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Palletizer for AUBO Robots - Installation Manual
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Ver. 1.7
Case 1: Single Conveyor I/O
Inputs:
DI_01: Photoelectric pallet sensor 1, low signal = Pallet1 placed correctly
DI_02: Photoelectric pallet sensor 2, low signal = Pallet2 placed correctly
DI_03: Photoelectric sensor at pickup position for line 1 (stacking on pallet 1), low signal = product
ready for pickup
DI_04: Photoelectric sensor for line 1 double pick (stacking on pallet 1). Low signal = extra product
ready for pickup.
DI_011: Photoelectric sensor for sheet detection, low signal = sheet ready.
Case 2: Double Conveyor I/O
Inputs:
DI_01: Photoelectric pallet sensor 1, low signal = Pallet1 placed correctly
DI_02: Photoelectric pallet sensor 2, low signal = Pallet2 placed correctly
DI_03: Photoelectric sensor at pickup position for line 1 (stacking on pallet 1), low signal = product
ready for pickup
DI_04: Photoelectric sensor for line 1 double pick (stacking on pallet 1). Low signal = extra product
ready for pickup.
DI_05: Photoelectric sensor at pickup position for line 2 (stacking on pallet 2), low signal = product
ready for pickup
DI_06: Photoelectric sensor for line 2 double pick (stacking on pallet 2). Low signal = extra product
ready for pickup.
1
DI_011: Photoelectric sensor for sheet detection, on sheet station 1, low signal = sheet ready.
DI_012: Photoelectric sensor for sheet detection, on sheet station 2, low signal = sheet ready.
1
Note:
Is only used when the robot performs a double pick. Both photocells at the conveyor must
be active before a double pick can be performed.
