TM2243_YS24SeriesReleaseDocument - 第49页

MDOC-SOFT50032 49 4. 2  P alletS e tPositio nControl +YB +AH 1 +YB +AH 1 +YB +AH 1 Pall etSet Stan dardPo sition Pall etSet (The 1stRow) Pallet Set(T he2 ndRo w) *Ta rgetpic kposit i on Y forhe adun…

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4.1Layout
*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
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4.2Pallet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
HookAxisMove
PickOriginPositionYforHeadUnitB
(=ThecenterYforrecognition
ofrearmulticamera)
PalletSetOriginPositionforHook
TargetPickPositionYforHeadUnitBisfixed.
(=PickOriginPositionYforHeadUnitB)
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4.3Utility/TeachingOperation
*Palletsaresetasfollows,inthecaseofPalletSetin[Unit]-[AutoTC].
*Palletsaresetasfollows,inTracetothepickpositionforthepartssuppliedfromATS.
AndtheteachingunitofheadunitBmovesoverthepartswhichtraycountis(1,1).
*Therelationshipbetweenthearrowbuttonsforteachingandthedirectionofaxis
areasfollows.(SimilarinCursorTeach,PitchTeach,andso on.)
A
B
C
D
CD
A
B