Battenfeld UNIROB R10S, UNIROB B4, UNILOG B4 User Manual

Download

User´s Manual

UNIROB R10S - UNILOG B4

Read this manual before using the control system and keep it in a place near the control system

Version: R104GBV00 04/04

Spritzgießtechnik

R104GBD2B.PMD

Scherl 10 • D-58527 Meinerzhagen

Battenfeld GmbH

Tel. ++49 2354/72-0 • Fax ++49 2354/72-234

Battenfeld Kunststoffmaschinen Ges.m.b.H.

Wr.Neustädter Straße 81 • A - 2542 Kottingbrunn

Tel. ++43 2252/404-0 • Fax ++43 2252/404-261

www.battenfeld.com

DIN EN ISO 9001

Contents

0 Forward

UNILOG B4 control system

Operation and Control System

Screen functions

Menus

Screen functions

1 Menu pages - General

General menu pages - General

Language / Date and Time

Job data

Data Manager

2 Status pages

Robot status

Position variable status page

User Variable Status page

Pneumatic axes status

Gripper status

IMM status

Periphery status

PAL status

3 Program editor

4 Inserting a token command

(Axis command)

Inserting a token command

Robot (ROB) token commands

3D commands

Selecting axis movements with position variables

Position variable selection list

Using position variables

Commands for pneumatic axis movements

5 Gripper and IMM commands

Gripper (GRP) token commands

Activate gripper function

Monitoring

IMM interface token commands

Signals from the IMM to the robot system

6 PCS - Commands

Description of SPS commands

Creating a User variable

A: R104GBI3C.PMD B: R104DEI3C.PMD E: 140404 / TCS G: 150404 / T. Wenger

Program editor

Section - I

Page 1

Contents

7 Periphery

Description of peripheral commands

Peripheral commands

Conveyor commands

8 Palletising program

Palletising program

Palletising program commands

Entering palletising program data

9 Programs

Programs

Subprogram selection

Parprogram selection

11 Service pages

Lock areas

Entering a lock area

Protection AREA

Auxiliary axis configuration (pneumatic axes)

Gripper configuration

Peripheral interface configuration

12 Troubleshooting

Alarm list

Logbook

Alarm protocol

Controller error

Peripheral commands

CNC selection

10 Examples of programs

Examples of programs

Section - I Page 2

A: R104GBI3C.PMD B: R104DEI3C.PMD

E: 140404 / TCS

G: 150404 / T. Wenger

Operation and Control System

Forward

Who is this manual for?

This manual is intended for all persons involved in the operation and monitoring of the robot system.

They are responsible for ensuring that the robot system runs smoothly. If a fault occurs they should be able to search for signs of the cause of the fault and call up key program sequences. In order to do this it is necessary to be learn how to use the control system. This manual explains how to operate the control system safely.

What does the manual consist of?

In order to keep the manual as short and as clear as possible it only deals with those activities which you are able to do and are authorised to carry out. Functions and information relating to start-up procedures and specific service activities can be found in a separate service manual. The service manual is only available to Battenfeld employees who are trained for this work.

We start by looking at the various operating features of the control system. The typical operating sequence is presented using an example. This is followed by a description of each of the display menus.

As a rule the description always follows the same pattern: After a brief introduction you are given further explanations of the individual parameters.

Intended use

The UNILOG B4 control system is designed for operating and controlling robot systems. The control system may only be operated by trained specialists (e.g. set-up persons, service technicians). The control system may not be used for any other purpose.

Safety measures

This manual is a part of the technical documentation relating to the robot system. Before operating the control system you should familiarise yourself with all the required safety measures which are relevant to the operation of the robot system.

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

Section 0

Page 1

UNILOG B4 control system

Functions

The UNILOG B4 digital control system is a newly developed UNILOG 9000. All the robot system functions can be controlled using the display menus, touch screen and keyboard. The functions are divided into modules and activities. Each menu can be directly selected by simply pressing a key. The symbols provide quick access the desired functions.

In Manual mode the control system uses specific keys to activate the machine’s main functions (drive and operating mode). Other key and touch functions have other uses depending upon the machine.

The control system is equipped with a dustproof, easy-to-clean membrane keyboard. The operator senses a special pressure point each time a key is pressed.

Operation and Control System

Section 0 Page 2

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Operation and Control System

Operating features

Manual Control Device (MCD) – Key functions

R10B4_010.BMP

1 – ON/OFF and START/STOP buttons

Press one of the two buttons to start/stop the Automatic program. The START button is also used to move the servo axes in Manual mode after entering a numerical value. Press STOP to interrupt

the movement. The red LED in the STOP button lights up when the power is deactivated or when the robot has been stopped in Automatic mode.

2 - INIT button

Press the INIT button to switch to the Start-up display. The orange LED indicates that the Start-up display is

activated.

1110

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

Section 0

Page 3

Operation and Control System

3 - PROG button

Press the PROG button to switch to the Program editor (from User level ”30”). The orange LED indicates that the

Program editor is activated.

4 - ROB button

Press the ROB button to switch to the Axis status page showing the status of the main and auxiliary axes.

The orange LED belonging to this button lights up when these pages are selected.

5 - SERVICE button

Press the SERVICE button to switch to the corresponding Service page

depending upon which page has been selected. (refer to ”Menus” in the handbook) User level 30

6 - PERIPHERY button

Press the PERIPHERY button to switch to the Periphery interface status page. It displays all the input and output statuses

of this interface.

The orange LED belonging to this button lights up when these pages are selected.

7 - Move buttons

These four buttons are used for moving the

servo and auxiliary axes. The two outer buttons (snail, hare) adjust the servo axis overrides. The orange snail LED lights up at 5% override and the orange hare LED at 100%. The arrow keys are only used for moving the main and auxiliary axes. These buttons have different functions on some of the other pages. The LEDs light up wherever the arrow buttons are in use.

8 - PAL button

Press the PAL button to switch to the Palletising programs status page. The orange LED for this button lights up when

the page is selected.

Section 0 Page 4

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Operation and Control System

9 - Previous menus button

Press this button to scroll through the last 10 menus in reverse order.

10 - ERROR button

Press this button to switch to the Error list. The red LED belonging to this button lights up when an error occurs.

11 - Gripper button

Press this button to switch to the Gripper status page. The orange LED for this button lights up when the page is

selected.

12 - IMM button

Press the IMM button to display the IMM interface status page in Manual mode. The orange LED for this button lights up

when the page is selected.

13 - BLOCK/MAN button

Press this button to switch back and forth between Manual mode (MAN) and

Blocks (BLOCK). It automatically switches to MAN mode when the system is switched ON/OFF. The right orange LED lights up in MAN mode and the left orange LED in BLOCK mode.

14 - AUTO/SINGLE

Press this button to switch from Manual

(MAN) to Automatic (AUTO) or Single

(SINGLE) mode. The left orange LED indicates Single mode and the right LED indicates Fully Automatic mode.

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

Section 0

Page 5

Operation and Control System

Green START BUTTON on MCD

Press the START BUTTON to activate the power supply (main contactor).

EMERGENCY STOP BUTTON on MCD

The red Emergency Stop button is intended to protect both the machine and the machine operators.

DEADMAN’S BUTTON

The DEADMAN’S button must be pressed for every movement.

Slam button If it is pressed too hard the current movement is stopped.

Use the arrow buttons to move the selected axes.

