4.3 Demo

The following procedure will help to teach you to learn and practice robot programming. In the actual mold robot program, depending on your actual situation and set the servo axis position, and setting the correct sequence with the injection molding machine.

4.3.1 Command

The procedure used to pick products and feed tail, the robot stays at the top of the mold injection molding machine and waits for the mold opened signal. When injection molding machine mold opened, arms go down and pick products and feed tail, then lay feed tail to the crusher, put down the product to the conveyor, which moving every mold cycle.

4.3.2 Actions

  • Turn to auot-mode.
  • Arms run to start point waiting for mold opened signal.
  • Suck 1 for product, fixture for feed tail.
  • Arms go outside injection mold machine, and enable mold close signal.
  • Lay feed tail
  • Put down the product to conveyor and start moving for 3 seconds.
  • Arms return to waiting point.

4.3.3 Program

Home X1: 0.0         Speed: 30        Delay Time: 0.00
Home Y1: 0.0         Speed: 30         Delay Time: 0.00
Home  Z: 0.0         Speed: 30         Delay Time: 0.00
Home X2: 0.0        Speed: 30        Delay Time: 0.00
Home Y2: 0.0        Speed: 30        Delay Time: 0.00
Home         Vertical posture        Delay Time: 0.00
  1. Wait: Mold Opened Delay Time: 0.00
  2. Y1: 850.0     Speed: 90     Delay Time: 0.00
  3. X1: 400.0     Speed: 90     Delay Time: 0.00
  4. Y2: 850.0     Speed: 90     Delay Time: 0.00
  5. X2: 400.0     Speed: 90     Delay Time: 0.00
  6. Sucker1 On     Delay Time: 0.00
  7. X1: 0.0     Speed:90     Delay Time: 0.35
  8. Y1: 0.0     Speed:90     Delay Time: 0.00
  9. X2: 0.0     Speed:90     Delay Time: 0.35
  10. Y2: 0.0     Speed:90     Delay Time: 0.00
  11. Sucker1 Begin - cut
  12. Lock Mold On     Delay Time: 0.00
  13. Horizontal Posture     Delay Time: 0.00
  14. Z: 1000.0     Speed:90     Delay Time: 0.00
  15. Y1: 800     Speed:90     Delay Time: 0.00
  16. Y2: 800     Speed: 90     Delay Time: 0.00
  17. Sucker1 OFF     Delay Time: 0.00
  18. Y1:0.0     Speed: 90         Delay Time: 0.25
  19. Y2: 0.0     Speed: 90     Delay Time: 0.25
  20. Conveyor On     Times: 1     Action Time: 3.00
  21. Z: 0.0     Speed: 90         Delay ime: 0.00
  22. Vertical   Posture         Delay Time: 0.00
  23. Mold End         Dealy Time: 0.00