SWITEK IML Robot Instruction -- SigmaTek -- Appendix 2 Teaching compiling

Abstract

With the control system developed by the Austria automatic company SIGMATEK GmbH & Co KG, SWITEK high speed side entry IML robot is providing a more efficient and outstanding performance for your quality bulk production of the IML Yogurt Cups.

Appendix 2 Teaching compiling

Programs run from the top down; they can jump to the corresponding label part when they need to jump, or they run from the top down.
Example 1: Uniaxial running cyclically:
Motion logic: SX1 run to 0; delays 1s, SX1 run to 100mm, delay 1s, SX1 run to 0 …… Repeatedly like this manner
Key icon: Label Mark, SX1 run, Delay, Label Mark Jump
Program can be compiled as the below picture:

Example2: Standby/Stacking/Get Label
For the reason that the corresponding parameters about Standby/Stacking/Get Label need to be set in single page, it just need to drag the relative icons to the teaching compiling. As shown in the below picture:

Example 3: Output cyclically/Cut off the first output:
Motion logic: output 1 on; output 1 off; output 1 on …… repeatedly like this manner Key icon: Label Mark, Set Output, Label Mark Jump
Program can be compiled as the below picture:

Example 4: Wait Input 1 on/off, then run the next step:
Motion logic: Wait Input 1 on, SX1 run to 200mm; Wait Input 2 off, SX1 run to 0 mm
Key icon: Wait Input, SX run
Program can be compiled as the below picture:

Example 5: Transfer subprogram, Wait subprogram, Run the next step:
Motion logic: Transfer subprogram 2, wait subprogram 2, then SX1 run to 1000mm
Key icon: Execute Program, SX1 run, Wait Program
Program can be compiled as the below picture:

Example 6: The former 3 groups of production, lay by the Stacking 1; the rest production, lay by the Stacking 2.
Motion logic: Estimate the amount of variable 1 whether or not more than 3; if more than 3, label mark jump to the program of Stacking 2; if less than 3, run the next step straight (Stacking 1 program); after finishing stacking, variable 1 increases 1 (as 0 former, increasing to 1; as 1 previously, increasing to 2); program will jump to Label Mark after variable increasing, or it will run the next step continue.
Key icon: Label Mark, VariableJump, Stacking, Variable Increase (enumerative efect), Label Mark Jump
Program can be compiled as the below picture:

Example 7: Stacking lays 10 productions firstly, and it will lay another 10 productions more when the conveyor goes ahead 10s. Then goes on as the above method …
Motion logic: Estimate the amount of variable 1 whether or not more than 10; if more than 3, label mark jump to the program of conveyor; if less than 10, return to restart the new steps;
Notice: If program needs stacking renewedly at the begin, variables need to be cleared into 0 before the cyclical motion. If not, these variables will base the former scale on counting when the program restart. This situation can result in the amount of production will not reach 10 at the first time of conveyor belt run.
Key icon: Label Mark, Stacking, Variable Increase (Count effect), Label Jump Mark
Program can be compiled as the below picture: