Automatic Storage and Retrieval System - ASRS20 MPS. Manual

Transcription

1 Automatic Storage and Retrieval System - ASRS20 MPS Manual

2 Order no.: Description: Manual ASRS20 Designation: FMS50 / MPS Status: Author: Graphics: Layout: Wolfgang Eckart, ADIRO Automatisierungstechnik GmbH Wolfgang Eckart, Festo Didactic GmbH & Co Festo Didactic GmbH & Co Festo Didactic GmbH & Co., D Denkendorf, 2002 Internet: did@festo.com All rights reserved, including translation rights. No part of this publication may be reproduced or transmitted in any form or by any means, electronic, mechanical, photocopying, or otherwise, without the prior written permission of Festo Didactic.

3 Table of Contents 1 Commissioning Analysis Components identification Analysis Cable connections Analysis Input and Output adresses Analysis Input and Output adresses expanded Commissioning Download Project and Test Commissioning Home position of the X- and Z-axis Commissioning Homing and Reference position of the X- and Z-axis Commissioning Teach-In function 35 Festo Didactic GmbH & Co. MPS 1

4 1.1 Analysis Components identification Please list up all the sensors and actuators shown in the picture below (1 3). Name the elements with identification in the wiring diagram/pneumatic plan and describe shortly their function generally (not the function within the system). Information Please use the technical manual-data sheets, pneumatic plan and wiring diagrams. Please refer to the examples (Ex.1 Ex.3) mentioned below in the table of the execution work-sheet. Please follow the numbers (1 3) shown in the pictures below (Ex.1 is not shown in the graphics). Instructor: Show one example to the participants how to find an in- and output in the wiring diagrams and how to find the data sheet using the order number printed on the element itself. Show the participants at the station itself which components they have to identify. There are 4 different wiring diagrams for each station: the station itself (Station), the Control Panel (Panel), the PLC-board (PLC-board) and the Emergency-Stop (if available optional). Please use one of the Examples - Ex.2 or Ex. 3. Planning Please plan your project within the whole team carefully. Use the technical manual and the real station to do this project. Please describe the function of the element in general, not within the signal- and materialflow of the station. To find the data-sheet of the elements, please see the list of components first and check the order no. printed on the element itself. The time to finish this project should be around 1,5 hours. Festo Didactic GmbH & Co. MPS 9

5 Execution/Documentation Please complete the list regarding the elements shown and numbered in the pictures above. No. Name Ident. Description Page # Ex.1 Start-button S1 Push button with light on the Control Panel, normally open contact, connected to a PLC-input no data sheet Panel: inputs Ex.2 Reed-switch B17 Reed-switch, normally open contact, activated by a magnet ring in the piston rod of the gripper, send the information gripper is open to the PLC-input SME-8-K-LED-24 Station: inputs Station: pneumatic PLC-board: inputs Ex.3 Pneumatic 2A1 Double acting parallel gripper, HGP-16-A gripper actuated by 2 parallel acting cylinders Station: outputs inside, with magent ring for end- Station: pneumatic position detection, gripper power PLC-board: outputs 120 N open and 108 N close No. Name Ident. Description Page # 1 Reed-switch B13 Reed-switch, normally open contact, activated by a magnet, send the information Z-axes is down to the PLC-input SME-8-K5-LED-24 Station: inputs PLC-board: inputs 2 Pneumatic 1A1 Pneumatic rodless linear drive, double DGPL-18-PPV-A-GF-B Linear Drive acting with magnet, Y-axes to move the Station: outputs gripper forward/backward Station: pneumatic PLC-board: outputs 3 Electro- M1 Linear electromechanical drive unit with DGEL ZR-GK- mechanical toothed belt drive, free programmable KF-LB-RK Drive by using DC-servomotor with Station: outputs incremental transducing system, X-axes PLC-board: outputs 10 Festo Didactic GmbH & Co. MPS

6 1.2 Analysis Cable connections Please analyze the cable connections in your station and complete the drawing on the next page (Execution and Documentation). Information Please fill out all in the graphic and draw the connections. Use the real station to check the connections. The standard station don t have the Emergency Stop board, which is optional. Therefor all the following projects are defined without this board. Instructor: Please explain the structure of the PLC to the participants. Which adress have which module and which module have which function in controlling the process. Leave the cables all connected to help the participants. Show them also how to use the technical manual to find out the adress of the module. Please show the participants which steps and connections are necessary if the stations are coming with the Emergency Stop board and how to connect the Emergency switch buttons!!! Planning Please follow the explanations of the instructor first and then plan your activities step-by-step. Use the real station to find out all connections and identifications. Use also the technical documentation. The time to finish this project should be around 0,5 hours. Festo Didactic GmbH & Co. MPS 11

