13 - Programming a Pneumatic Robot - Fall 09

13 - Programming a Pneumatic Robot - Fall 09 - MFET 243...

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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 1 Programming a Pneumatic Robo with a PLC MFET 243 Robot with a PLC Fall ‘09 Topics Introduction to the CIMT Pneumatic Robots Configuring RSLogix 5000 PLC Sequencer Instructions 2 Time Driven Sequences using the SQO (Sequencer Output) Instruction
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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 2 Introduction to the CIMT Pneumatic Robots Pneumatic robots are located on droplines 2, 4, and 6 DL2 DL4 DL6 TL Panel Trunk line (TL) 4 DL1 DL3 DL5 Drop line (1 of 6) Transfer zone (1 of 3)
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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 3 Pneumatic Robot at Dropline 6 5 The X, Y and Z axes – X axis extended Y X 6 Z Current arm position : X axis: Extended Y axis: Retracted (home) Z axis: Retracted (home)
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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 4 The X, Y and Z axes – Y and Z axes extended Y Z X 7 Current arm position : X axis: Retracted (home) Y axis: Extended Z axis: Extended Pneumatic Robot - Gripper Grippe Wrist 8 Gripper
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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 5 Allen-Bradley Flex I/O Flex Communications adaptor > Provides a communications link back to the ControlLogix PLC > Comm options: Ethernet, DeviceNet, ControlNet, or Universal Remote I/O (Universal RIO is currently used) 9 Flex I/O Modules > Can have up to 8 modules (2 modules shown) > Is a chassis-less system > DIN rail mounted Flex I/O (Universal Remote I/O) 1794-ASB, Remote I/O Adapter 1794-IB16, DC Input Module (slot 0) 10 16 DC inputs (sensors) 1794-OA8, AC Output Module (slot 1) 8 AC outputs (pneumatic valves)
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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 6 Inductive Proximity Sensor Sensor Metal “flag” 11 Inductive proximity sensors sense the presence or absence of metal. Sensors indicate if the axis is retracted (home) or extended. Sensors are wired to the 1794-IB16 input module. Sensors are available on the X, Y, & Z axes (not the wrist or the gripper) Inductive Proximity Sensor 12 Quick disconnect connector LEDs indicate if sensors output is on
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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 7 Pneumatic Solenoid Valves and Manifold Exhaust Air lines to/from cylinders 13 Air supply Solenoid wired to PLC output Pneumatic Solenoid Valves and Manifold The X and Y axes are controlled by double solenoid valves - each axis requires two PLC outputs (similar to the requires two PLC outputs (similar to the shot pins located at each dropline) 14 All other cylinders (Z, wrist, & gripper) are controlled by single solenoid (spring return) valves
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MFET 243, Automated Manufacturing I 11/11/2009 Programming a Pneumatic Robot with a PLC 8 Pneumatic Solenoid Valves and Manifold 15 Manual overrides can be used for troubleshooting purposes (manually override any of the PLC outputs) NOTE: Please do NOT adjust manual overrides (unless instructed to do so) Pneumatic Robot Dropline Panel
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13 - Programming a Pneumatic Robot - Fall 09 - MFET 243...

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