Description of the example

Introduction

The following example allows you to follow all the implementation phases of a TSX CFY axes control application. It complements the set-up methodologies.

Transfer Device

A transfer device removes parts coming out of machining. This device is made up of a claw that can move in space (X, Y axes) on a plane parallel to the ground.

As soon as a part appears on output conveyor belt A, the claw automatically goes to fetch it and put it on belt B or belt C according to the part type. Then the claw returns to the stand-by position and will move again as soon as a new machined part is detected.

The following figure illustrates this transfer device:

Inputs/outputs

The inputs/outputs are as follows:

I/O	Description
C1	Machined part detection cell
C2	Sensor to identify the part type.
C3	Grab open / grab closed detection sensor.
C4	Part edge detection cell (located in the grab), connected to the module’s event input.
ENC0	Incremental encoder in the X axis position.
ENC1	Incremental encoder in the Y axis position.
O/C grab	Open / close claw command.

SFC of the application

The sequential graph of the application is as follows:

Trajectory description

The following diagram shows the trajectory of the grab:

Reference point at speed Vp0,

Movement at speed Vret to the stand-by position (Xatt, Yatt) with stop,

Movement towards belt A (XA, YA) at speed VA, as far as detection of the machined part,

Movement towards conveyor B (XB, YB) at speed VB, with stop,

Movement towards conveyor C (XC, YC) at speed VC, with stop,

5, 7

Movement to waiting position (Xatt, Yatt) at speed Vret, with stop.

Front Panel of the Human-Machine Interface

The following controls grouped on a panel, allow you to drive the moving part manually when the installation has failed. The controls and the indicators are managed by a discrete input module and a discrete output module.

Auto/Man.

Operating mode selection switch.

Starting cycle

Executes the automatic cycle.

Stop cycle

Stops the automatic cycle.

Select axis X / Y

Selects axis to be driven in manual mode.

Reference point

Manual reference point on the selected axis.

Forward / Back

Control for manual movement of the selected axis in a positive or negative direction.

Fault

Indicator of all hardware faults and application errors.

Ack. Fault

Fault acknowledgement control.

Emergency stop

Immediate stop of the moving part whatever the selected mode.

Open grab

Control for opening grab.

Close grab

Control for closing grab.