MACHINES

ROBOT
 ROBOT

VACCUM DELAY

ROBOT SPEED
 Device Action

Cylinder 1 Align Input BOX (SUB+REAR) FOR/BACK

Cylinder 2 Align Input BOX (SUB+REAR) FOR/BACK

CNV1: Cylinder Stopper 1 FOR/BACK

CNV1: Cylinder Stopper 2 FOR/BACK

CNV1: Cylinder Stopper 3 FOR/BACK

CNV1: Cylinder Stopper 4 FOR/BACK

CNV1: Cylinder Stopper 5 FOR/BACK

CNV1: Cylinder Push Align1 FOR/BACK

CVN1: Cylinder Push Align 2 FOR/BACK

CNV1: Cylinder Push Align 3 FOR/BACK

CNV1: Cylinder Push Align 4 FOR/BACK

UP/DOWN
Align Support RB2 Put (Sub+Rear)
OPEN/CLOSE
UP/DOWN
Align Support RB3 Put (Accessories)
OPEN/CLOSE

Align Support RB4 Put (Soundbar) UP/DOWN

GRIPPER RB1 (PICK Sub+Rear) OPEN/CLOSE

Cylinder Vaccum RB1 (PICK Sub+Rear) UP/DOWN

Gripper RB2 (PUT Sub+Rear) OPEN/CLOSE

Gripper RB3 (ACC Box) OPEN/CLOSE

Cylinder Vaccum RB3 (ACC Box) UP/DOWN

Gripper RB4 (Soundbar) OPEN/CLOSE

CNV2: Align (Soundbar) FOR/BACK

Converyor Speed
Cylinder Vaccum RB4 (Soundbar) UP/DOWN

Rear Palet
Pich Rear box
Pich Sub box
ROBOT1:Pick Sub+Rear Put Rear box
(Waiting time for other devices is not included)
Put Sub box
All Time
Pick
ROBOT2:PUT sub+rear
(Waiting time for other devices is not included)
 ROBOT2:PUT sub+rear Put
(Waiting time for other devices is not included)
All Time
Pick and Read barcode(0,5 second)
ROBOT3: Pick and put Accessories Put+Read barcode (0.5 second x2)
(Waiting time for other devices is not included)
All Time
Put (souldbar + label)+Read barcode(0.5)
Robot 4 : Pick and Put Soundbar Pick souldbar + Pick label
(Waiting time for other devices is not included)
All Time

Velocity TCP (Linear)

V_Fast ( when the Robot does not keep the product) 4000 mm/s
V_mid (when the Robot keep the product) 1500 mm/s

V_Slow(when Robot Pick up or Put down) 150 mm/s

Tactime(Second) Layout change
0.5
0.5
0.3
0.3
0.3
0.3
0.3
0.5
0.5
0.5
0.5
1.2
1.2 Down 160 mm All support part
1.2
1.2
1.2 Down 100 mm All support part
0.5
0.7 Down 100 mm All support part
0.5
0.5
0.5
0.5
0.5
500 mm/s
0.5
Move 300mm right
6.6
4.9
2.5
3.7
17.7
2.07 Move 200mm right
3.06
6.12
10.15
9.3
19.4
4.82
1.2
6
0.5

Velocity orientation(TCP Turn)

1500 degrees/s
800 degrees/s
100 degrees/s