[version en cours de rédaction] | [version en cours de rédaction] |
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− | <translate>= Mechanical Setup = | + | <translate>=Mechanical Setup= |
+ | This gripper design has two gripper switch inputs. This design was implemented to ensure the system can load a bar with an uneven or angled cut on the end. The sensors are activated by a long stroke on a spring, which has at least 10mm range of movement. | ||
+ | <br /> | ||
+ | {| class="wikitable" | ||
+ | |+Gripper sensors | ||
+ | !Sensor | ||
+ | !Function | ||
+ | |- | ||
+ | |Grip Min | ||
+ | |Senses that a profile is gripped in the jaws. It should be active just after the spring is depressed | ||
+ | |- | ||
+ | |Grip Max | ||
+ | |Activates when profile hits "end stop" of gripper mechanism whn loading. This ensures a reliable datum point. It should be active when the spring is fully depressed | ||
+ | |- | ||
+ | | | ||
+ | | | ||
+ | |} | ||
− | = Software Process = | + | =Software Process on Machining Centre side= |
− | |||
{| class="wikitable" | {| class="wikitable" | ||
|+ | |+ | ||
Ligne 21 : | Ligne 36 : | ||
|- | |- | ||
|2 | |2 | ||
− | |Wait for gripper max input (completely bottom out gripper) | + | |Wait for gripper max input |
− | + | |(completely bottom out gripper) | |
|- | |- | ||
|3 | |3 | ||
Ligne 33 : | Ligne 48 : | ||
|- | |- | ||
|5 | |5 | ||
− | |Move to loadingpos | + | |Move to loadingpos |
− | |Pushes profile back to | + | |Pushes profile back to |
|- | |- | ||
|6 | |6 | ||
− | |Clutch on | + | |Clutch on |
|holds profile steady | |holds profile steady | ||
|- | |- | ||
+ | |7 | ||
+ | |Wait for trim Pause | ||
| | | | ||
+ | |- | ||
+ | |8 | ||
+ | |Move x axis to loadingpos+200mm | ||
+ | |Clear of tooling head | ||
+ | |- | ||
+ | |9 | ||
+ | |Run datum hole routine | ||
+ | | | ||
+ | |- | ||
+ | |10 | ||
+ | |Move to loadingpos | ||
+ | | | ||
+ | |- | ||
+ | |11 | ||
+ | |Grip | ||
| | | | ||
+ | |- | ||
+ | |12 | ||
+ | |Wait for grip on time | ||
| | | | ||
+ | |- | ||
+ | |13 | ||
+ | |Check that grip min switch is active | ||
+ | |Ensure the bar is gripped | ||
+ | |- | ||
+ | |14 | ||
+ | |Grip lock on | ||
+ | |Locks the gripper in its current position so it does not force the profile to "wheelie" | ||
|} | |} | ||
<br /></translate> | <br /></translate> | ||
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+ | |Language=en | ||
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|IsTranslation=0 | |IsTranslation=0 | ||
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How to set up a gripper on a Flowline Mk3 with a Toothed Gripper
Auteur Gareth Green | Dernière modification 18/07/2023 par Gareth Green en cours de rédaction ⧼frevu-button-review-label⧽
How to set up a gripper on a Flowline Mk3 with a Toothed Gripper
Gripper, Grip Lock Gripper_Mechanical_Setup_-_Flowline_Mk3_Toothed_Gripper_R0015147B.jpg
This gripper design has two gripper switch inputs. This design was implemented to ensure the system can load a bar with an uneven or angled cut on the end. The sensors are activated by a long stroke on a spring, which has at least 10mm range of movement.
Sensor | Function |
---|---|
Grip Min | Senses that a profile is gripped in the jaws. It should be active just after the spring is depressed |
Grip Max | Activates when profile hits "end stop" of gripper mechanism whn loading. This ensures a reliable datum point. It should be active when the spring is fully depressed |
Step | Action | Notes |
---|---|---|
1 | Move to loadingpos plus 5mm | |
2 | Wait for gripper max input | (completely bottom out gripper) |
3 | Wait for gripper to be within 0.25mm of expected position and 100ms to pass (to allow system to settle) | |
4 | Clutch and material load motor off | |
5 | Move to loadingpos | Pushes profile back to |
6 | Clutch on | holds profile steady |
7 | Wait for trim Pause | |
8 | Move x axis to loadingpos+200mm | Clear of tooling head |
9 | Run datum hole routine | |
10 | Move to loadingpos | |
11 | Grip | |
12 | Wait for grip on time | |
13 | Check that grip min switch is active | Ensure the bar is gripped |
14 | Grip lock on | Locks the gripper in its current position so it does not force the profile to "wheelie" |
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