PT CONV STN


PT CONV STN

Table 1.  PT Conveyor Station MODIFY Items

ITEM DESCRIPTION

Name

This is a 21 character name.

A unique name for the conveyor station. Ex: CnvStn 1.

Bypass

Range: YES/NO

If this conveyor station is not to be used during the production run, set Bypass = TRUE, else set it to FALSE before the run.

Robot

The name of the robot that performs an operation at this station. The name can be selected from the [CHOICE] window.

Operation

Range: PICK and PLACE

The type of operation performed by a robot at this station.

Pick Qty

Range: 1–6

The numbers of parts that the robot picks or drops at this conveyor station in each pick and place cycle.

Pick Or Drop Multiple

Range: YES/NO

If the robot is to pick or drop multiple parts (i.e., when the Pick Qty > 1), select YES.

Approach Height

Range: 0.00–99999.99

Specify the approach height from the pick or drop reference position. Ordinarily, you would teach an approach position in the PickTool TP programs such as PTPKCS11.TP or PTDPCS11.TP. Then, PickTool would display the actual approach height here. However, you can force the approach height to be whatever you want from this property.

Pick Consecutive

Range: YES/NO

If during multiple-pick operations, the robot is to pick consecutive parts in the conveyor flow direction, set this flag to TRUE, else FALSE. Normally, this would be FALSE. If FALSE, the parts allocated to a robot when requested will not be consecutive, but it will be based on the load balance percentages specified. This feature works only when Pick Qty is greater than 1.

Conveyor Stop Enable

Range: YES/NO

This feature is used to stop the conveyor to guarantee that a part that the robot is supposed to pick gets picked before it crosses the downstream boundary. Alternatively, you can use this feature to guarantee that every drop target is filled or every unit in an outfeed tray is filled. The conveyor stop kicks in when the pick or drop target crosses the discard boundary.

Start/Stop Output

Range: 0–1026

Enter the index of the digital output that is used to start/stop the conveyor at this conveyor station. The conveyor will be stopped and started as needed based on the setting in the previous menu item “Conveyor stop enable”.

X-Tolerance Enable

Range: YES/NO

PickTool supports a feature called "X-Tolerance Y-Sort". You can specify a tolerance in X which is the conveyor flow direction, and then specify a sort order in Y which is a direction perpendicular to the conveyor flow. For example, when you specify a X-Tol value of 100 mm and a Y-sort value of Descending, then when a GET_Queue request is made in the tracking pick or drop program, the part allocation is done as follows: The leading part in the track window is noted. From this moving leading part, upto 100 mm upstream, all the parts are listed. Then from within that list, the part that is farthest from the robot in the Y-direction is provided.

X-Tol Value

Range: 9999.99

This is the value of X-tolerance along the conveyor flow direction. See X-Tolerance Enable.

Y-Sort

Range: Ascending/Descending

Descending: In the moving X-Tolerance range, provide the part farthest away from the robot. Ascending: In the moving X-tolerance range, provide the part that is closest to the robot.

Use Intermediate Position

Range: YES/NO

YES to enable the robot to wait at the upstream boundary when there is no available pick or drop target.

Adj in Track Frame X

Range: 0.00–99999.99

If you want the robot to wait a certain distance downstream from the upstream boundary, then enter a plus value. If you want the robot to wait a certain distance upstream from the upstream boundary, then enter a minus value.

Adj in Track Frame Y

Range: 0.00–99999.99

If you want to vary the wait position along a direction perpendicular to the conveyor flow, then enter a plus value to move the wait position along track frame +Y and a minus value to the move the wait position along track frame -Y.

Use PickInRange (PIR)

Range: YES/NO

YES to enable PIR and NO to disable it. When you use PIR, the robot will not attempt to pick or drop a part that might cross the downstream boundary before the robot can get to it.

Adj to PIR time

Range: 0–99999

If you find that the robot still attempts to go after a part and miss it when PIR is enabled, then enter an adjust-value in milliseconds. If you use large positive values then the robot may not go after a part that is possible for the robot to pick or drop. Start with zero, and increase in increments of 10 ms

Allocation Boundary

Range: –9999.99 to 9999.99

The allocation boundary is an offset relative to the Upstream boundary that a robot requesting a part (via GetQueue) can get it when it crosses this line on the conveyor. The current value is always displayed. You can change it here at anytime including during production.

You can enable TP and use the SHIFT + F2 function key (MOVE_TO) to move the robot to the plane of the allocation boundary if you need to know where exactly it is in the current UTOOL of the robot.

Discard Boundary

Range: –9999.99 to 9999.99

The discard boundary is an offset relative to the Downstream boundary that a robot requesting a part (via GetQueue) will NOT get the part when it crosses this line on the conveyor. The current value is always displayed. You can change it here at anytime including during production.

You can enable TP and use the SHIFT + F2 function key (MOVE_TO) to move the robot to the plane of the discard boundary if you need to know where exactly it is in the current UTOOL of the robot.

Line Schedule ID

Range: 1–8

Track schedule data can be specified in this menu instead of in the Line tracking menu. First, enter the schedule number that is used for tracking this station. You are required to select the track schedule number. Refer to the FANUC Robot series R-30iB/ R-30iB MATE CONTROLLER iRPickTool OPERATOR’S MANUAL.

Motion Group

Range: 1–2

Initially, the motion group is read from the line track schedule specified by the user. This item can only be changed if there are more than one groups on the controller. If changed by the user, then the line schedule is updated with the new motion group value.

Boundary Num

Range: 1–10

Each Line tracking schedule allows upto 10 boundaries. Typically in PickTool, you would always select and set the data in Boundary Num = 1 of the Line Tracking schedule.

Upstream Boundary

Range: –9999.99 to 9999.99

The upstream boundary of the robot relative to the track frame can be specified here. The current value is always displayed. You can change it here at anytime including during production.

You can enable TP and use the SHIFT + F2 function key (MOVE_TO) to move the robot to the plane of the upstream boundary if you need to know where exactly it is in the current UTOOL of the robot.

Downstream Boundary

Range: –9999.99 to 9999.99

The downstream boundary of the robot relative to the track frame can be specified here. The current value is always displayed. You can change it here at anytime including during production.

You can enable TP and use the SHIFT + F2 function key (MOVE_TO) to move the robot to the plane of the downstream boundary if you need to know where exactly it is in the current UTOOL of the robot.

Track Frame trained

Range: YES/NO

If the track frame is trained, its status will be shown as YES. Track frame is taught using the track frame wizard. If the value is uninitialized, then the status will be shown as No.

Encoder Number

Range: 1–8

The encoder number used in the Line track schedule.

Encoder Scale

Range: –9999.99 to 9999.99

The encoder scale used in the Line track schedule.