+

10, rue du 47 me R.A.

70400 HRICOURT

Tlphone : (33) 03 84 57 32 00
Tlcopie : (33) 03 84 46 28 06

FRANCE

WORKING FILE
...........................

ROBOT MANUAL
..............................

REFERENCES (KM0)

DESIGNATION OF INSTALLATION

MANUFACTURER N

CUSTOMER N

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13F64

Follow-up of the revisions

Rev.

A00

325639314.doc

Date

Modification

02/04/13 Document creation

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
6
7
7
7
8
10
10
11
13
13
13
14
15
16
18
18
19
19
20

Annexe

1. APPLICATION DATAS.

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Annexe

1.1. PROGRAMS AND TRAJECTORIES.

1.1.1. Glossary.
CV: Conveyor
TCP : Tool Center Point

1.1.2. Trajectories.
Element

Robot
Conveyor
Small End

Conveyor
Big End

Conveyor Pipe

Press

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Trajectory designation

Syntax

Return to Home position (main program)

T_HOME

Approach conveyor Small End

T_APP_CV_BE

Taken Small End CV1

T_TAKEN_CV1_SE

Taken Small End CV2

T_TAKEN_CV2_SE

Approach conveyor Big End

T_APP_CV_BE

Taken Big End CV1

T_TAKEN_CV1_BE

Taken Big End CV2

T_TAKEN_CV2_BE

Taken Big End CV3

T_TAKEN_CV3_BE

Taken Big End CV4

T_TAKEN_CV4_BE

Drop and Taken Indexing Big End

T_INDEX_BE

Approach conveyor Pipe

T_APP_CV_PIPE

Taken Pipe

T_TAKEN_CV_PIPE

Approach Press

T_APP_PRESS

Drop Small End in Press

T_DROP_SE_PRESS

Drop Big End in Press

T_DROP_BE_PRESS

Drop Pipe in Press

T_DROP_PIPE_PRESS

Annexe

1.1.3. Bases Maintenance

Designation

Function

Syntax

Maintenance :
Base 1 CV Small End

Checking base user 1

KM0_SE

Maintenance :
Base 2 CV Pipe

Checking frame user 2

KM0_PIPE

Maintenance :
Base 3 CV34 Big End

Checking frame user 3

KM0_BE34

Maintenance :
Base 4 CV12 Big End

Checking frame user 4

KM0_BE12

Maintenance :
Base 5 Press

Checking frame user 5

KM0_PRESS

Base Big End Index

Checking frame user 6

KM0_BE_INDEX

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Annexe

1.2. DCLARATIONS.
1.2.1. Inputs.

1.2.1.1. Digital Inputs

$IN[ ]
1
2
3
4
5
6
7
16

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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

1.2.1.2. Profibus Inputs

$IN[ ]
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46

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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

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Physical
1
2
3
4
5
6
7
16

Symbol
YVA1
YVA2

Long Text
Opening Gripper
Closing Gripper

10

Annexe

1.2.2.1. Profibus Outputs

$OUT[ ]
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
[33,56]
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75

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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

1.2.3. Group Input

$IN[ ]
57 64

Physical
1

Symbol
G_PART_TYPE

Long Text

1.2.4. Group Output

$OUT[ ]
41 48

Physical
1

Symbol
G_DIAG

Long Text

1.2.5. User Frame

Number
1
2
3
4
5
6

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

1.2.5.1. Common space.

Plusieurs zones dvolution du robot sont dfinies
.
Number
1
2
3
4
5
6
7
8

Type
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian
Cartesian

Input associated
57
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

Configuration/divers/surveillance denveloppe dvolution/configuration

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Annexe

2. REFERENCE STATE.

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Annexe

1.3. CHECKING BASES

1- Mount the calibrated tool on the mounting flange.
2- Select the mode T1.
3- Select the file: Maintenance/Menu.SRC.
4- Start the program by the Start Key.
5- Message appears to select one of the bases or Cancel.
6- Push the start Key
The TCP will be perpendicular to the origin.
7- Press on the Start Key to accost the origin
8- Check the point
9- Push the start Key
The TCP will be perpendicular to the X+point.
10- Press on the Start Key to accost the X+ point
11- Check the point
12- Push the start Key
The TCP will be perpendicular to the Y+point.
13- Press on the Start Key to accost the Y+ point
14- Push the start Key to return to the Home Position.
15- Push the start Key to repeat the tasks for another base (6->13) or to cancel.

Origin

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Annexe

Y Plus

X Plus

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Annexe

1.4. BASES CALIBRATION (3 POINTS

METHOD):*
-

Mount the calibrated tool on the mounting flange.

Select the mode T1.
In the main menu, select Start-up > Calibrate > Base > ABC 3-point.
Assign a number and a name for the base. Confirm with Next
(1: wobj_cv_se, 2 : wobj_cv_pipe, 3:wobj_cv_be34, 4:wobj_cv_be12, 5:wobj_pres, 6:wobj_int).
Enter the number of the mounted tool (default 1). Confirm with Next.
Move the TCP to the origin of the new base. Press Calibrate. Answer the request for confirmation
with Yes.
Move the TCP to a point on the positive X axis of the new base. Press Calibrate.
Answer the request for confirmation with Yes.
Move the TCP to a point in the XY plane with a positive Y value. Press Calibrate.
Answer the request for confirmation with Yes.
If required, coordinates and orientation of the calibrated points can be displayed in increments and
degrees (relative to the FLANGE coordinate system).
For this, press Meas. points. Then return to the previous view by pressing Back.
Press Save.

2.3 TOOL CALIBRATION:

-

Mount the tool to calibrate on the mounting flange.

Select the mode T1.
In the main menu, select Start-up > Calibrate > Tool > XYZ 4-point.
Assign a number and a name for the tool to be calibrated. Confirm with Next.
Move the TCP to a reference point. Press Calibrate. Answer the request for confirmation with Yes.
Move the TCP to the reference point from a different direction. Press Calibrate. Answer the request
for confirmation with Yes.
Repeat the procedure thrice.

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

1.5. HOME POSITION

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