Reference no: EM132563874

Offline PLC-Robotic Programming
Watch the Car Assembly video by following the link below, you will be creating the pickup and dropoff programs for the material handling robot featured from 4 min. 30 seconds until 5min. You will also need to write the PLC program code that will be needed to control this robots proc.

PLC Control
When the 3 sensors detect that the 3 roof crossmembers are in the transfer fixture and that Robot 1 is not in the Transfer Fixture Zone then the PLC will send a signal to Robot 2 to pickup the parts.

If both Robot 1 and 2 are in the Transfer Fixture Zone then an Alarm Light and Safety Stop output will turn on. If Robot 2 sends an Alarm signal the Alarm Light and Safety Stop should also turn on.

Robot 2 will be allowed to enter the Car Assembly Zone if the 2 sensors detect that the car is in place and Robots 3, 4, 5, and 6 all are clear of the Car Assembly Zone.

The car assembly Fixture Clamp(seen closing at 4min 40s) will close when Robot 2 sends the At Assembly Position signal.
When the Fixture Clamps are closed then Robot 2 will be told it can close its Secondary Grippers (seen closing at 4min 42s).
Robots 3, 4, 5, and 6 will each get the Okay to Weld signal when Robot 2 has completed closing its Secondary Gripper.
Each spot welding robot will send a signal to the PLC when the robot has completed the spot welds on the crossmembers, when the PLC has received all signals then the Fixture Clamps will open.

When the Fixture Clamps are opened then Robot 2 will be given the Process Complete signal so it can open its grippers and return home.

Robot 2 Control - Pickup Routine - you can use OrangeEdit software and the .SRC files provided or just type in Word.

When you open or close the gripper always make sure to verify that the gripper is open or closed before moving.

Use the Zone signals from the PLC to proceed through different parts of your program, and make sure to tell the PLC you are entering a Zone before you go to move into the Zone and that you've left the Zone after you have moved out of the Zone to prevent crashes.

The robot should check its 3 Part Present sensors are on to verify the crossmembers are there before closing its Gripper, and verify again when it's moved to make sure it has all three parts in the gripper.

Robot 2 Control - Dropoff Routine

Make sure the Secondary Gripper is open before getting to the Assembly Position because the robot will tell the PLC when it is at the Assembly Position so the PLC can close the Fixture Clamps, then the robot will close its Secondary Gripper - if it's not done in this order then there will be a collision.

When the robot sees that the Secondary Gripper is closed it will give the Secondary Complete signal to the PLC so the Spot welding robots can start their programs. The robot will open both the Gripper and Secondary gripper then move home after it receives the Process Complete signal.

Attachment:- Offline PLC-Robotic Programming.rar