7 Execution/Documentation 12 Festo Didactic GmbH & Co. MPS

8 1.3 Analysis Input and Output adresses Please complete the below mentioned list of input- and outputadresses of the PLC. Please define your own symbol adress using max. 8 characters. Information To find out the adresses, please refer to the technical manual-wiring diagram for the station and the Control Panel. The inputs can also be checked directly at the PLC- LED s, the outputs not without a program. To move pneumatic actuators, please switch off the air-pressure and move them manually by hand. Please be very careful, move the actuators back before switching on the air-pressure again. Some pneumatic and the electrical actuators can not be moved in this way-the pneumatic components can be activated by the manual detection button on the valve (see picture) Instructor:show the participants how to find out an input and an output using the wiring diagrams. Show them why some actuators can not be moved by hand even without air- and power supply (DC-motors and 5/3-way valves) using the pneumatic plan to explain. Example: press 1 = vacuum is on, press 2 = vacuum is off Festo Didactic GmbH & Co. MPS 13

9 Planning Please plan your activities within your team. Check first, which actuator could be moved by hand and which not-use the technical documentation-pneumatic plan. Check the inputs in the wiring diagram and at the PLC. The time to finish this project should be around 0,5 hour. 14 Festo Didactic GmbH & Co. MPS

10 Execution/Documentation Please complete the list of the inputs and outputs of your station. I/O Station Adress Symbol Ident. Description I124.0 Zax_up B12 Z-axes is in up position I124.1 Zax_down B13 Z-axes is in down position I124.2 Xax_left B11 X-axes is in left position I124.3 Xax_righ B10 X-axes is in right position I124.4 Yax_back B14 Y-axes with gripper is in back position I124.5 Yax_frnt B15 Y-axes with gripper is in front position I124.6 Gri_clos B16 Gripper is closed I124.7 Gri_open B17 Gripper is open Q124.0 Xleft M1 X-axes move to the left Q124.1 Xright M1 X-axes move to the right Q124.2 Zup M2 Z-axes move up Q124.3 Zdown M2 Z-axes move down Q124.4 Yaxes Y1 Solenoid of the Y-axes=0=back pos. Q124.5 Gripper Y2 Solenoid of the gripper=0=closed Q124.6 Xfast X-axes fast motion Q124.7 Zfast Z-axes fast motion I/O Control Panel Adress Symbol Ident. Description I125.0 START S1 Start button I125.1 STOP S2 Stop button I125.2 AUTOMAN S3 Switch automatic and manual cycle I125.3 RESET S4 Reset button I125.5 EMERGEN S1N Emergency stop switch-reset with Quit-button Q125.0 L_START H1 Light inside the Start button Q125.1 L_RESET H2 Light inside the Reset button Q125.2 L_SPEC1 H3 Light no. 1 special function Q125.3 L_SPEC2 H4 Light no. 2 special function Festo Didactic GmbH & Co. MPS 15

11 I/O Communication Adress Symbol Ident. Description I125.4 PenOrder I4 Comm.input-Pending Order I125.6 OrdBit1 I6 Comm.input-Order Bit 1 I125.7 OrdBit2 I7 Comm.input-Order Bit 2 Q125.4 StokFull Q4 Comm.output-Stock is full Q125.5 Stokempt Q5 Comm.output-Stock is empty Q125.6 Ordactiv Q6 Comm.output-An oder is active Q125.7 Statread Q7 Comm.output-Station is ready The meanings of Pending order and Order Bit 1 and 2 are: Pending Bit 1 Bit 2 Order function O X X No processing Reserved Storage Retrieval, oldest part Retrieval, youngest part Using encoder signals at the X- and Z-axes connected to the fast counter inputs of the PLC, enables the free programming of the axis 16 Festo Didactic GmbH & Co. MPS

