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WORKING FILE
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ROBOT MANUAL
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REFERENCES (KM0)
DESIGNATION OF INSTALLATION
MANUFACTURER N
CUSTOMER N
325639314.doc
13F64
Rev.
A00
325639314.doc
Date
Modification
Written by
HUGUENARD
Content
CONTENT
x
1. APPLICATION DATAS.
1.1. PROGRAMS AND TRAJECTORIES.
1.1.1. GLOSSARY.
1.1.2. TRAJECTORIES.
1.1.3. MAINTENANCE TRAJECTORIES.
1.2. DCLARATIONS.
1.2.1. INPUTS.
1.2.1.1. Digital Inputs
1.2.1.2. Profibus Inputs
1.2.2. OUPUT
1.2.2.1. Digital Outputs
1.2.2.1. Profibus Outputs
1.2.3. GROUP INPUT
1.2.4. GROUP OUTPUT
1.2.5. USER FRAME
1.2.5.1. Common space.
2. REFERENCE STATE.
2.1. CHECKING BASES
2.2. BASES CALIBRATION (3 POINTS METHOD):*
2.3 TOOL CALIBRATION:
2.3.
3. APPENDIXES.
3.1. HOME POSITION
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5
5
5
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20
Annexe
1. APPLICATION DATAS.
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Annexe
1.1.2. Trajectories.
Element
Robot
Conveyor
Small End
Conveyor
Big End
Conveyor Pipe
Press
325639314.doc
Trajectory designation
Syntax
T_HOME
T_APP_CV_BE
T_TAKEN_CV1_SE
T_TAKEN_CV2_SE
T_APP_CV_BE
T_TAKEN_CV1_BE
T_TAKEN_CV2_BE
T_TAKEN_CV3_BE
T_TAKEN_CV4_BE
T_INDEX_BE
T_APP_CV_PIPE
Taken Pipe
T_TAKEN_CV_PIPE
Approach Press
T_APP_PRESS
T_DROP_SE_PRESS
T_DROP_BE_PRESS
T_DROP_PIPE_PRESS
Annexe
Function
Syntax
Maintenance :
Base 1 CV Small End
KM0_SE
Maintenance :
Base 2 CV Pipe
KM0_PIPE
Maintenance :
Base 3 CV34 Big End
KM0_BE34
Maintenance :
Base 4 CV12 Big End
KM0_BE12
Maintenance :
Base 5 Press
KM0_PRESS
KM0_BE_INDEX
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Annexe
1.2. DCLARATIONS.
1.2.1. Inputs.
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Physical
1
2
3
4
5
6
7
16
Symbol
GRIPPER_OPENED
GRIPPER_CLOSED
PRES_PART_INDEX
Free
Free
Free
Free
Free
Long Text
Gripper opened
Gripper closed without part
Presence Part Indexing BIG END
Free
Free
Free
Free
Free
Annexe
325639314.doc
Physical
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
Symbol
ServoON
ServoOFF
RobStart
RobStop
Clearfault
ReqOfCycle
ReqAcces
GantryInterf
YvAir
Free
Free
Free
Free
Free
Free
Free
Req_load_SE
Req_load_PIPE
Req_load_BE
Free
Free
Free
Free
Free
Auth_take_Cv1_SE
Auth_take_Cv2_SE
Auth_take_Cv_PIPE
Auth_take_Cv4_BE
Auth_take_Cv3_BE
Auth_take_Cv2_BE
Long Text
Request SERVO ON
Request SERVO OF
Request START
Request Stop
Request cancellation default
Request of cycle
Access request
Gantry interference
Presence Air
Free
Free
Free
Free
Free
Free
Free
Request Loading Small End
Request Loading Pipe
Request Loading Big End
Free
Free
Free
Free
Free
Authorization Taking on CV1 of SE
Authorization Taking on CV2 of SE
Authorization Taking on CV of Pipe
Authorization Taking on CV4
Authorization Taking on CV3
Authorization Taking on CV2
Annexe
$IN[ ]
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
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Physical
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
Symbol
Auth_take_Cv1_BE
Free
Auth_load_SE
Auth_load_PIPE
Auth_load_BE
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Long Text
Authorization Taking on CV1 of BE
Free
Authorization Drop Small End
Authorization Drop Pipe
Authorization Drop Big End
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Free
Annexe
1.2.2. Ouput
1.2.2.1. Digital Outputs
$OUT[ ]
1
2
3
4
5
6
7
16
325639314.doc
Physical
1
2
3
4
5
6
7
16
Symbol
YVA1
YVA2
Long Text
Opening Gripper
Closing Gripper
10
Annexe
325639314.doc
Physical
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Symbol
RobServoON
RobT1
RobT2
RobAut
RobAutExt
Free
Free
Free
Rob_AuCy
Rob_Df
Rob_Estop
Homing
Free
Homing2
Free
AutOpen
Free
SAFE_CONV1
SAFE_CONV2
SAFE_CONV3
SAFE_CONV4
SAFE_CONV5
SAFE_CONV6
SAFE_CONV7
SAFE_PRESS
PART_TAK_CV1_SE
PART_TAK_CV2_SE
PART_TAK_CV_PIPE
PART_TAK_CV4_BE
PART_TAK_CV3_BE
PART_TAK_CV2_BE
PART_TAK_CV1_BE
Free
SE_DROPPED_PRESS
PIPE_DROPPED_PRESS
BE_DROPPED_PRESS
Long Text
Robot Servo ON
Robotl T1
Robot T2
Robot Auto
Robot Auto Exter
Free
Free
Free
Robot cycle ON
Robot Fault
Emergency Stop Robot
Robot in HOME position
Free
Robot in second Home Position
Free
Access authorization
Free
Safe zone CV1 Small En
Safe zone CV2 Small End
Safe zone CV3 Big End
Safe zone CV4 Big End
Safe zone CV5 Big End
Safe zone CV6 Big End
Safe zone CV7 Pipe
Safe zone Press
Part taken CV1 of SE
Part taken CV2 of SE
Part taken CV fo Pipe
Part taken CV4 of BE
Part taken CV3 of BE
Part taken CV2 of BE
Part taken CV1 of BE
Free
Small End Droped on Press
Pipe Droped on Press
Big End Droped on Press
11
Annexe
Physical
1
Symbol
G_PART_TYPE
Long Text
Physical
1
Symbol
G_DIAG
Long Text
325639314.doc
Symbol
WOBJ_CV_SE
WOBJ_CV_PIPE
WOBJ_CV_BE34
WOBJ_CV_BE12
WOBJ_PRES
WOBJ_INT
designation
Conveyor 1 and 2 Small-End Frame
Conveyor PIPE Frame
Conveyor 3 and 4 Big-End Frame
Conveyor 1 and 2 Big-End Frame
Press Frame
BE Indexing Frame
12
Annexe
Type
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian
Input associated
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58
59
60
61
62
63
64
Name
Safe_Conv1
Safe_Conv2
Safe_Conv3
Safe_Conv4
Safe_Conv5
Safe_Conv6
Safe_Conv7
Safe_Press
Option
INSIDE
INSIDE
INSIDE
INSIDE
INSIDE
INSIDE
INSIDE
INSIDE
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Annexe
2. REFERENCE STATE.
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Annexe
Origin
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Annexe
Y Plus
X Plus
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Annexe
The fourth orientation must be perpendicular to the tip to set the Z-axis tool
Confirm with Next.
Press Save and then close the window via the Close icon.
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Annexe
3. APPENDIXES.
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Annexe
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