Section 0 Page 6

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Operation and Control System

Screen functions

The individual functions of the UNILOG B4 control system are activated with the aid of the touch screen and the buttons on the manual control device.

Screen display

3 4

7 8 9

1 User level

The current User level is displayed. The key symbol changes to yellow when a user is logged on.

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

R10B4_017.BMP

2 Page number

Enter the desired page number to switch

to another display.

3 Page indicator

Section 0

Page 7

Operation and Control System

4 Status bar

The status according to the selected page is displayed here. This bar is used differently on each page.

5 PIC to DISK

Touch this symbol to create a *.bmp file from the current page and store it on a data carrier in the control system. (refer to Section 5 Assembly and Operation)

6 ERROR symbol

This symbol flashes if an error has been detected. Select this symbol to cancel all current errors. (refer to Alarms)

7 Date and Time display

8 Operating mode

The robot system’s current operating mode (AUTO, SINGLE, MAN, REF, BLOCK) is displayed here. This section of the screen is also used to indicate whether or not the deadman’s button has been pressed. A green background indicates that the deadman’s button has been activated.

9 Function keys

These six softkeys are used differently on each page. They can be used to switch between screens or for other functions such as Delete, Load or Add.

The screen elements described in 1 – 10 (headings and function keys) are displayed in the same way on all UNILOG B4 menu pages.

Section 0 Page 8

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Operation and Control System

Menus

The manual control device has 10 screen change buttons. Each of these buttons is assigned to a fixed function / screen change.

Password system (start-up display)

List of users

Language / Date / Time

Notepad

Job data

Data sets

Password system

Language / Date / Time

Notepad

Job data

Data sets

List of users

Password system

Notepad

Job data

FUNCTION: Save data

FUNCTION: Load data

FUNCTION: Save data to disk

FUNCTION: Delete

FUNCTION: Enter

FUNCTION: Cancel

Data sets

List of users

Language / Date / Time

Notepad

Password system

Data sets

List of users

Language / Date / Time

Notepad

Job data

Password system

Data sets

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

Section 0

Page 9

Sequential programming

FUNCTION: Delete ..

Operation and Control System

FUNCTION: Save data

FUNCTION: Insert

FUNCTION: Teach/Edit

Data sets

Robot status

Auxiliary axes

FUNCTION: Load data

FUNCTION: Save data to disk

FUNCTION: Delete

FUNCTION: Enter

FUNCTION: Cancel

ROB status

Axis group 1

Axis group 2 (optional)

Axis group 3 (optional)

Axis group 1

Axis group 2 (optional)

Axis group 3 (optional)

Axis group 4 (optional)

Axis group 5 (optional)

Section 0 Page 10

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Operation and Control System

Gripper status

Gripper group 1

Gripper group 2 (optional)

Gripper group 3 (optional)

Gripper group 4 (optional)

Gripper group 5 (optional)

Gripper group 6 (optional)

Palletis. statistics (PalProg 1)

PalProg 1

PalProg 2

PalProg 3

PalProg 4

PalProg 5

PalProg . . .

FUNCTION: Scroll +

FUNCTION: Scroll -

Alarm list

FUNCTION: Quit

FUNCTION: Scroll +

FUNCTION: Scroll -

Logbook

Alarm protocol

Controller error

Alarm list

FUNCTION: Quit

Next NC-axis

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

Section 0

Page 11

Operation and Control System

Description of screen elements

Touch screen operation provides various screen elements which make it easier to enter data and settings.

Entering values

A numeric keypad appears whenever a numerical value is entered.

1 Cancel

Inputted value is cancelled and the current value remains unchanged.

2 Delete

Press this key to delete a character.

3 Enter key

Press the Enter button to confirm the alphanumeric entry.

Values can be entered wherever a blue/white

input box is displayed provided it is not linked to a specific User level or Operating mode. This applies to both numeric and alphanumeric entries.

Desired values are shown in blue/white.

Actual values are shown in grey/green.

R10B4_019.BMP

These values cannot be changed.

Section 0 Page 12

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Operation and Control System

Entering alphanumeric data

An alphanumeric keypad appears whenever alphanumeric data is entered.

6 7 8 9

1 TAB key

2 CAPS LOCK key

This key is used to enter only upper/ lower case characters (first or second row).

3 Shift key

This key is used to switch to upper/lower case (first or second row) for the next character.

4 TAB key

This key is used to enter a space.

5 Enter key

Press to confirm entry.

6 Cursor - Left 7 Cursor - Right

The two cursor keys are used to move the cursor to the left and right inside the data input box.

8 Cancel

Inputted value is cancelled and the current value remains unchanged

9 Delete

Press this button to delete a character.

R10B4_022.BMP

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

Section 0

Page 13

Alphanumeric entries for various editors (e.g. CNC editor)

Operation and Control System

R10B4_024.BMP

This keypad appears when several lines of data can be entered such as in the CNC editor or notepad.

This keypad has basically the same functions as the previously described alphanumeric keypad.

It has an additional navigation pad on the right (1) which is used to position the Editor cursor as required. (left, right, up, down, start, end)

Select DEL to delete the entry.

Select INS to select either ”Insert” or ”Overwrite”.

Section 0 Page 14

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Operation and Control System

Other operating features

In addition to entering numeric and alphanumeric data it is possible to change values/objects using the following symbols.

Object deactivated

Object activated

Object selected and deactivated

Object selected and activated

The value can be changed depending upon the menu item.

The current status of each object is highlighted in green/grey.

Object deactivated

Touch keys

Each page of the UNILOG B4 control system contains various touch keys. Each of these keys activates different functions depending upon the label and how it is displayed.

Examples include:

Confirm key

Selected axis

Object activated

These symbols are used especially where there are only two statuses. (ON/OFF, SET/RESET etc.)

A: R104GB00A.PMD B: R104DE00A.PMD E: 290304 / TCS G: 290304 / TCS

Section 0

Page 15

Operation and Control System

Section 0 Page 16

A: R104GB00A.PMD

B:R104DE00A.PMD

E: 290304 / TCS

G: 130404 / T. Wenger

Menu pages - General

Description of general Menu pages

Start-up display (Login)

The start-up display appears each time the control system has been booted up.

Here the user can LOG IN and LOG OUT.

A: R104GB01A.PMD B: R104DE01A.PMD E: 290304 / TCS G: 140404 / T. Wenger

R10B4_017.BMP

Select the ”New User” touch key to register as a new user. This function is then activated when a user has logged in. However it is only possible to allocate either a lower User level or the User level which has been logged in.

Section 1

Page 1

Menu pages - General

Select the ”Change User” touch key to change the Name/Password.

To delete a user it is necessary to enter his/her name under ”User Name”. Then select ”Delete User”.

Password system

The following User levels are intended for use with the UNILOG B4 control system:

User level 90

No User is logged in. He/She can therefore not change, load or delete the Automatic program.

He/She may operate the robot in Manual mode and also start and stop the loaded sequential program in Automatic mode.

User level 30

At User level 30 the user may change, load, delete and save the User program as well as start the Automatic function.

User level 20 (Customer service)

User level 20 users have the same rights as User level 30 users. In addition, he/she is authorised to change lock areas, axis and gripper names, periphery inputs and outputs as well as gripper and axis configurations.

User level 10 (Battenfeld service)

List of users

All registered users are listed here.

