PT ROBOT


PT ROBOT

Table 1. PT Robot Main Menu Items

ITEM

DESCRIPTION

Robot

This column contains the names of all the defined robots. Even if a robot is not defined yet, user can press MODIFY to setup its properties. The default number of robots that you can modify is 4.


Table 2. PT Robot MODIFY Items

ITEM

DESCRIPTION

Name

This is a 21 character name.

A unique name for the robot. Ex: Robot 1

Controller

The controller to which this robot is connected. The name can be selected from the [CHOICE] menu that will list all the controller names ($HOSTNAME) in the Robot ring.

Motion Group

Range: 1–2

The motion group of the robot (Range 1-2).

Gripper

The name of the gripper on the End-of-Arm. The name can be selected from the [CHOICE] menu that will list all the gripper names setup in the PT Gripper menu.

Part Pres Check

Range: YES/NO

If TRUE, the robot will perform part presence checking during production run.

Bypass

Range: YES/NO

If TRUE, then this robot will not perform pick and place during production run. The Bypass property might be used when a robot is not needed because the production rate is low. It can also be used when the robot is down for maintenance.

Enable Buffer

Range: N/A

Displays whether the buffer is enabled or not. Please note that to enable/disable the buffer, you need to do it in the PT FStn menu.

Buffer FStn

Range: N/A

Select the name of the FStn that is to be used as buffer by pressing the CHOICE function key and making a selection from the sub-window.

StnIn-StnOut Time

Range: 0–999999

This is the average duration in milliseconds that the robot needs to move between a pick station (CStn or FStn) and a drop station (CStn or FStn). It will be assumed by the Buffer processing algorithm that (time from StnIn to StnOut) = (time from StnOut to StnIn).

StnIn-Buffer Time

Range: 0–999999

This is the average duration in millseconds that the robot needs to move from a pick station (CStn or FStn) to the Buffer Stn.

Buffer-StnOut Time

Range: 0–999999

This is the average duration in milliseconds that the robot needs to move from a buffer station to a drop station (CStn or FStn) .

Smart Pick

Range: N/A

Smart Pick: It is a strategy to maximize the robot throughput when the robot can pick and drop multiple parts. Sometimes, in a CStn-CStn cycle, it is desirable for a robot to not wait to pick all the specified quantity of parts because if it did so, it might miss the drop target on which it is supposed to drop the parts. PickTool allows a robot to drop the existing parts in the gripper at the drop target based on the location of the infeed and outfeed targets, the conveyor speeds and robot cycle times. This is called Smart Pick.

Smart Pick is only available when both the pick and drop destinations are CStns, and the robot picks and drops multiple parts. If you use smart pick, then you must enter a valid value for StnIn-StnOut Time

Smart Drop

Range: N/A

Smart Drop is the opposite of smart pick. It is desirable for a robot waiting to drop parts into a target to go and pick a part from the pick conveyor if it has room in the gripper to pick.

Smart Drop is only available when both the pick and drop destinations are CStns, and the robot picks and drops multiple parts. If you use smart drop, then you must enter a valid value for StnIn-StnOut Time