12 1.4 Analysis Input and Output adresses expanded Please complete the below mentioned list of input- and outputadresses of the PLC. Please define your own symbol adress using max. 8 characters. Information To find out the adresses please use the technical manual-wiring diagram for the station and the Control Panel. The inputs can also be checked directly at the PLC- LED s, the outputs not without a program. To move pneumatic actuators, please switch off the air-pressure and move them manually by hand. Please be very careful, move the actuators back before switching on the air-pressure again. Some pneumatic and the electrical actuators can not be moved in this way-the pneumatic components can be activated by the manual detection button on the valve (see picture) Instructor:show the participants how to find out an input and an output using the wiring diagrams. Show them why some actuators can not be moved by hand even without air- and power supply (DC-motors and 5/3-way valves) using the pneumatic plan to explain. Show them also how to find out the communication inand outputs. Example: press 1 = vacuum is on, press 2 = vacuum is off Festo Didactic GmbH & Co. MPS 17

13 Planning Please plan your activities within your team. Check first, which actuator could be moved by hand and which not-use the technical documentation-pneumatic plan. Check the inputs in the wiring diagram and at the PLC. The time to finish this project should be around 1,5 hour. 18 Festo Didactic GmbH & Co. MPS

14 Execution/Documentation Please complete the list of the inputs and outputs of your station. I/O Station Adress Symbol Ident. Description I124.0 Zax_up B12 Z-axes is in up position I124.1 Zax_down B13 Z-axes is in down position I124.2 Xax_left B11 X-axes is in left position I124.3 Xax_righ B10 X-axes is in right position I124.4 Yax_back B14 Y-axes with gripper is in back position I124.5 Yax_frnt B15 Y-axes with gripper is in front position I124.6 Gri_clos B16 Gripper is closed I124.7 Gri_open B17 Gripper is open Q124.0 Xleft M1 X-axes move to the left Q124.1 Xright M1 X-axes move to the right Q124.2 Zup M2 Z-axes move up Q124.3 Zdown M2 Z-axes move down Q124.4 Yaxes Y1 Solenoid of the Y-axes=0=back pos. Q124.5 Gripper Y2 Solenoid of the gripper=0=closed Q124.6 Xfast X-axes fast motion Q124.7 Zfast Z-axes fast motion I/O Control Panel Adress Symbol Ident. Description I125.0 START S1 Start button I125.1 STOP S2 Stop button I125.2 AUTOMAN S3 Switch automatic and manual cycle I125.3 RESET S4 Reset button I125.5 EMERGEN S1N Emergency stop switch-reset with Quit-button Q125.0 L_START H1 Light inside the Start button Q125.1 L_RESET H2 Light inside the Reset button Q125.2 L_SPEC1 H3 Light no. 1 special function Q125.3 L_SPEC2 H4 Light no. 2 special function Festo Didactic GmbH & Co. MPS 19

15 I/O Communication Adress Symbol Ident. Description I125.4 PenOrder I4 Comm.input-Pending Order I125.6 OrdBit1 I6 Comm.input-Order Bit 1 I125.7 OrdBit2 I7 Comm.input-Order Bit 2 Q125.4 StokFull Q4 Comm.output-Stock is full Q125.5 Stokempt Q5 Comm.output-Stock is empty Q125.6 Ordactiv Q6 Comm.output-An oder is active Q125.7 Statread Q7 Comm.output-Station is ready The meanings of Pending order and Order Bit 1 and 2 are: Pending Bit 1 Bit 2 Order function O X X No processing Reserved Storage Retrieval, oldest part Retrieval, youngest part Using encoder signals at the X- and Z-axes connected to the fast counter inputs of the PLC, enables the free programming of the axis 20 Festo Didactic GmbH & Co. MPS

16 1.5 Commissioning Download Project and Test Please download the full project into the PLC and test the full process. Information Please make sure that the PC is connected to the PLC with the communication cable, the power supply of the station is on, air-pressure of around 5 bar is available at each station, the emergency switch is deactivated (if available) and the CPU-switch is in STOP position. Make sure that the PLC memory is empty (delete). Instructor: Show how to delete the contents of a CPU using the switch of the CPU. Let all the participants try it several times. Explain them where to find the project and what the project name is. Explain them step-by-step how to download a project to the PLC. Develop the process sequence on the white board first this means, what is the process and how to start it. Which are the Control Panel functions. Tell the participants, in which subdirectory they are able to find the programs in the following screen shots, the project is located in: C:\SIEMENS\STEP7\HRL20_1 Basically all screen shots and PLC-projects are based on the software STEP 7 Version 5.1 other versions may be a little bit different, but the used functions and screen shots within the following projects are mostly the same!!!! Planning Please follow the description of the instructor carefully step-by-step. Use the NOTICE field to write down the single steps to proceed. The time to finish this project should be around 1,0 hours. Festo Didactic GmbH & Co. MPS 21