Notepad

On the notepad page you can enter text which you think may be relevant to the operating procedures.

Section 1 Page 2

A: R104GB01A.PMD B: R104DE01A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Menu pages - General

Language / Date and Time

Set Date and Time:

On this menu page you can change the date and time.

Enter the new Date and Time in the corresponding boxes and then select ”OK” to confirm.

R10B4_036.BMP

Switch language

To switch to another language select a country flag.

A: R104GB01A.PMD B: R104DE01A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 1

Page 3

Menu pages - General

Units

You can specify which units are to be used by selecting either millimetres or inches.

Start Touch calibration

If you have problems entering alphanumeric data or generally have problems using the touch screen, e.g. you wish to enter ”A” but ”S” is in the box instead ((A is next to S on the keyboard). you can calibrate the display here.

It is usually necessary to carry out a Touch calibration when a new user logs in.

LOGOUT

Here you can program the system to log you out automatically after a set period of time, i.e. the system switches to User change 90 after the specified time. If ”0” is entered the current user remains logged in. This time can be changed from User level 20 upwards.

Operating hours counter

The robot system operating hours are displayed here.

Section 1 Page 4

A: R104GB01A.PMD B: R104DE01A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Menu pages - General

Job data

You can enter the key data relating to your job or the production in this menu.

A: R104GB01A.PMD B: R104DE01A.PMD E: 290304 / TCS G: 140404 / T. Wenger

R10B4_037.BMP

Press the ”Accept Curr. Time & Date” touch key to enter the current time and date in the box. Pressing the ”Accept Curr. Time & Date” touch key confirms the entry and adds it to the job data. The job data are saved together with the user data.

Section 1

Page 5

Menu pages - General

Print job

Here you can use the touch key functions

select which information is to be printed out.

Section 1 Page 6

R10B4_041.BMP

Select ”Program” to print out the current program, i.e. the program in the Editor together with all its sub-programs, parallel programs, CNC programs etc.

A: R104GB01A.PMD B: R104DE01A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Menu pages - General

Printouts contain the contents of alarm protocols, job data, logbooks and notepads.

Note It is never possible to select more than one of these jobs.

Target

You can select from various targets.

To file:

A file is created on the data carrier in the control system.

Serial printer:

The data are outputted to the control system

in series via the serial interface (RS232). A serial printer can be connected here.

SGM (optional):

You can also transfer the selected data to a printer which is connected to the IMM (injection moulding device). (Only possible with Battenfeld plastic injection moulding machines)

IMM settings. (refer to the IMM handbook).

USB:

The data are outputted via the USB interface on the manual control device. A USB printer can be connected here.

A: R104GB01A.PMD B: R104DE01A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 1

Page 7

Data Manager

Menu pages - General

Softkey functions

Save selected data set

Load selected data set

Save selected data set to an external

data carrier

Section 1 Page 8

Delete

Confirm Delete/Overwrite

Cancel Delete/Overwrite

R10B4_043.BMP

A: R104GB01A.PMD B: R104DE01A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Menu pages - General

Select individual data sets

User data

The User data comprise all data relating to the User program. These include:

- Main program

- Subprogram

- CNC program

- Parallel program

- Palletising program

- Lock area 1-5

These data sets can be saved/loaded under one name at the same time.

It is also possible to save and reload each of these data sets individually.

To do this simply select the touch key

Note The system always saves the data set and the selected data set type in the ”Data Set” box.

Each of these individual data sets has a separate extension.

User data

Data record type Extension

General data record *.r41 Main program *.r4m Subprogram *.r4s Parallel program *.r4p CNC-program *.r4c Palletising program *.r4z Lock area *:r4l

R10B4GB_050

(for individual data sets) after

having selected the User data.

You can then use the two selection boxes to select the corresponding individual data set.

A: R104GB01A.PMD B: R104DE01A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 1

Page 9

Menu pages - General

Service data

The Service data comprise all data which are not user-specific.

These include:

- Controller parameters

- Lock area 6-10

These data can be loaded but not changed. Changes can only be made with Password level 10 (Battenfeld Service).

Service data

Data record type Extension Service data *.r45

R10B4GB_051

UNILOG B2

Select data set source

HARDDISK

Data contained in the control system and saved in the memory are read.

FLOPPY

Select FLOPPY to either read data sets off the floppy disk or to save them to it.

BMP

Images created with ”Pic to Disk” are read off or entered. It is only possible to save data to one external memory. (name:print.bmp)

of the file

It is also possible to load data sets which were created on a UNIROB Type E control system.

Section 1 Page 10

A: R104GB01A.PMD B: R104DE01A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

The status pages show the status of individually selected objects.

Robot status

Here you can see the position of each individual NC axis.

It shows the movement of the axis in Manual mode and the status display in Automatic mode.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

R10B4_008.BMP

This menu page can be accessed at all Password levels.

Section 2

Page 1

Status pages

Axis group

The name of the current axis group is shown here.

Use Softkeys 2 to 5 to switch to

another axis group. The currently activated axis group is shown in black.

Select Softkey 1

to switch to the

”Pneumatic axis status” menu page.

Press the "Position Variable Status" touch screen key to switch to the Position variable status page.

Select "New Position Variable" on the touch screen to switch to the PosVar selection page – refer to Section 4, Page 11.

CURR POS

Here you can see the current position of the NC axes.

Override

The Override can be set to 5-100%. There are three different ways of specifying the override.

1 Using the assigned buttons on the MCD

in 5 step increments.

2 Using the special box.

3 Using one of the 4 touch keys. This can

be especially useful to, for example, quickly slow down or speed up the speed/acceleration of the NC axes in Automatic mode. The keypad can be configured as desired. To do this, enter the desired value in the box (Override) and then hold down the key to be changed for a few seconds.

DES POS

A position value can be entered here in Manual mode. (refer to Axis)

DES/CURR POS

Here you can see the difference between the Desired and Current positions.

Section 2 Page 2

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

Axis

All the NC axes which are used are shown here. Standard (X,Y,Z) Use the touch keys for each axis to move the selected axis in Manual mode with aid of the

MCD plus/minus keys.

The deadman’s button must

be pressed.

Enter a value in the box (DES POS)

and activate the Start

deadman’s buttons

and

to move

to the specified point.

This can only be done if no error signal occurs and the robot has been switched to Manual (MAN) mode.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 3

Position variable status page

Manual operation

Status pages

You can use this menu page to select and check any position variable and to change its values.

R10B4_057.BMP

To select a position variable simply highlight the corresponding position variable in the list box

and press

to select. The position variable

and the corresponding values are then displayed.

Section 2 Page 4

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

To cancel the selected variable, select the

position variable key

and press.

You can change the values in Manual mode (MAN) by selecting and entering the desired positions.

Select ”Load curr. positions” to transfer the current position to the selected Pos.Var.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 5

Automatic operation

Status pages

In Automatic mode (AUTO) and in SINGLE and BLOCK operating statuses it is only possible to change the individual values within a range of +/5mm.

R10B4_059.BMP

To change a position variable in Automatic mode do the following:

Section 2 Page 6

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

1 Select the position variable to be

changed

2 Select the axis

3 Use the +/- keys

change the value.

Switch the to User Variable Status page.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 7

User Variable Status page

Status pages

The status (value) of the user variables used in the program can be displayed and changed here. This can be done in both Manual and Automatic mode.

