Technology CPUs: Palletizer with Simply Interpolating Axes Based on Cam Discs
The technological task to be solved is based on a palletizer with 3 axes. The central unit is a conveyor system for the arrangement of 16 boxes on a pallet as follows: axis 1 moves the conveyor system in direction x. Axis 2 is responsible for movement in y-direction. Axis 3 moves the conveyor system in direction z. After gripping of the boxes, positioning is additionally aggravated by two walls which must be passed along the travel path to the target position.
The automation task is realized by use of a technology CPU and the Technology Template "Simple 3D-Interpolation with cam disks" (Move 3D). In the application a virtual master axis is used as the core element. The slave axes are synchronously controlled with the help of cam discs. The cam discs for the two axes are read and interpolated during operation.
|03/2004||V1.0 - first edition|
Corrected data for front plug in the Introduction (V1.1) Added parameter set for older SIMODRIVE Demo Sets
|04/2005||Correction in Code (V1.1) In FB70-NW24: The connector at the block MC_Home for the virtual master is now set to "3".|
|06/2006||V2.1 - complete revision and update with SIMATIC Technology 2.0 SP1, WinCC flex 2005 SP1, Technology Template "Move 3D" and, optional, SINAMICS S120|
|09/2007||V3.0 - update with SIMATIC Technology 3.0 SP2 and WinCC flex 2005 SP1 HF7|
palletizer palettizer pallettizer synchronism interpolation virtual line shaft master