CP43操作手册.pdf.pdf - 第86页
Chapter 1 Automatic Operation Part 2 1.10 Parts Rotation: (P θ : Pre-theta, F θ : Fine theta) On the FCP IV -3, parts are r otated in two stages: the P θ and F θ. When large parts ar e rotated fast, there can be slippage…
Chapter 1 Automatic OperationPart 2
1.9 Scheduled Production Run
The operator can set the scheduled production run quantity either in the
program or by using the [QTY. SET] command.
If the number has been set in the program, the program must be
transmitted from the MCS 30 supervisor computer to the machine.
Moreover, once the scheduled production run is completed, the program
must be retransmitted for the next run, so the machine command is the
method more often used.
Note: The scheduled production run quantity can be set from 0 to 30,000. If 0
is chosen, the machine will continue to operate indefinitely.
When the scheduled production run is completed the machine stops and
displays the messages “Production Complete” and "RESET SW."
When the [RESET] button is pressed, the message “Ready” appears. If the
operator tries to start automatic operation at this point the message
“Production Complete” appears and automatic operation cannot be
executed. To continue production the operator should enter 0 as the
scheduled production number.
Note: The scheduled production quantity set in a program and the production
quantity actually completed are stored in memory if changeover to a
different program takes place. These values are once again enabled if
production using this program begins again.
When the communication mode with the MCS 30 computer is in Off Line
mode, the production quantity is not counted.
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FCP IV-3 Operation
Chapter 1 Automatic OperationPart 2
1.10Parts Rotation: (Pθ: Pre-theta, Fθ: Fine theta)
On the FCP IV-3, parts are rotated in two stages: the Pθ and Fθ. When
large parts are rotated fast, there can be slippage between the part and the
nozzle. To minimize this slippage, these parts are rotated in two stages.
The stages are explained below.
(1) At Station 2, the machine determines from the program whether to
rotate 90˚, -90˚ or not at all.
(2) At Station 3, the rotation is actually done, finishing the pre-theta stage.
(3) At Station 4, the part is inspected by the parts camera.
(4) At Station 6, the results of vision processing are used to rotate the
nozzle, fine-tuning the rotation done in the pre-theta stage. This is the
fine theta stage.
(5) At Station 7 the part is placed.
1.11 Compensation When Picking Parts
In order to continually be able to pick parts at the center of each part, the
FCP IV-3 compiles statistics on how far off center in the X direction parts
are being picked. This information is then used to correct the pickup
position of parts subsequently picked from the same device position. The
three types of compensation are described below.
• Automatic Offset
The results of vision processing are processed statistically and the
pickup point is changed accordingly. When a program is corrected
from the MCS 30 computer or the [CHANGE] command is used to
change the program the offset value will be completely cleared.
This value is calculated automatically inside the machine and the user
cannot change it.
• Device Offset in Proper data (Device Offset 1 ~ 160)
If automatic offset is not functioning efficiently after a program has
been changed, such that pickup from a specified device number is not
possible, then Device Offset in Proper data can be set to allow pickup.
Moreover, once Device Offset has been set so that pickup is possible,
then the automatic offset operates to calculate the center of the part.
• Parts Picking Offset in Part data
When a part cannot be picked because of its shape, an offset can be
specified in Part data to allow pickup. Moreover, after the offset part
is set so that it can be picked, the automatic offset operates to calculate
the center of the part.
2 – 18Version 2.0
FCP IV-3 Operation
Chapter 1 Automatic OperationPart 2
1.12 Compensation When Placing Parts
A total of 36 nozzles can be fitted onto the FCP IV-3. Each nozzle's center
of rotation is usually slightly off center. There are also problems with
slippage of the part. This deviation is compensated for during placing.
• Nozzle X Offset
Movement of the nozzle center in the X direction during rotation is
compensated.
• Nozzle Y Offset
Movement of the nozzle center in the Y direction during rotation is
compensated.
• Nozzle Proper data X (SA Place Offset X ~ LL Place Offset X)
Deviation of the X coordinate placing point is compensated in the
machine.
• Nozzle Proper data Y (SA Place Offset Y ~ LL Place Offset Y)
Deviation of the Y coordinate placing point is compensated in the
machine.
Note: Refer to Part 3, Section 3 for command page information concerning
nozzle center measurement.
2 – 19Version 2.0
FCP IV-3 Operation