Section 2 Page 8

R10B4_060.BMP

Select the desired user variables from the left selection box.

Use the cursor keys

or the touch

screen to select the desired user variable.

Press

to display the variable and its value

in the right selection box.

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

The user variables are arranged the order they are selected.

Select to deselect a user variable and

remove it from the selection list.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 9

Pneumatic axes status

Status pages

This menu page shows the status of the pneumatic axes.

This menu page can be accessed at all Password levels.

Section 2 Page 10

R10B4_065.BMP

Axis group

The name of the current axis group is shown here.

Use Softkeys 2 to 6

to switch to

another axis group. The currently activated axis group is shown in black.

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

CURR POS

Here you can see the current position of the

pneumatic axes. If the

symbol is displayed

below the corresponding label this indicates that the pneumatic axis is in

--- Basic position centre Central or +++ End position

The symbol indicates that the pneumatic

axis is not in any specific position, i.e. neither in Basic nor End position. (Refer to ”Alarm list” 050 error description in the handbook)

DES POS

Here you can position the pneumatic axis in Manual mode.

Override

Refer to NC axes status

Axis

All the pneumatic axes which are used are shown here. Standard (A,B or C) depending on selection.

Use the touch key for each axis to move the selected axis in Manual mode with aid of the

MCD plus/minus keys.

The deadman’s button must

be pressed.

Press one of the activated touch

boxes and

the deadman’s button

simultaneously to move the pneumatic axis to the desired (basic, centre or end) position.

This can only be done if no error signal occurs and the robot has been switched to Manual (MAN) mode.

Softkey 1

Switch to the NC axes status menu page.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 11

Gripper status

Status pages

This menu page shows the statuses of all the gripper functions (vacuum, jaws, expanders).

This menu page can be accessed at all Password levels.

R10B4_068.BMP

Axis group

The name of the current axis group is shown here.

Use Softkeys 1 to 6 to switch to

another axis group. The currently activated axis group is shown in black.

Section 2 Page 12

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

Gripper

All the gripper functions which are used are shown here. Standard, Vacuum or Gripper, depending on selection.

Use the touch key for each gripper to position the selected gripper in Manual mode with aid of

the MCD plus/minus keys.

The deadman’s button

must be pressed.

Press one of the activated touch boxes

and

Monitoring

When the digital input is activated (logic 1) for gripper part and vacuum monitoring this is

indicated by a

symbol.

The gripper function descriptions can be changed as desired. (refer to ”Service pages” in the handbook)

the deadman’s button

simultaneously to set or reset the gripper function.

This can only be done if no error signal occurs and the robot has been switched to Manual (MAN) mode.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 13

IMM status

Status pages

This menu page shows the status of the IMM interface.

Section 2 Page 14

R10B4_072.BMP

It displays all the digital inputs and outputs specified in EUROMAP12 and EUROMAP67.

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

All signals from the injection moulding machine to the robot system.

Operation without robot

On the IMM interface status page the robot can be connected to/disconnected from the machine.

with robot

All signals from the robot system to the injection moulding machine.

Description of the individual signals (refer to ”Gripper and IMM commands” in the handbook)

The injection moulding machine only runs when it receives the required enable signals from the robot.

without robot

The injection moulding machine can operate without the robot. All the enable signals are set to logic ”1”.

This function is similar to earlier ”Operation without robot” control systems.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 15

Periphery

Status pages

Periphery status

The periphery interface status is shown on this page.

Section 2 Page 16

R10B4_073.BMP

All the digital inputs belonging to the periphery interface are shown here.

logic ”0” digital input signal

logic ”1” digital input signal

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

All the digital outputs belonging to the periphery interface are shown here.

digital output set to logic ”0”

digital output set to logic ”1”

Each periphery is matched to an individual application. The user can therefore rename each of the digital inputs and outputs according to their specific function.

Simply press the Service key to switch to

the periphery interface configuration page. Refer to the Service pages section.

Note User level 30 or higher is required here.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

Section 2

Page 17

Conveyor interface

Status pages

This menu page shows the status of the conveyor interface. From here it is possible to scan the individual digital inputs and activate the conveyor forward movement.

Section 2 Page 18

R10B4_189.BMP

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Status pages

PAL status

This menu page shows the status of all the palletising programs used in the sequential program.

A: R104GB02A.PMD B: R104DE02A.PMD E: 290304 / TCS G: 140404 / T. Wenger

R10B4_077.BMP

PalProg

Name of palletising program

Quantity

Number of deposited parts since Automatic mode was activated.

Section 2

Page 19

Status pages

PalProg end

Remaining time until the palletising rows (pallet) are full.

Total

Total number of parts processed with this palletising program.

PalReset

Zeros the palletising counter of the selected PalProg.

Counter reset

Counter is zeroed.

CURR quantity

Total number of parts already processed

DES quantity

Number (quantity) entered in the palletising program.

Desired position

Position where the next part will be placed.

CURR position

Current positions of the individual axes.

Various input parameters are displayed together with these values.

Input parameters (refer to ”Palletising programs” in the handbook)

Section 2 Page 20

A: R104GB02A.PMD B: R104DE02A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Program editor

Here you can create Automatic mode programs.

1 ROB

Select the ROB softkey to call up any of the token commands for the servomotor and pneumatic axes.

2 Gripper

Press the Gripper softkey to select any gripper function.

A: R104GB03A.PMD B: R104DE03A.PMD E: 290304 / TCS G: 140404 / T. Wenger

R10B4_078.BMP

3 IMM interface

Select the IMM interface softkey to call up an IMM/robot communication command.

4 PCS

Select this softkey to access any PCS token command.

Section 3

Page 1

Program editor

5 Periphery interface

This softkey enables you to add token commands to the periphery.

6 Palletise

Select this softkey to enter palletising parameters.

7 Subprograms, Parallel programs,

CNC programs

This softkey is used for accessing individual program components (subprograms, parallel programs etc.).

8 Teach/Edit

Here you can switch between Teach (e.g. commands for enabling axes are executed) and Edit (none of the selected commands is executed).

9 Program line

The current program line is displayed here. However, you can also change the current program line by jumping to another line.

Description of the softkey functions

Delete selected line

Confirmation is requested before a line is deleted. (Delete line? Yes/No)

Block format

You can use this softkey function to highlight your program lines for block format. This line is marked in RED in the program editor.

Notes

This softkey function is used for inserting notes in your sequential program. These are shown in blue in the program.

Change

The ”Quick-Edit” softkey enables you to change an existing command. The system then jumps to the selected command with the specified parameters.

Switch page to Data set handling

Section 3 Page 2

A: R104GB03A.PMD

B: R104DE03A.PMD

E: 290304 / TCS

G: 140404 / T. Wenger

Inserting a token command

Inserting a token command (Axis command)

An example is used to illustrate how to insert a command. Command: Move to an absolute position with a servo axis.

Press the ROB softkey

R10B4_083.BMP

The green triangle at the top left of the softkey shows which function is currently

activated. The other keys are shaded grey in order to highlight the indicator key.

When the ROB key is activated the sequence begins by displaying the keys with the axis labels.

A: R104GB04A.PMD B: R104DE04A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 4

Page 1

You can now select the corresponding axis.

Inserting a token command

After you have selected an axis, e.g. the Z-axis as shown here, the key turns blue and the commands which you can use are displayed.

R10B4_084.BMP

Once you have selected the required command it also turns blue and a

blue arrow appears on one of the

softkeys.

Select the softkey with the blue arrow (continue) to confirm your choice.

Section 4 Page 2

A: R104GB04A.PMD

B:R104DE04A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Inserting a token command

After you have pressed the Continue key a box is displayed in which you can select the required parameters for the command.

Current position

Indicates the current axis position

Desired position

Here you can enter the desired position for the selected axis.

R10B4_087.BMP

When Teach is selected you can move the selected axis. This changes the Desired and Current positions.

Use the Plus/Minus keys on the

MCD to move the axis. The deadman’s button

must be pressed.

A: R104GB04A.PMD B: R104DE04A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 4

Page 3

Inserting a token command

Enter a value in the box (Desired position).

Press the Start

deadman’s button

and the

move to the specified point.

Note When Teach is selected the Current position is always used. (e.g. Desired 300 is entered but 122 is selected because the Current position is 122)

Speed/Accel.

Select this function to specify the speed and acceleration of the movement as well as the movement itself.

Once the selected axis is in the desired position (Teach) and the value for the desired position has been entered it is then possible to enter the

Attention! The command is inserted into the highlighted line. All the subsequent commands are moved down one line.

You can also insert the selected command into

the sequential program using the

softkey.

Attention! In Teach/Edit the old command in the selected line is overwritten. You are asked whether you want to overwrite the line.

Position variable

Select this function to move to a position stored in the position variable. When this function is activated this deactivates the Desired position input area.

After you have entered your choice the command appears in the selected line and the program jumps back to the Axis selection.

command using the

Ins. softkey

Section 4 Page 4

A: R104GB04A.PMD

B:R104DE04A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Inserting a token command

Token commands Robot (ROB)

Commands for servomotor axis movements

X 0050.00

Move to absolute axis position at absolute value 0050.00

X Position variable

Move to the absolute axis position

with the valve which was specified in the ”Position variable”.

X 0050.00 v=50% a=50%

Move to the absolute axis position specifying the speed and acceleration

X position variable v=50% a=50%

Move to the absolute axis position

with the valve which was specified in the ”Position variable” giving the speed and acceleration.

X Relative 0100.00

Move to the relative axis position

X Relative 0100.00 v=50% a=50%

Move to the relative axis position specifying the speed and acceleration for this movement.

Y Parallel 350.00 100.00

Absolute axis position with parallel value Position 1: End point Position 2: Command in next line is started here

Y Parallel 350.00 100.00

v=50% a=50%

Absolute axis position with parallel value specifying the speed and acceleration

Y Parallel position variable 100.00

Absolute axis position with parallel value Position 1: Position variable end point Position 2: Command in next line is started here

Y Parallel position variable 100.00

v=50% a=50%

Absolute axis position with parallel value specifying the speed and acceleration

A: R104GB04A.PMD B: R104DE04A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 4

Page 5

Inserting a token command

Y stack stop 0100.00

Y-axis stack stop at 100.00

The selected axis moves to the target position. If the stack stop signal turns to logic ”1” during this movement the axis stops at this position. (If the axis is moving at a high speed and comes to a halt one position too far it is then moved back to the stack stop position)

The stack stop digital input is wired to Terminal 8 in Terminal box 2 (refer to 5.3.3 and the circuit diagram on pages 21, 51). The signal is then directed to Trigger input 1 21X8 PIN at the ACOPOS.

z v=100% a=100%

Specify the axis speed and acceleration

Note Once you have specified the speed and acceleration of an axis in the program all subsequent movements of this axis are carried out using the same speed and acceleration values. It is however possible to enter another command specifying a different speed and acceleration.

Section 4 Page 6

A: R104GB04A.PMD

B:R104DE04A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Inserting a token command

3D commands

The UNILOG B4 control system enables you to enter a command in the sequential program so that all three main axes (X,Y,Z) are directed to their desired position simultaneously.

You can also interpolate the axes here. , i.e. they reach their desired position simultaneously.

R10B4_090.BMP

As with the other servomotor axis commands you can also specify the speed and acceleration of the movement here.

It is also possible to move to a position stored in a position variable.

A: R104GB04A.PMD B: R104DE04A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 4

Page 7

Inserting a token command

You can specify how this command is to be

carried out by selecting

the options in the

boxes.

A 3D command is made up of 3 lines. The possible combinations are listed below.

X 0050.00 Y 0010.00 Z 1000.00

X 0050.00 v=30% a=100% Y 0010.00 Z 1000.00

X interpolated 0050.00 Y interpolated 0010.00 Z interpolated 1000.00

X interpolated 0050.00 v=30% a=100% Y interpolated 0010.00 Z interpolated 1000.00

X Position variable Y position variable Z position variable

X position variable v=30% a=100% Y position variable Z position variable

X interpolated position variable Y interpolated position variable Z interpolated position variable

X interpolated position variable v=30% a=100% Y interpolated position var. Z interpolated position var.

Section 4 Page 8

A: R104GB04A.PMD

B:R104DE04A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Inserting a token command

Selecting axis movements with position variables

You can select a position variable for every axis movement command.

The last selected position variable is suggested.

Select

R10B4_091.BMP

to change the variable.

A: R104GB04A.PMD B: R104DE04A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 4

Page 9

Position variable selection list

Inserting a token command

On this page of the editor you can ”create” (new), ”edit” and ”delete” your position variables.

Each position variable consists of 3 values. Each of these values is assigned to a specific axis.

R10B4_092.BMP

If you, for example, select X-axis --> Move --> Position variable absolute, this moves you to the X-axis position. (number is dependent upon the number of servomotor axes).

Section 4 Page 10

A: R104GB04A.PMD

B:R104DE04A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Inserting a token command

Using position variables

All commands relating to the NC (main axes) can be assigned a ”position variable” instead of the absolute value.

This makes sense if you have many products with similar or the same program sequences. Here you only have to alter the position variables in the program when a tool or gripper change is required. (refer to ”Examples of programs” in the handbook)

Softkeys

The symbols on the softkeys are only displayed when you select ”Delete position variable”. (A position variable cannot be deleted if it is being used in the program).

Delete position variable.

Cancel delete position variable

Attention! The position variable cannot be deleted until it is no longer being used in the sequential program.

Important When you are working with position variables remember that these are saved together with the program. Save the program again after changing the position variables.

This symbol is displayed if the position

variable to be deleted is already being used in the program. Select the softkey to jump to the line in the sequential program where the position variable is being used.

A: R104GB04A.PMD B: R104DE04A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 4

Page 11

Commands for pneumatic axis movements

Inserting a token command

C - - -

Pneumatic axis in basic position

C Par ---

Pneumatic axis in parallel basic position

R10B4_175.BMP

Section 4 Page 12

A: R104GB04A.PMD

B:R104DE04A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Inserting a token command

C Par +++

Pneumatic axis in parallel end position

C +++

Pneumatic axis in end position

R10B4_176.BMP

In Teach mode it is possible to move the pneumatic axes in the same way as the NC axes.

A: R104GB04A.PMD B: R104DE04A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 4

Page 13

Inserting a token command

Section 4 Page 14

A: R104GB04A.PMD

B:R104DE04A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Gripper commands

Gripper commands / IMM commands

Gripper (GRP) token commands

Summary of the terms LowActive and HighActive in connection with part and vacuum

monitoring in the token program.

