3.2. Examples of Handling Injection Molded Products
3.2. Examples of Handling Injection Molded Products
The job procedure of handling injection molded products with the use of the ServoFree function is as follows.
(1) Move a robot to the position of P1 so as to pick up injection molded products.
(2) Close a gripper and pick up the injection molded products.
(3) Set up initial conditions of ServoFree and activate the ServoFree function.
(4) Deliver the command of starting injection molding to the injection molding machine.
(5) While the ejector of injection molding machine is pushing the products, push the machine
along in the established direction. (P1→P1')
(6) Wait for the signal which indicates the completed injection molding operation.
(7) Terminate the ServoFree function.
(8) Transport the injection molded products to the position of P2.
Figure 3.2 Job of Handling the Injection Molded Products
The JOB programs involved in the jobs above are as follows
Division | Program |
Move to Injection Molding Machine | MOVE P,P1,S=50%,A=1,T=1 |
Close Gripper | DO1=1 |
Delay | DELAY 2.0 |
Set up Conditions of ServoFree & Start Functions | LIMIT POS,+Y=500 LIMIT VEL,Y=300 ServoFree ON,CRD=1,DIR=+Y,GAIN=50,F=50 |
Direct the Start of Injection molding | DO10=1 |
Completed Injection on Standby | WAIT DI1 |
Function Ends | ServoFree OFF |
Transport the Injection Molded Product | MOVE P,P2,S=100%,A=1,T=1 |