Robot Integration Standard 1

CNC Bender can integrate to robots for both loading and unloading.

Formalization of Robot Specification

As of CNC Bender v11-20080725, we have standardized a robot specification that is useful for both LOAD and UNLOAD.

Logic Flow for Robot Type 1 Integration

You can view sample LOAD and UNLOAD logic here for our standard robot (type 1) integration.

	View Unload Logic PDF document
	View Load Logic PDF document

Command Setup for Robot Type 1

This chart shows an example of of the the command set that is used by CNC Bender to integrate to standard robots.

(Note that the input/output point assignment is for bender 16188. The assignment may vary slightly between benders. However, the COMDEF and CIO names will remaine the same):



The robot_check_fault secondary process is told to start just before the last bend begins, then told to disable at the start of the next cycle (next part). The process looks something like this:

[if] and, BeyondPowerOnTime=2000, input=Input_RobotFault_End
  [immediate_message]IMMEDIATE SHUTDOWN - Robot Fault - digital_input_205: 
  OutputControlOff
  [SECONDARY_PROCLIST] robot_check_fault, disable
[end]

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