A: R104GB05A.PMD B: R104DE05A.PMD E: 310304 / TCS G: 140404 / T. Wenger

R10B4_177.BMP

Section 5

Page 1

Gripper commands

LowActive:

When the part monitoring digital input is set to LowActive its logic status is ”0” and the part monitoring is activated.

When LowActive is selected STOP, PSOP and Label are executed first.

HighActive:

When the part monitoring digital input is set to HighActive its logic status is ”1” and the part monitoring is activated.

When HighActive is selected STOP, PSOP and Label are executed first.

Section 5 Page 2

A: R104GB05A.PMD B: R104DE05A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Gripper commands

Activate gripper function

V1 BLOW OUT delay 01.0 s G2 UP

Blow out vacuum gripper 01.00 s Open gripper

V1 parallel BLOW OUT 01.0 s G2 parallel UP

Blow out vacuum gripper parallel 01.00 s Open parallel gripper

R10B4_095.BMP

V1 VACUUM G2 CLOSED

Create vacuum Close gripper

V1 parallel VACUUM G2 parallel CLOSE

Attach in parallel by suction Close gripper in parallel

A: R104GB05A.PMD B: R104DE05A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 5

Page 3

Gripper commands

V1 VACUUM monitor ON STOP

High Active

G2 CLOSED Monitoring ON STOP

Low Active

Vacuum created. Vacuum created. Vacuum monitoring is activated simultaneously when the part monitor detects a fault, i.e. the logic status is ”0”. The program is stopped immediately.

Grippers close. Part monitor is activated simultaneously when the part monitor detects a fault, i.e. the logic status is ”1”. The program is stopped immediately.

V1 VACUUM monitor ON PSTOP

High Active

G2 CLOSED Monitoring ON PSTOP

Low Active

Vacuum created. Vacuum monitoring is activated simultaneously when the part monitor detects a fault, i.e. the logic status is ”0”. The program is stopped at the next PStop line.

V1 VACUUM monitoring ON Label TEST

High Active

G2 CLOSED Monitoring ON Label TEST

Low Active

Vacuum created. Vacuum monitoring is activated simultaneously when the part monitor detects a fault, i.e. the logic status is ”0”. The program jumps to a specified label (e.g. TEST).

Grippers close. Part monitoring is activated simultaneously when the part monitor detects a fault, i.e. the logic status is ”1”. The program jumps to a specified label (e.g. TEST).

Vacuum created. Vacuum monitoring is activated simultaneously when the part monitor detects a fault, i.e. the logic status is ”1”. The program is stopped at the next PStop line. (Fault 52, refer to ”PCS commands” in the handbook)

Section 5 Page 4

A: R104GB05A.PMD B: R104DE05A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Gripper commands

Monitoring

V1 wait monitor ON G1 wait monitor OFF

The system waits for the dig. input signal from the corresponding part monitor. When the conditions have been fulfilled (ON or OFF, logic ”0” or ”1”) the token program continues.

V1monit. High Active ON STOP G2monit. Low Active ON STOP

The program is stopped immediately if the part monitor indicates a fault.

R10B4_096.BMP

V1monit. High Active ON PStop G2monit. Low Active ON PStop

If the part monitor detects a fault, the system is stopped at the next PStop line in the program.

V1monit. High Active ON Label 1 G2monit. Low Active ON Label 1

A: R104GB05A.PMD B: R104DE05A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 5

Page 5

Gripper commands

The system jumps to the specified label if the part monitor detects a fault.

When responding to individual signals from the part and vacuum monitors it is also possible to specify whether the action is to be ”High Active” (logic ”0” fault) or ”Low Active” (logic ”1” fault).

V1 monit. OFF G2monit. OFF

Switch off part monitor

V1 if BLOW OUT Label 1 G2 if UP L1

System jumps to Label 1 at the blowing out point. System jumps to Label 1 when the gripper is open.

V1 if VACUUM Label 1 G2 if CLOSE L1

The system jumps to Label 1 at the vacuum suction point. System jumps to Label 1 when the gripper is closed.

V1 if Label 1 monitoring ON G2 if Label monitoring OFF

If the part or vacuum monitor is set to the logic value ”0” or ”1”, the system jumps to Label 1.

Section 5 Page 6

A: R104GB05A.PMD B: R104DE05A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Gripper commands

Token commands for the IMM interface

Here it is possible to enter the commands into the token program which specifically

affect the robot/injection moulding machine interface. (EUROMAP12/67)

A: R104GB05A.PMD B: R104DE05A.PMD E: 310304 / TCS G: 140404 / T. Wenger

R10B4_098.BMP

Section 5

Page 7

Gripper commands

Signals from the injection moulding machine to the robot system

Start handling, wait for Signal ON Start handling, wait for Signal ON, 2 sec Label 1 Start handling, if Signal ON Label 1

Wait for the signal (logic ”0” or ”1”) from the IMM ”Mould open”, ”Activate Start Handling”. If this condition has been fulfilled the system jumps to the next line. It may also jump to a label. It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMM signals to the robot system that the mould is fully open by setting the signal to logic ”1”. In many removal procedures the robot cannot enter the IMM until this signal has been given.

Mould closed, wait for Signal ON Mould closed, wait for Signal ON, 2 sec Label 1 Mould closed if Signal ON Label 1

Wait for the signal (logic ”0” or ”1”) from the IMM ”Mould closed”. Once this condition has been fulfilled the system then jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMD signals to the robot system that the mould is fully closed by setting the signal to logic ”1”. In many removal procedures the combination of the ”Tool open – Start handling procedure” and ”Tool closed” signals provides an additional safety feature to prevent the robot from colliding with the mould.

Section 5 Page 8

A: R104GB05A.PMD B: R104DE05A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Gripper commands

Ejector forward, wait for Signal ON Ejector forward, wait for Signal ON, 2 sec Label 1 Ejector forward, Signal ON Label 1

Wait for the signal (logic ”0” or ”1”) from the IMM, ”Ejectors are forward”. If this condition has been fulfilled the system jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMM signals to the robot system that the ejectors are fully extended by setting the signal to logic ”1”. This signal is frequently used so that the casting is not gripped until the ejectors have moved it to the furthest forward position. is The sprue grippers, for example, cannot grip the sprue until the casting has been correctly positioned by the ejectors.

Ejector back, wait for Signal ON Ejector back, wait for Signal ON, 2 sec Label 1 Ejector back, Signal ON Label 1

Wait for the signal (logic ”0” or ”1”) from the IMM, ”Ejectors are back”. If this condition has been fulfilled the system jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMD signals to the robot system that the ejectors are fully retracted by setting the signal to logic ”1”. This signal is frequently used to prevent the robot from being raised out of the tool area before the ejectors have been withdrawn from the casting.

A: R104GB05A.PMD B: R104DE05A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 5

Page 9

Gripper commands

Fully automatic mode, wait for Signal ON Fully automatic mode, wait for Signal ON, 2 sec Label 1 Fully automatic, if Signal ON Label 1

Wait for the signal (logic ”0” or ”1”) from the IMM, ”Machine in Automatic mode”. If this condition has been fulfilled the system jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMD signals to the robot system that it is in ”Fully Automatic” mode by setting the signal to logic ”1”. In the token program this signal is used, for example, to prevent the robot from moving between the two mould halves before the machine is operating in ”Fully Automatic” mode.

