Softfloat/pushout program examples

    Any advise on using a M10iD in a molding application to pick molded parts. Controller has the softfloat option but documentation is scarce. If all else fails just have to take my best shot and see what happens!

    Thanks,
    Stuart

    I don't have any example right now, but I'm guessing Your moulding machine has some kind of extractor, right?

    So, Your program should follow more os less this order.

    1. Robot arrive ate picking point and close the gripper

    2. Robot activate Softfloat, send a signal to machine tellinng it is in position, and wait for machine release signal

    3. Machine extract the part, pushing the robot a little bit.

    4. Machine extractor go backwards, and send the release signal to the robot

    5. Robot deactivates the Softfloat and go to next point.

    I should clarify, the issue is with the correct setup of the soft float schedule. Setting the soft float schedule as per the manual does not work. Theoretically, it should be Cartesian soft float on the x axis. But I could not get Cartesian soft float to function correctly. I got joint soft float to work but the manual documentation is just not good enough. Will document the exact specs tomorrow.

    Stuart B,

    75: !10" Profile ;

    76: LBL[10] ;

    77: !CAM SHOT 685mm ;

    78:L P[7] 500mm/sec FINE Offset,PR[31:PART_OFFSET] ;

    79: ;

    80: CALL CONV_VISION ;

    81: ;

    82:L P[8] 400mm/sec CNT25 Offset,PR[3:VISION OFFSET] Tool_Offset,PR[81:+Z 100] ;

    83: [PICK POSITION!] ;

    84: SOFTFLOAT[1] ;

    85:L P[8] 200mm/sec FINE Offset,PR[3:VISION OFFSET] ;

    86: SOFTFLOAT END ;

    87: JMP LBL[81] ;

    88: ;

    89: ;

    90: !12" Profile ;

    91: LBL[12] ;

    92: !CAM SHOT 685mm ;

    93:L P[9] 500mm/sec FINE Offset,PR[31:PART_OFFSET] ;

    94: ;

    95: CALL CONV_VISION ;

    96: ;

    97:L P[10] 400mm/sec CNT25 Offset,PR[3:VISION OFFSET] Tool_Offset,PR[81:+Z 100] ;

    98:[PICK POSITION!] ;

    99: SOFTFLOAT[1] ;

    100:L P[10] 200mm/sec FINE Offset,PR[3:VISION OFFSET] ;

    101: SOFTFLOAT END ;

    102: JMP LBL[81] ;

    103: ;

    104: ;

    105: !~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ;

    106: !Turn On Magnets ;

    107: LBL[81] ;

    108: IF R[50:DRY RUN]=1,JMP LBL[50] ;

    109: ;

    110: CALL MAGNETS_ON ;

    Afeter 110 go Home or what ever you need!

    TEST AND SEE HOW IS AFFECTED THAT POSITION WHERE THE COMMAND WAS ADDED.

    YOU CAN CONFIG THE VALUE TO AVOID DISTURBANCE.


    REGARDS!

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