17 Execution/Documentation Follow the single steps of the instructor. Write down the single steps and all useful informations into the field NOTICE. Write down your single steps you did to proceed: 1. Press Emergency switch reset all outputs and memories (if available) 2. Check the air-pressure = 5 bar 3. Check cable connection plug should be locked 4. Remove all workpieces from the storage places and from the gripper 5. Release Emergency switch 6. Switch the Auto/Manu switch to manuell position this activates the Reset condition 7. Press the Reset button once the X- and Z-axis are moving to the Reference position and after reaching this position, the axis move to the Home position 8. After reaching the Home position of the X- and Z-axis, the Start-light is flashing 9. Switch the Auto/Manu switch to automatic position this activates the process cycle to store or retrieve workpieces 10. Press the Start button once the cycle starts The process can be interrupted by pressing Emergency switch (if available). Restart with step 4, or interrupt the process by pressing the Stop-button at each time restart by switching the CPU-switch to Stop-position and to Run-position again and continue with step 6. How to open and download the project of the full FMS-project is shown on the following: 22 Festo Didactic GmbH & Co. MPS

18 File Open Browse (select subdirectory here C:\Siemens\Step7) HRL20_1 OK (left mouse button) Festo Didactic GmbH & Co. MPS 23

19 (click on the project 7HRL20_KFA for the ASRS PLC Download (follow the instructions on the screen to download the project after download is finish, switch the CPU-switch to RUN and test the program) 24 Festo Didactic GmbH & Co. MPS

20 1.6 Commissioning Home position of the X- and Z-axis The active working range of the X- and Z-axis portal-robot is defined between the security switches of the linear drive units. To posit axis by using incremental transducing system, it s necessary to define a so called Home position and a so called Reference position, using Reed-switches on each axes. This exercise include the definition of the Home position of the X- and Z-axes. Information To move the axis by hand, you can use the Simulator module SM 374, coming with the PLC-board of the ASRS. Please make sure, the switch on the Simulator module is switched to 16 digital inputs (see no.: 1 at the picture below). Switch on the last switch on the Simulator = I 1.7 activates the module (2). Festo Didactic GmbH & Co. MPS 25

21 Please refer to the following table regarding the functions of the single switches: Adress Picture Description I0.0 1 X-axes move to the left I0.1 2 X-axes move to the right I0.2 3 Z-axes move up I0.3 4 Z-axes move down I0.4 5 Solenoid of the Y-axes = 1 = move forward I0.5 6 Solenoid of the gripper = 1 = gripper open I0.6 7 Fast motion of the X-axes I0.7 8 Fast motion of the Z-axes I1.7 9 Activates the Simulator module 26 Festo Didactic GmbH & Co. MPS

22 Instructor: Please do this exercise together with the participants, because it s very important to do this procedure as accurate as possible. All positions of the storage places refer to this procedure. Actually, this station is commissioned perfectly by Festo before leaving the company. Please follow the steps carefully. Planning Please plan your activities within your team. Check the movement of the actuators first by using the switches of the Simulator to get a feeling for the movement. Please make sure, that the axis not crash at the end or reach the security switches. Please refrain from using the fast motion switches first. The time to finish this project should be around 1,0 hour. Execution/Documentation Please execute according the following description step by step and very carefully. Before starting this exercise, please switch off the air-pressure supply. To activate the axis, you must turn the key-operated switch to the position 1 first to reset the motor-controller of the axis and then turn to position 3 as shown in the picture below (1) Festo Didactic GmbH & Co. MPS 27

23 The Homing position of the X- and Z-axis is defined in the right/down position of the axis. Move the X- and Z-axis by using the Simulator switches carefully to the position shown in the pictures below. The gripper should be closed and the Y-axes should be moved out by hand without air-pressure. After reaching the right/down position shown in the picture above, move the Reedswitch of the Z-axes B13 (2) and the Reed-switch of the X-axes B10 (1) very carefully from a lower/left position up/right until the sensor have a signal (LED = on). Fix the Reed-switches in this position. Please refer to the picture below to proceed 28 Festo Didactic GmbH & Co. MPS

