TM2243_YS24SeriesReleaseDocument - 第48页

MDOC-SOFT50032 48 4. 1  La yout *Only headun itBc ana ccessto pulled pal letfrom sAT SII. Onlyh eadu nitBca npic kthe part ssuppl i ed fro msAT SII, an dheadu nitBc an dodump a ctiontothe…

MDOC-SOFT50032

4.sATSII

4.1Layout

4.2PalletSetPositionControl

4.3Utility/TeachingOperation

4.4SlideMechanisminMaintenance

4.5Others

MDOC-SOFT50032

4.1Layout

*OnlyheadunitBcanaccesstopulledpalletfromsATSII.

OnlyheadunitBcanpickthepartssuppliedfromsATSII,

andheadunitBcandodumpactiontothepalletofsATSII.

+AH1

+AZ1

+AH1

Magazine115Pallets

Magazine215Pallets

MDOC-SOFT50032

4.2PalletSetPositionControl

+YB +AH1

+YB +AH1 +YB +AH1

PalletSetStandardPosition PalletSet(The1stRow) PalletSet(The2ndRow)

*TargetpickpositionYforheadunitBisfixed,whenYposition oftraycounterchanges.

ThehookAxis(AH1)iscontrolledtomove.

Bythiscontrol,thetraypartscanbepickedupwithoutdisturbingthemountactionofheadunit.

VmSpec-[MachineData]

-[TrayChanger]-[Position]

VmSpec-[MachineData]

-[TrayChanger]-[AxisSoftLimit]

HookAxisMove

PickOriginPositionYforHeadUnitB

(=ThecenterYforrecognition

ofrearmulticamera)

PalletSetOriginPositionforHook

TargetPickPositionYforHeadUnitBisfixed.

(=PickOriginPositionYforHeadUnitB)