Positive-Stop Programs and PLC Programs

ill. 1 shows an example of a positive-stop program and ill. 2 shows the statements of the robot's movement. Notice that this program is from a sequencer instruction in a PLC that looks like a matrix. This program is for a three-axis robot that picks up parts from a machine and places them on a conveyor. From the example note that the robot has three output solenoids to control the three pneumatic cylinders. Each solenoid will extend a cylinder when it's energized and retract the cylinder when it's de-energized. The steps for the robot are listed at the side of the matrix and the outputs are listed across the top of the matrix.

Above: ill.1 Example of a positive-stop robot program.

Above: ill. 2: A three-axis pneumatic robot that's used to unload parts from a machine. The parts are loaded into the machine automatically from a magazine located overhead.