Lenze E94P PositionServo with MVOB Manual do Utilizador descarregar pdf (Página 22)

20 L PM94H201B_13xxxxxx_EN

Introduction

Table 5: Bin Location, Inputs & Index Values

Bin Location Input state INDEX Value

Bin 1 Input B1 is made 1

Bin 2 Input B2 is made 2

Bin 3 Inputs B1 and B2 are made 3

Bin 4 Input B3 is made 4

Bin 5 Inputs B1 and B3 are made 5

Bin 6 Inputs B2 and B3 are made 6

Bin 7 Inputs B1, B2 and B3 are made 7

The Main program has been modiﬁed to change the end place position based on the value of the “INDEX” variable.

;************************** Main Program **********************************

ENABLE

OUT1 = 0 ;Initialize Pick Arm - Place in Retracted Position

WAIT UNTIL IN_A4==1 ;Check Pick Arm is in Retracted Position

PROGRAM_START:

MOVEP 0 ;Move to (ABS) to Pick position

OUT1 = 1 ;Turn on output 1 to extend Pick arm

WAIT UNTIL IN_A1==1 ;Arm extends

OUT2 = 1 ;Turn on output 2 to Engage gripper

WAIT TIME 1000 ;Delay 1 sec to Pick part

OUT1 = 0 ;Turn off output 1 to Retract Pick arm

WAIT UNTIL IN_A4==0 ;Make sure Arm is retracted

IF INDEX==1 ;In this area we use the If statement to

GOTO BIN_1 ;check and see what state inputs B1, B2 & B3

ENDIF ;are in.

IF INDEX==2 ; INDEX = 1 when input B1 is made

GOTO BIN_2 ; INDEX = 2 when input B2 is made

ENDIF ; INDEX = 3 when input B1 & B2 are made.

. ; INDEX = 4 when input B3 is made

. ; INDEX = 5 when input B1 & B3 are made.

. ; INDEX = 6 when input B2 & B3 are made.

IF INDEX==7 ; INDEX = 7 when input B1, B2 & B3 are made

GOTO BIN_7 ;We can now direct the program to one of seven

ENDIF ;locations based on three inputs.

BIN_1: ;Set up for Bin 1

MOVEP 10 ;Move to Bin 1 location

GOTO PLACE_PART ;Jump to place part routine

BIN_2: ;Set up for Bin 2

MOVEP 20 ;Move to Bin 2 location

GOTO PLACE_PART ;Jump to place part routine

BIN_7: ;Set up for Bin 7

MOVEP 70 ;Move to Bin 7 location

GOTO PLACE_PART ;Jump to place part routine

PLACE_PART:

OUT1 = 1 ;Turn on output 1 to extend Pick arm

WAIT UNTIL IN_A4 == 1 ;Arm extends

OUT2 = 0 ;Turn off output 2 to Disengage gripper

WAIT TIME 1000 ;Delay 1 sec to Place part

OUT1 = 0 ;Retract Pick arm

WAIT UNTIL IN_A4 == 0 ;Arm is retracted

GOTO PROGRAM_START

END

NOTE: with all digital inputs (B1-B3) off, none of the ‘If’ statements to detect place position are true and the program

defaults to placing the part it has picked into bin location 1.

1 2 ... 17 18 19 20 21 22 23 24 25 26 27 ... 139 140

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