Application examples
COMPAX-M/S
External data record selection
228
To move one particular workpiece to the data collection station, the number of the station in question is first
set on the BCD switch. The process is then triggered by a start pulse. To do this, the BCD switch setting
must remain the same until the start of the first axis movement. The lowered workpiece pick-up is positioned
under the station which is specified by the BCD switch. When the workpiece pick-up is raised, the front
workpiece is taken out of the station. The axis returns to the data collection station. The workpiece pick-up is
lowered there. The workpiece is thereby deposited in the data collection station. COMPAX now waits for the
next transportation process.
Programming:
Configuration:
P93 = +1 i.e. normal operating mode (absolute and relative positioning)
Names of inputs and outputs:
I7
pick-up raised
0
#
no
1
#
yes
I8
pick-up lowered
0
#
no
1
#
yes
O7 raise pick-up
0
#
off
1
#
on
O8 lower pick-up
0
#
off
1
#
on
List of programs:
N001: SPEED 50 ............................................... ;sets the speed
N002: ACCEL 500.............................................. ;sets the acceleration and braking ramps
N003: OUTPUT O7=0 ........................................ ;pick-up raise function = off
N004: OUTPUT O8=0 ........................................ ;pick-up lowering function = off
N005: POSA -60................................................. ;moves to data collection station
N006: IF I8=0 GOSUB deposits workpiece (36). ;if pick-up is not lowered: deposits workpiece
Wait for START: ........................................... ;mark
N007: WAIT START ........................................... ;waits for the start pulse
N008: GOSUB EXT............................................ ;calls up the corresponding inputs I9-I16 for the sub-program
N009: GOSUB raises workpiece (32)................. ;calls "Raise workpiece" sub-program
N010: POSA -60................................................. ;proceeds to data collection station
N011: GOSUB deposits workpiece (36)............. ;calls up "Deposit workpiece" sub-program
N012: GOTO waits for START (7)...................... ;goes to data record N007
........................................................................... ;Link table for external data record selection
N016: POSA 120................................................ ;proceeds to station 0
N017: RETURN.................................................. ;returns to main program
N018: POSA 240................................................ ;proceeds to station 1
N019: RETURN.................................................. ;returns to main program
N020: POSA 360................................................ ;proceeds to station 2
N021: RETURN.................................................. ;returns to main program
N022: POSA 480................................................ ;proceeds to station 3
N023: RETURN.................................................. ;returns to main program
N024: POSA 600................................................ ;proceeds to station 4
N025: RETURN.................................................. ;returns to main program
N026: POSA 720................................................ ;proceeds to station 5
N027: RETURN.................................................. ;returns to main program
N028: POSA 840................................................ ;proceeds to station 6
N029: RETURN.................................................. ;returns to main program
N030: POSA 960................................................ ;proceeds to station 7
N031: RETURN.................................................. ;returns to main program
Raise workpiece : ......................................... ;mark
N032: OUTPUT O7=1 ........................................ ;activates "Raise" solenoid valve
N033: IF I7=0 GOTO 33..................................... ;waits until workpiece pick-up is raised
N034: OUTPUT O7=0 ........................................ ;deactivates "Raise" solenoid valve
N035: RETURN.................................................. ;returns to main program
Deposit workpiece : ...................................... ;mark
N036: OUTPUT O8=1 ........................................ ;activates "Lower" solenoid valve
N037: IF I8=0 GOTO 37..................................... ;waits until the workpiece pick-up is lowered
N038: OUTPUT O8=0 ........................................ ;deactivates "Lower" solenoid valve
N039: RETURN.................................................. ;returns to main program
