Standalone Conveyor Operation

Let's create a conveyor system using a conveyor object and a detection area object corresponding to a sensor.

In this example, when the sensor detects a workpiece (part) moving on the conveyor, the conveyor stops, and the robot moves the workpiece (part) from the conveyor to the table using a Pick & Place operation.

Procedure overview

1. Create a virtual controller and configure a robot
2. Create a project
3. Add an object corresponding to the workpiece (part)
4. Add and configure an object corresponding to the table
5. Add and configure a conveyor object
6. Configure and verify the supply settings for the conveyor object
7. Add and configure a detection area object
8. Create and run a program

Procedure details

1. Preparation

   1. Create a new virtual controller connection.
      In system configuration, set Robot 1 to "GX8-C652S" (name: robot1).

   2. Create a new project named "Conv_Sensor".

   3. Add a Box object (SBox_1) corresponding to the workpiece (part) transported by the conveyor, and configure it as follows.

      • Change it to any color.
      • Position setting (Position X, Y, Z): 550, 550, 25 (Move it to a location where it will not interfere with the work.)

   4. Add a table (Box object) where the workpiece (part) will be placed, and configure it as follows.

      • Object name (Name): Table
      • Size setting (Half size X, Y, Z): 40, 300, 50
      • Position setting (Position X, Y, Z): 550, 0, 50

   5. Add a conveyor object and configure it as follows.

      • Position setting (Position X, Y, Z): 400, 0, 100
      • Orientation setting (Rotation Z): 90
      • Size setting (Half size Height, Width): 500, 100

   6. Configure the supply settings for the workpiece (part).

      1. Click the "Operation" - "Supply" property of the conveyor object added in the previous step.
      2. In the displayed Supply Setting dialog box, select [Enable Supply].
      3. Set [Base Object] to "SBox_1", which was added in the previous step.
      4. Set both [Min] and [Max] under [Interval] to "3.000".
      5. Set [Z] under [Offset] to "26.000".

      

   7. Add the detection area object "DetectionArea_1" corresponding to the sensor, and configure it as follows.

      • Position setting (Position X, Y, Z): 400, -30, 125
      • Orientation setting (Rotation Z): 90
      • Sensor setting (Sensor - IO Type): Input
      • Sensor setting (Sensor - IO Number): 10
      • Sensor setting (Sendor - Duration): 1

   8. Save the Simulator settings (Ctrl + S).

      

2. Check the motion

   Follow the steps below to check whether the workpiece (part) is detected correctly.

   1. Open the Conveyor Operation Panel.

   2. Start the conveyor object operation to transport the workpiece (part).

   3. Confirm that the color of the detection area object changes when the workpiece contacts it.

      

   4. After confirming that the workpiece (part) is detected correctly, delete the workpiece (part) from the conveyor.

   5. Right-click the conveyor object and select [Delete All Children].

      

3. Create a program

   Create the following program as Main.prg.

   Function main
      SimSet Conveyor_1.ClearSupply
   
      Motor On
      Power High
      Speed 100
      Accel 100, 100
   
      Integer i
      String name$
   
      TmReset 0
   
      For i = 1 To 10
    	   SimSet Conveyor_1.Start
    	   Wait Sw(10)
    	   SimSet Conveyor_1.Stop
    	   Wait 0.5
   
    	   Jump XY(400, 0, -135, 0)
   
    	   name$ = "Conveyor_1_" + Str$(i)
    	   SimSet robot1.Pick, name$
   
    	   Jump XY(550, i * 60 - 320, -135, 0)
   
    	   SimSet robot1.Place, name$, Table
       Next
   
       Print "Finished, ", Tmr(0), "[s]"
   Fend
   

4. Run the program

   1. Click the [Run Window] button on the toolbar to display the Run window.

   2. Click the [I/O Monitor] button on the toolbar to display the I/O Monitor.

   3. In the Run Window, select the function "main", and then click the [Start] button.

   4. You can confirm changes in input bit 10 based on the properties set for the detection area object.