18-002 robot manual - choice bagging equipment
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CHOICE BAGGING EQUIPMENT, LTD
18-002 Robot Manual
ROBOTIC PALLETIZING SINGLE TOOL SINGLE ZONE
CHOICE BAGGING EQUIPMENT, LTD
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)
CHOICE BAGGING EQUIPMENT, LTD
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
CHOICE BAGGING EQUIPMENT, LTD
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.
CHOICE BAGGING EQUIPMENT, LTD
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
CHOICE BAGGING EQUIPMENT, LTD
10. DRAWINGS (electrical)
CHOICE BAGGING EQUIPMENT, LTD
CHOICE BAGGING EQUIPMENT, LTD
CHOICE BAGGING EQUIPMENT, LTD
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
pall done latch C250
PallDone Dn Time T2
A
E/R
TMR PallDone Up Time
T1
K5
A
Auto > HMI C0
4
pall done latch C250
PallDone Up Time T1
A
E/R
TMR PallDone Dn Time
T2
K5
CHOICE BAGGING EQUIPMENT, LTD
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
pall done latch C250
A
pall done latch C250
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
CHOICE BAGGING EQUIPMENT, LTD
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
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