Core pullers back, wait for Signal ON Core pullers back, wait for Signal ON, 2 sec Label 1 Core pullers back, if Signal ON Label 1

Wait for signal (logic ”0” or ”1”) from IMM, ”Core pullers in retracted position”. If this condition has been fulfilled the system jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMM sets the signal to logic ”1” to indicate to the robot system that the core pullers are ready to be retracted. This signal can be given before the mould halves are fully opened. This makes it possible to achieve faster removal times.

Section 5 Page 10

A: R104GB05A.PMD B: R104DE05A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Gripper commands

Core pullers rem., wait for Signal ON Core pullers rem., wait for Signal ON, 2 sec Label 1 Core pullers rem., if Signal ON Label 1

Wait for signal (logic ”0” or ”1”) from IMM, ”Core pullers in removal position”. If this condition has been fulfilled the system jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMM sets the signal to logic ”1” to indicate to the robot system that the core pullers are ready to remove the casting. This signal is used to prevent the casting from being removed before it has been fully released by the core pullers.

Eject, wait for Signal ON Eject, wait for Signal ON, 2 sec Label 1 Eject if Signal ON Label 1

Wait for the signal (logic ”0” or ”1”) from the IMM, ”Defective casting”. If this condition has been fulfilled the system jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMM signals to the robot system that the casting is defective by setting the signal to logic ”1”. The token program can therefore be used to distinguish between ”perfect” and ”reject” castings.

A: R104GB05A.PMD B: R104DE05A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 5

Page 11

Gripper commands

Intermediate stop, wait for Signal ON Intermediate stop, wait for Signal ON, 2 sec Label 1 Intermediate stop, if Signal ON Label 1

Wait for the signal (logic ”0” or ”1”) from the IMM ”Tool at intermediate stop”. Once this condition has been fulfilled the system then jumps to the next line. It may also jump to a label.

It is also possible to use a time monitor here. Hence if the desired condition is not fulfilled within the specified period the system then jumps to a label.

The IMM sets the signal to ”1” to indicate to the robot system that the movement into the machine can begin. This signal can be given before the mould halves are fully opened. This makes it possible to achieve faster removal times.

Section 5 Page 12

A: R104GB05A.PMD B: R104DE05A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

PCS - Commands

Description of SPS commands

PCS token commands make it possible to insert simple jumps, delays and ”If” commands into the token program.

Delay 1.2s

Waiting period of X.X s. The Automatic program is continued after a certain period of time.

A: R104GB06A.PMD B: R104DE06A.PMD E: 010404 / TCS G: 140404 / T. Wenger

R10B4_099.BMP

Section 6

Page 1

PCS - Commands

Goto LABELNAME

The system jumps to a label which must be specified in the sequential program. An error signal is indicates that there is no label available. No error signal means that there is a label available. If an error occurs, the Automatic program cannot be started.

Label LABELNAME

Label is specified in the program The system jumps to this line (containing the label) if the IF condition is fulfilled or a Goto command has been inserted.

Select any desired LABELNAME made up of a maximum of 19 alphanumeric characters.

Start ParProg PROGRAMNAME

Start parallel program. In a parallel program it is only possible to use IMM, PCS and Peripheral commands.

Start CNC program PROGRAM NAME

Starts the selected CNC program.

Return

Return to main program. Activated automatically at end of the subprogram.

Set Uservar VARIABLE NAME = 999

Sets user variable.

CLEAR Uservar VARIABLE NAME

Deletes user variable.

INC Uservar VARIABLE NAME

Defines an increment. The user variable value is increased by 1.

DEC Uservar VARIABLE NAME

Specifies one increment. The user variable value is increased by 1.

ADD Uservar VARIABLE NAME = 10

The specified value is added to the User variable. (e.g. current value + 10)

SUB Uservar VARIABLE NAME = 10

The specified value is subtracted from the User variable. (e.g. current value -10)

Stop ParProg PROGRAM NAME

Stops the parallel program.

CallSub Program name

Calls up the subprogram (max. 19 alphanumeric characters)

VARIABLE NAME Uservar = 2 Label LABEL NAME

Details of If instructions can be found in ”Entering If instructions”.

Section 6 Page 2

A: R104GB06A.PMD B: R104DE06A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

PCS - Commands

Select any desired LABELNAME made up of a maximum of 19 alphanumeric characters.

PStop

The program runs until the Pstop command point where it is then stopped. Select START to continue the program.

Stop program

If the Prog.Halt command is inserted into the sequential program the program is stopped at this point. Select START to continue the program.

End program

Select to end the program. The Automatic program is stopped and the system then switches to Manual mode. (refer to Section 6.6 Stop program, End of program)

A: R104GB06A.PMD B: R104DE06A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 6

Page 3

Creating a user variable

PCS - Commands

It is possible to create and edit a new user variable in every command which contains a user variable.

To do this, select PCS and USERVAR and press the Selection key.

The program then switches to the selection list (similar to the Position variable selection list).

R10B4_101.BMP

Section 6 Page 4

A: R104GB06A.PMD B: R104DE06A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

PCS - Commands

New

A new user variable is created.

Edit

An already existing user variable can be renamed.

Delete

Deletes the selected user variable.

The selected user variable can only be deleted when it is not being used in the program.

Press to confirm.

R10B4_102.BMP

Entering IF commands

In token programs it is possible to make label jumps under certain conditions.

VARIABLE NAME Uservar = 10 Label LABEL NAME

An IF command is basically made up of three different components comprising Type 1, Equation format and Type 2, which can be selected in various combinations. If this condition has been fulfilled the system jumps to the corresponding label.

Program line: Type1< =Type 2Label Label name

A: R104GB06A.PMD B: R104DE06A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 6

Page 5

PCS - Commands

Type1

Uservar

Position

Palletise

Any desired user variable can be selected.

Any NC axis position (X,Y,Z) can be checked.

Here it is possible to call up all the palletising counters belonging to a palletising program. (All axes or X,Y,Z)

Equation format

= Type1 = Type2. The value of Type1 is the

same as Type2.

<> Type1 <> Type2 . The value of Type1 is

not equal to that of Type2.

< Type1 < Type2. The value of Type1 is

smaller than that of Type2.

> Type1 > Type2. The value of Type1 is

larger than that of Type2.

Section 6 Page 6

R10B4_103.BMP

A: R104GB06A.PMD B: R104DE06A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

PCS - Commands

<= Type1 <= Type2. The value of Type1 is

smaller than or equal to that of Type2.

>= Type1 >= Type2. The value of Type1 is

larger than or equal to that of Type2.

>= Type1 < Type2. The value of Type1 is

smaller than that of Type2.

EVEN number

The value of Type1 is an ”even” number (2,4,6,8,...)

ODD number

The value of Type1 is an ”odd” number (3,5,7,9,...)

A: R104GB06A.PMD B: R104DE06A.PMD E: 010404 / TCS G: 140404 / T. Wenger

Section 6

Page 7

PCS - Commands

Type2

Constants

It can be compared to a constant value of 0-999999.

Uservar

Any desired user variable can be selected.

Palletise

Checks for a full row, full layer, full pallet or intermediate layer.

Row full: The counter on the selected axis has reached its maximum value.

Layer full: The layer at the selected level is full.

Pallet full: All counters have reached their maximum value.

Intermediate layer: All the palletising program counters have reached their maximum value.