24 1.7 Commissioning Homing and Reference position of the X- and Z-axis The active working range of the X- and Z-axis portal-robot is defined between the security switches of the linear drive units. To posit axis by using incremental transducing system, it s necessary to define a so called Home position and a so called Reference position, using Reed-switches on each axes. This exercise include the definition of the Home position and the Reference position of the X- and Z-axes. Information To move the axis by hand, you can use the Simulator module SM 374, coming with the PLC-board of the ASRS. Please make sure, the switch on the Simulator module is switched to 16 digital inputs (see no.: 1 at the picture below). Switch on the last switch on the Simulator = I 1.7 activates the module (2). Festo Didactic GmbH & Co. MPS 29

25 Please refer to the following table regarding the functions of the single switches: Adress Picture Description I0.0 1 X-axes move to the left I0.1 2 X-axes move to the right I0.2 3 Z-axes move up I0.3 4 Z-axes move down I0.4 5 Solenoid of the Y-axes = 1 = move forward I0.5 6 Solenoid of the gripper = 1 = gripper open I0.6 7 Fast motion of the X-axes I0.7 8 Fast motion of the Z-axes I1.7 9 Activates the Simulator module 30 Festo Didactic GmbH & Co. MPS

26 Instructor: Please do this exercise together with the participants, because it s very important to do this procedure as accurate as possible. All positions of the storage places refer to this procedure. Actually, this station is commissioned perfectly by Festo before leaving the company. Please follow the steps carefully. Planning Please plan your activities within your team. Check the movement of the actuators first by using the switches of the Simulator to get a feeling for the movement. Please make sure, that the axis not crash at the end or reach the security switches. Please refrain from using the fast motion switches first. The time to finish this project should be around 1,5 hour. Execution/Documentation Please execute according the following description step by step and very carefully. Before starting this exercise, please switch off the air-pressure supply. To activate the axis, you must turn the key-operated switch to the position 1 first to reset the motor-controller of the axis and then turn to position 3 as shown in the picture below (1) Festo Didactic GmbH & Co. MPS 31

27 The Homing position of the X- and Z-axis is defined in the right/down position of the axis. Move the X- and Z-axis by using the Simulator switches carefully to the position shown in the pictures below. The gripper should be closed and the Y-axes should be moved out by hand without air-pressure. After reaching the right/down position shown in the picture above, move the Reedswitch of the Z-axes B13 (2) and the Reed-switch of the X-axes B10 (1) very carefully from a lower/left position up/right until the sensor have a signal (LED = on). Fix the Reed-switches in this position. Please refer to the picture below to proceed 32 Festo Didactic GmbH & Co. MPS

28 The Reference position of the X- and Z-axis is defined in the left/up position of the axis. Move the X- and Z-axis by using the Simulator switches carefully. The gripper should be closed and the Y-axes should be moved out by hand without air-pressure. Make sure to move both axis as left as possible (X-axes) and as up as possible (Z-axes) both as short as possible before activating the security switches. Move the Reed-switches as shown in the picture below (1 and 2) and fix them. Festo Didactic GmbH & Co. MPS 33

29 Finally switch on the air-pressure supply and move the Y-axes in and out, using the Simulator switch. Please make sure, that there will be no crash moving this axes. Please adjaust the speed of the axes with the one-way flow control valves. Please deactivate the Simulator module by switching the input I1.7 off and turn the CPU-switch to Stop position. 34 Festo Didactic GmbH & Co. MPS

30 1.8 Commissioning Teach-In function The free programmable X- and Z-axis of the ASRS are equiped with an incremental transducing system with each 2 signal outputs-pulse and direction-which can be processed by the fast counter inputs of the PLC 314IFM. Within the standard program solution, there is a Teach-In-routine implemented to define the positions of the storage places. The solution have been done by relative positioning, this means, by teaching 3 different positions at the ASRS, all other positions are calculated by the program. Information Please make sure that the PC is connected to the PLC with the communication cable, the power supply of the station is on, air-pressure of around 5 bar is available at each station, the emergency switch is deactivated (if available) and the CPU-switch is in STOP position. Make sure that the PLC memory is empty (delete). To proceed with the teaching of the so called Reference positions (3 positions), the buttons of the control panel are used as a Teach-In-Box. To activate the axis, you must turn the key-operated switch to the position 1 first to reset the motor-controller of the axis and then turn to position 3 as shown in the picture below (1) Festo Didactic GmbH & Co. MPS 35

31 Please proceed to reset the axis first before starting to teach the positions: 1. Press Emergency switch reset all outputs and memories (if available) or switch the CPU-switch to Stop and to Run again 2. Check the air-pressure = 5 bar 3. Check cable connection plug should be locked 4. Remove all workpieces from the storage places and from the gripper 5. Release Emergency switch 6. Switch the Auto/Manu switch to Manu this activates the Reset condition 7. Press the Reset button once the X- and Z-axis are moving to the Reference position and after reaching this position, the axis move to the Home position 8. After reaching the Home position of the X- and Z-axis, Start-light is flashing 9. Press the Start button once the Teach-In-cycle starts the Start-light is on Planning Please plan your activities within your team. Check the movement of the actuators first by using the switches of the Simulator to get a feeling for the movement. Please make sure, that the axis not crash at the end or reach the security switches. Please refrain from using the fast motion switches first. Please be aware of not to interrupt the Teach-In process, but to teach always all the 3 positions. The time to finish this project should be around 1,5 hour. Execution/Documentation Please execute according the following description step by step and very carefully. To move the Y-axes and the gripper, please use the manual detection buttons on the valves. First of all put a black workpiece inside the gripper as shown in the picture below. 36 Festo Didactic GmbH & Co. MPS

32 To teach the positions, the buttons and lights of the control panel are used as a Teach-Box. The functions are: 1 Start-button to move the selected axes in positive direction (+) 2 Detection of the actual teaching position 3 Press shortly to choose between the axes, press longer than 5 seconds to store the position 4 Reset-buttom to move the selected axes in negative direction (-) 5 Detection of the actual teaching position 6 Auto/Manu-switch to activate the Teach-In position Manu 7 Q1-light, indicates that the X-axes is active 8 Q2-light, indicates that the Z-axes is active for further details, please refer to the table on the next page. Festo Didactic GmbH & Co. MPS 37

33 Description of the control panel functions: Operational Control Function within the Teach-In Additional Informations START-button: Move the selected axes in positive (+) direction STARTlight RESETlight Teach-Position Start START-light: Indicates the actual Teach-Position 0 1 Transfer System RESET-button: Move the selected axes in negative (-) direction 1 0 Storage pos. 4 (right/down) Reset RESET-light: Indicates the actual Teach-Position 1 1 Storage pos. 17 (left/up) Tip: Toggle between the axis (X/Z) Press for 5s: Storage of the actual position Direction X-Achse Z-Achse + left up Stop - right down Light Q1: Indicates if the X-axes have been selected Q1 Light Q2: Indicates if the Z-axes have been selected Q2 38 Festo Didactic GmbH & Co. MPS

34 After the Rest-procedure have been done (see Information) and the Start-light is on, please proceed to store the 3 positions as follows: 1. Move to the first position by using the control panel buttons. The first position is at the Transfer System with a clamped pallet 2. Store the first position by pressing the Stop-button for 5 seconds both axis move to the Reference position automatically. After reaching the Reference position, the Start-light is flashing 3. By pressing the Start-button once more again, the second teach position will be active the axis move to the Home position the Reset-light is on 4. Move to the second position by using the control panel buttons. The second position is at the storing place 4 Festo Didactic GmbH & Co. MPS 39

35 5. Store the second position by pressing the Stop-button for 5 seconds both axis move to the Reference position automatically. After reaching the Reference position, the Start-light is flashing 6. By pressing the Start-button once more again, the third teach position will be active the axis move to the Home position the Reset-light is on 7. Move to the third position by using the control panel buttons. The third position is at the storing place 17 (please be reminded, that the picture show the gripper above the real position-please insert the workpiece into the workpiece mounting) 8. Store the third position by pressing the Stop-button for 5 seconds both axis move to the Reference position automatically. After reaching the Reference position, both lights-reset and Start are off 40 Festo Didactic GmbH & Co. MPS

36 Finally proceed the Reset condition of the axis again: 9. Press Emergency switch reset all outputs and memories (if available) or switch the CPU-switch to Stop and to Run again 10. Check the air-pressure = 5 bar 11. Check cable connection plug should be locked 12. Remove all workpieces from the storage places and from the gripper 13. Release Emergency switch 14. Switch the Auto/Manu switch to manuell position this activates the Reset condition 15. Press the Reset button once the X- and Z-axis are moving to the Reference position and after reaching this position, the axis move to the Home position 16. After reaching the Home position of the X- and Z-axis, the Start-light is flashing 17. Switch the Auto/Manu-switch to Auto position 18. Press the Start button once the storage or retrieval cycle starts Festo Didactic GmbH & Co. MPS 41

37 42 Festo Didactic GmbH & Co. MPS