Handling and operation
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06.00 | PPU-P | Assembly and Operating Manual | en | 389323
Sequence diagram for standard Pick&Place sequence
Description of
standard sequence
PPU-P in back end position / home position:
• Horizontal: Cantilever arm retracted pressurized connection: (C)
• Vertical: Cantilever arm lowered pressurized connection: (B)
• Sensor allocation: (VE)
Ø
Unit in back end position
Actuation of valve B → A (lower → raise)
Start Pick&Place cycle
Cantilever arm moves vertically upward
Ø
Sensor reaches switching point UH:
Actuation of valve C → D (return stroke forward stroke)
Horizontal motion is initiated
Cantilever arm first continues moving upward only, force-
driven, then on the curve radius
Ø
Sensor reaches switching point UV
Maintain actuation of both valves
Roller is at start of curve
Cantilever arm moves only horizontally
Ø
Sensor UV leaves
(The roller reaches the front curve radius, leaves the switching
range of the sensor UV force-driven)
Actuation of valve A → B (raise → lower)
Vertical motion is initiated
Cantilever arm moves first out of the curve radius, then
vertically downward
Ø
Front end position is reached
– Horizontal: Cantilever arm extended pressurized connection: (D)
– Vertical: Cantilever arm lowered pressurized connection: (B)
– Sensor allocation: (VA)
Ø
Stand-by time: Execution of additional motions (gripping, etc.) +
external start, if applicable
Ø
Unit in front end position
Actuation of valve B → A (lower → raise)
Start return stroke of Pick&Place cycle
Cantilever arm moves vertically upward