Section 6 Page 8

R10B4_104.BMP

A: R104GB06A.PMD B: R104DE06A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

PCS - Commands

Position variable

Data input is guided, i.e. the IF command parameters are selected in sequence.

A: R104GB06A.PMD B: R104DE06A.PMD E: 010404 / TCS G: 140404 / T. Wenger

R10B4_105.BMP

Section 6

Page 9

Z > 1000 Label Z – Axis OK

PCS - Commands

The command can then be inserted with

or .

Current position of the Z-axis is larger (>) than a constant value (1000) so the system jumps to the label

Section 6 Page 10

R10B4_106.BMP

A: R104GB06A.PMD B: R104DE06A.PMD

E: 010404 / TCS

G: 140404 / T. Wenger

Periphery

Description of the periphery commands

Your robot system has a standard peripheral interface and a conveyor interface.

The peripheral interface enables you to control one of your application peripheries with 8 digital inputs/outputs from the token program. (specially defined digital inputs/outputs are shown in the circuit diagram)

A: R104GB07A.PMD B: R104DE07A.PMD E: 310304 / TCS G: 140404 / T. Wenger

R10B4_108.BMP

Section 7

Page 1

Peripheral commands

Periphery

DI1, wait for Signal ON time: 1.2 sec Label LABEL NAME DI1, wait for Signal OFF

(same as IMM commands)

R10B4_109.BMP

DI2, if Signal OFF Label LABEL NAME DI2, if Signal ON Label LABEL NAME

When the digital input is logic ”0” or ”1”, the system jumps to the label.

DO1 SET The digital output is set (to logic ”1”).

DO1 RST

The digital output is reset (to logic ”0”).

Section 7 Page 2

A: R104GB07A.PMD B: R104DE07A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Periphery

Conveyor commands

Switch ON Conveyor switch OFF

Conveyor ON/OFF

Conveyor ON time: 1.2 sec.

Conveyor is switched on and deactivated after X.X seconds.

wait for conveyor ON signal wait for conveyor OFF signal

R10B4_110.BMP

wait for conveyor ON signal – Time: 1.2 sec Label LABEL NAME wait for conveyor OFF signal – Time: 1.2 sec Label LABEL NAME

A: R104GB07A.PMD B: R104DE07A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 7

Page 3

At WaCON signal ON, the system waits until the input signal indicates ”Conveyor full”, ”logic 0” and the output signal indicates ”Conveyor ON, ”logic 0”. At WaCON signal OFF, both signals must be logic ”1”.

Timed: If the conditions are not fulfilled after a specific time the system jumps to the label.

Periphery

Section 7 Page 4

A: R104GB07A.PMD B: R104DE07A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Periphery

wait for Positioning signal ON wait for Positioning signal OFF wait for Positioning ON signal – Time: 1.2 sec Label LABEL NAME wait for Positioning OFF signal – Time: 1.2 sec Label LABEL NAME

R10B4_111.BMP

The system waits for the ”Space free” input signal. ”OFF” indicates that the position is free. ”ON” indicates that it is occupied.

Timed: If the conditions are not fulfilled after a specific time the system jumps to the label.

A: R104GB07A.PMD B: R104DE07A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 7

Page 5

Periphery

if the conveyor is ON Label LABEL NAME if the conveyor is OFF Label LABEL NAME

At CON ”ON” (Conveyor is not full and deactivated), the system jumps to the label. At CON ”OFF” the conveyor is full and activated.

if the space is free Label LABEL NAME if the space is not free Label LABEL NAME

When the space is ”free” or ”not free” the system jumps to the label.

IMM protective grating

only with optional 06.X25 safety kit

- Guard with BT

- external stand for Z-axis

Attention! This option can only be used in conjunction with Battenfeld plastic injection moulding machines.

The protective grating is built into the IMM. The following input and output signals are used.

Designation Type Description

SgLogin DI Login OD IPpwron DI Start cycle (Power On) HuInPos DO Robot in home position

R8B2_167.XLS

These signals can be set and read off in the token program as well as the peripheral interface.

Section 7 Page 6

A: R104GB07A.PMD B: R104DE07A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Periphery

IM if1 L6

This digital input is set when the operator activates the key switch and the service door. The ”BT login” digital input must be called up in the user program before the ”Enable close mould” signal is set.

When this signal is set it activates the shutting down of the machine and handling processes. The corresponding signals in the token program must be read off and set in order to ensure that this procedure is carried out properly. Refer to 5.5.6 Examples of programs C

LE (wait1)

This digital input is set when the operator selects ”Start cycle”. The ”Start cycle” digital input can be monitored in the user program to make sure the Automatic program can continue. Refer to 5.5.6 Examples of programs C

RobInPos SET

The digital output is activated in the user program when the robot has reached a specified position. The injection moulding machine control system then releases the service door. Refer to 5.5.6 Examples of programs C This signal is reset by ”Start cycle” in the PCS.

A: R104GB07A.PMD B: R104DE07A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 7

Page 7

Periphery

Section 7 Page 8

A: R104GB07A.PMD B: R104DE07A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Palletising program

The Palletising function enables you to integrate basic positioning and removal tasks into the token program.

Description Input

Difference

along Y- axis

Difference

along Z- axis

Difference

along X axis

1 Palletising tasks – First position.

Removal tasks – Final position.

2 Palletising tasks – Final position.

Palletising tasks – First position.

Difference along Y axis positive in removal tasks negative in palletising tasks

The diagram above shows an example of the process. Each separate corner position can be used as a starting or final position.

R8B2_141.JPG

A: R104GB08A.PMD B: R104DE08A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 8

Page 1

Palletising program commands

Palletising program

PalProg PROGRAM NAME START

This command starts the selected palletising program. Definition: The system moves to the next position following the specified movement sequence.

R10B4_113.BMP

PalProg PROGRAM NAME RESET

All counters are zeroed. This can also be done from the Palletising status page. (Used in conjunction with IF commands)

Section 8 Page 2

A: R104GB08A.PMD B: R104DE08A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Palletising program

PalProg PROGRAM NAME RESET

The system waits for the RESET signal from the palletising status page.

The PROGRAM NAME can be made up of a maximum of 19 alphanumeric characters.

You can call up several palletising programs in the user program.

A total of 5 palletising programs can be created for each user program.

Important When you are working with position variables remember that these are saved together with the program. Save the program again after changing the position variables.

Entering palletising program data

1 Select

Commands and palletising programs must be selected/created before they can be inserted/edited. To do this simply press the ”Selection” button and enter a new program name (in the same way as for labels) or select an existing palletising program.

To edit a program select ”Edit” and then

”Continue”

The system then switches to the menu page of the palletising parameter input area.

A: R104GB08A.PMD B: R104DE08A.PMD E: 310304 / TCS G: 140404 / T. Wenger

Section 8

Page 3

2 Entering palletising parameters

Palletising program

1 Pal - Input

You can choose between two different sets of parameters.

Section 8 Page 4

1.Pos;L.Pos;Qty

The first position, last position and number of parts are specified here. The spacing is calculated using these three parameters and shown in the menu.

Specify the quantity for all three axes (min. 1).

R10B4_114.BMP

A: R104GB08A.PMD B: R104DE08A.PMD

E: 310304 / TCS

G: 140404 / T. Wenger

Battenfeld UNIROB R10S, UNIROB B4, UNILOG B4 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual