Rockwell Automation 1761-HHP-B30 MicroLogix 1000 with Hand-Held Programmer (HHP) - Manual (Page 479)

Appendix E
Application Example Programs
E–36
Rung 2:6
When the pick-and-place head reaches either its home position to pick up a
part or its destination bin to drop off a part, start up a dwell timer.
The purpose of this is to keep the head stationary long enough for the
gripper to either grab or release the part.
| Bin |
| Location Dwell Timer |
| Reached |
| C5:0 +TON–––––––––––––––+ |
|–+––––] [–––––+––––––––––––––––––––––––––––+TIMER ON DELAY +–(EN)–|
| | HP | |Timer T4:0+–(DN) |
| | | |Time Base 0.01| |
| | | |Preset 100| |
| | | |Accum 100| |
| | | +––––––––––––––––––+ |
| | Home | |
| | Position | |
| | Reached | |
| | C5:0 | |
| +––––] [–––––+ |
| LP |
Rung 2:7
When the pick-and-place head is positioned over the proper bin, turn off
the forward motor. At the same time, the high-speed counter tells the
gripper to release the part and start the dwell timer. After the dwell
time has expired, start up the reverse motor to send the head back to its
home position to pick up another part.
| Bin Motor |
| Location FORWARD |
| Reached |
| C5:0 O:0 |
|––––] [––––––––––––––––––––––––––––––––––––+–––––––––––––––(U)–––––+–|
| HP | 1 | |
| | Dwell |Motor | |
| | Done |REVERSE | |
| | T4:0 O:0 | |
| +––––] [––––––––(L)–––––+ |
| DN 2 |
Rung 2:8
When the pick-and-place head is positioned at its home position, turn off
the reverse motor. At the same time, the high-speed counter tells the
gripper to grab the next part and start the dwell timer. After the dwell
time has expired, start up the forward motor to send the head out to its
drop off bin.
| Home Motor |
| Position REVERSE |
| Reached |
| C5:0 O:0 |
|––––] [––––––––––––––––––––––––––––––––––––+–––––––––––––––(U)–––––+–|
| LP | 2 | |
| | Dwell |Motor | |
| | Done |FORWARD | |
| | T4:0 O:0 | |
| +––––] [––––––––(L)–––––+ |
| DN 1 |
Rung 2:9
| |
|––––––––––––––––––––––––––––––––+END+––––––––––––––––––––––––––––––––|
| |
Data Table
Addresses Data (Radix=Decimal)
N7:0 1 0 100 1 0 0 0 0 0 0
N7:10 100 200 300 400 500 600 700 800 0 0