Pick-O-Mat • PM1100 / PM1500 • R02-2014
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Product description
3.3 Movement sequence
3
3.3
Movement sequence
To control the Pick-o-Mat, all other switch and query points such as "start rotary indexing
table", "gripper open", "gripper closed", "query round table in pos." need to be controlled
in coordination with the insertion movements.
The position of the handling modules is signalled by a position encoder on the control
cam. Depending on the encoder type (absolute or incremental), absolute values (angle)
or increments are provided that need to be processed further by the controller.
The speed of the central drive is determined by the gear stage. The fine adjustment of
the number of cycles is determined by the frequency converter.
To control the gripper pneumatics, it is necessary to switch the pneumatic valves already
before the bottom dead centre because the dead time of the mechanism is too great at
the bottom compared to the dwell time. We recommend employing an absolute (stan-
dard) or incremental rotary encoder.
Figure 3 on page 13 displays the angle-time ratios at the central drive. The rotary inde-
xing table should be started at A. A query should be made at B whether the rotation is
ended. In case of a negative feedback, the central drive has to be stopped at about C to
stop the handling modules at D.
* Before the BACK position is reached, the central drive has to be stopped to avoid colli-
sions.
Fig. 3:
Cycle diagram
DOWN
UP
DOWN
UP
to grip
to deposit
FRONT Position
BACK
Position
BACK
FORWARD
Circuit time
Rotary indexing table
Time for special processing (screwing, pressing etc.)
BACK position
TOP
Handling
Vertical stroke
Handling
Horizontal stroke
Rotary indexing table
B
C
D
t
t
t
variable
*
variable
*
A
