automation Direct Pneumatic Valve

14 SC-E02/G Automation Direct Contactor

15 TK-E02 Automation Direct Overload

16 FBP-DP-0E Automation Direct Photo Eye

17 OY046S Banner Light Curtain

18 SK919TP2H-NOQ SecoLarm Remote Transmitter

19 SK910R4Q SecoLarm Remote Receiver

20 n/a Elevation PKG EOAT Rebuild Kit


10. DRAWINGS (electrical)


11. PLC LOGIC

Auto > HMI C0

1

Bag PE 1 X0

Bag Conv 1 Y2

OUT

Conv 1 > HMI C200

Auto > HMI C0

Auto > HMI C0

2

Pall Comp > Rob X5

pall done latch C250

SET

A

Auto > HMI C0

3


PallDone Dn Time T2

A

E/R

TMR PallDone Up Time

T1

K5

A

Auto > HMI C0

4


PallDone Up Time T1

A

E/R

TMR PallDone Dn Time

T2

K5


Auto > HMI C0

5

PallDone Up Time T1

Flasher 1 Y0

OUT

Auto > HMI C0

6

Light Crt Muted X6

Pallet Clr>Robot Y7

OUT

A

Auto > HMI C0

7

Light Crt Muted X6


A


RST

Auto > HMI C0

8

In Cycle < Robot X4

Rob In Cycle C212 OUT

Auto > HMI C0

9

JOB 1 HMI C210

JOB 2 HMI C211

Job 1 Select Y11 OUT

Auto > HMI C0

10

JOB 2 HMI C211

JOB 1 HMI C210

Job 2 Select Y12 OUT

Auto > HMI C0 11


12. ROBOT PROGRAMS: a. SEE ATTACHED FILES

Auto > HMI C0

12

Pall Comp > Rob X5

Pallet Complete C213 OUT

Auto > HMI C0

13

Bag PE 1 X0

E/R

TMR

Fault Delay

T0

V2002

Auto > HMI C0

14

Fault Delay T0

System Fault Y6

OUT

15 END

16 NOP

18-002 robot manual - choice bagging equipment

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