MAP-205

USER MANUAL

APPENDIX D:
GRAFCETS
MAP-205: ASSEMBLY MINI-CELL

MANIPULATOR CONTROL PROGRAMME

The programme contained in this manual must be viewed like a suggestion, which is not
necessarily the most suitable, nor even the only one. It concerns a programming model
intended to enable the teacher to consider new programming activities.

Automatic operation:

The PLC is programmed in such a way that it undertakes an operation cycle. The cycle
consists in assembly and disassembly of the different elements of a turning mechanism. These
corresponding parts of a complete assembly are body, bearing, shaft and cover. The complete
cycle is described in the grafcet in the following page. To select this operation mode, the
"MAN/AUTO" switch is turned to AUTO, the operation cycle is initiated by pressing the start
button. After the assembly, the system will start again to do the disassembly of the
components and will return to its initial position, it will stop and the cycle will be repeated
whenever the start button is pressed and will stop at any time when the stop button is pressed.

In starting conditions, all cylinders and grippers will be on standby, the vacuum ejector will
not be running and the manipulator will be provided with the parts necessary for assembly. A
red pilot light will blink if out with starting conditions and the manipulator will not be started
until it comes out of this state.

Manual operation:

The PLC programme also allows this second operation mode. In order to select this option,
the "MAN/AUTO" switch is turned to the MAN position. All operations are automatically
carried out consecutively, stopping after finishing the mounting of the assembly. During this
manual option, operations are carried out step by step, with a pause in each phase. The
transition from one step to next one is carried out by pressing the start button in the control
panel. After the assembly and the disassembly, the system will return to its initial position,
stopping once again, the cycle will be repeated again when pressing the start button.

APPENDIX D: GRAFCET 1
 Run PLC

(start+start_SCADA)*initial conditions initial conditions

Feeder cylinder forwards Alarm light's flashing

Feeder cylinder forward*timer_0 start+start SCADA

Position verification cylinder downwards Search of initial conditions

Timer_1 initial conditions

Position vefication cylinder upwards, Feeding cylinder backwards Alarm light off

Feeding cylinder backward

Body transfer cylinder forwards

Body transfer cylinder forward

Timer_2*body_ok Timer_2*body_ok

Body transfer cylinder backwards Rotary actuator backwards Opening of the greeper

Timer_3 Rotary actuator backward*Timer_11 Gripper opened*Timer_19

Rejection cylinder forwards Opening of the gripper of the rotary actuator Shaft insertion manipulator upwards

Timer_4 Timer_5 Shaft insertion manipulator upward

Rotary actuator forwards

Rejection cylinder backwards Shaft insertion manipulator backwards,
Cover insertion manipulator downwards

Timer_14 Rotary actuator forward *Timer_6 Cover insertion manipulator downward

Gripper closure Vacuum in cups

continue Timer_10+Vacuum

Rotary actuator backwards Cover insertion manipulator upwards

Rotary actuator in the middle position Cover insertion manipulator upward

Shaft insertion manipulator downwards Cover insertion manipulator forwards

Shaft insertion manipulator downward*Timer_7 Cover insertion manipulator forward

Shaft gripper closure Cover insertion manipulator downwards

Gripper closed*Timer_19 Cover insertion manipulator downward

Shaft insertion manipulator upwards Wait

Shaft insertion manipulator upward Timer_12

Shaft insertion manipulator forwards Cover insertion manipulator upwards,Stop vacuum in cups

Shaft insertion manipulator forward Cover insertion manipulator upward

Shaft insertion manipulator downwards Cover insertion manipulator backwards,

Shaft insertion manipulator downward*Timer_8 Cover insertion manipulator backward*Timer_14

Cover insertion manipulator forwards

Cover insertion manipulator forward

MAP-205
 Cover insertion manipulator downwards

Cover insertion manipulator downward

Vacuum in cups

Vacuum in cups

Cover insertion manipulator upwards

Cover insertion manipulator upward

Cover insertion manipulator backwards

Cover insertion manipulator backward

Cover insertion manipulator downwards

Cover insertion manipulator downward

Stop vacuum in cups

Stop vacuum in cups Rotary actuator forwards

Cover insertion manipulator upwards Rotary actuator forward * Timer23

Cover insertion manipulator upward Opening of the bearing gripper

Shaft insertion manipulator forwards Timer15

Shaft insertion manipulator forward * timer17 Rotary actuator backwards

Shaft insertion manipulator downwards Rotary actuator backward * Timer24

Shaft insertion manipulator downward * timer18 Bearing gripper closure

Shaft gripper closure Timer_15

Gripper closed Rotary actuator forwards

Shaft insertion manipulator upwards Rotary actuator in the middle position

Shaft insertion manipulator upward * timer19 Body transfer cylinder backwards

Shaft insertion manipulator backwards Timer16

Rejection cylinder forwards

Shaft insertion manipulator backward *Timer20 Reset dp4 workbit

Shaft insertion manipulator downwards Timer4

Shaft insertion manipulator downward * Timer21

Shaft gripper openning

Gripper opened*Timer_19

Shaft insertion manipulator upwards

Shaft insertion manipulator upward*Timer19

MAP-205
 Run PLC

(start+start SCADA)*Initial conditions Initial conditions

Feeding cylinder forwards Alarm light's flashing

start+start SCADA

Search of initial cond.

Cover detector start Cover insertion manip. forward Rotary act.in the middle pos. Rotary act.in the middle pos. Initial conditions
*Cover manip.backward*wait *Timer_13 *Timer_13

Reset wait Manipulator backwards Rotary actuator forwards Rotary actuator backwards Alarm light off

Siempre On Cover insertion manipulator downward Cover insertion manipulator downward Timer_10
*Timer_10 *Timer_10 *Timer_10*vacuum

Cover insertion manipulator downwards Vacuum in cups Set cover detector Set wait

MAP-205
 P_First_Cycle

(m+m_SCADA)*c_i c_i

SET A+ SET FM

a1*t0 (m+m_SCADA)

SET J-
SET C+ SET E+,E-
RST E+,E-

t_1 c_i

RST A+,C+ RST FM

a0

SET B+

b1

t_2*base_ok t_2*base_ok

RST B+ SET E- RST I+

t_3 e0*t11 i0 * t_19

SET D+ SET F+ RST G+

t_4 t5 g0

RST E- RST H+
RST D+ SET E+ SET K+

t_14 e2*t6 k1

RST F+ SET V+

avance t10+v

SET E- RST K+

e1 k0

RST E-
SET J+
SET G+

g1* t_7 j1

SET I+ SET K+

i1* t_19 k1

RST G+

g0 t_12

SET H+ RST K+,V+

h1* t_17 k0

RST J+
SET G+ SET J-

g1* t_8 j0* t_14

SET J+
RSTJ-

j1

MAP-205
 SET K+

k1

SET V+

RST K+

k0

SET J-
RST J+

j0

SET E+
RST J-
SET K+

e2 * t_23

k1

SET F+
RST V+

t_15

v
RST E+
SET E-
RST K+

e0 * t_24
k0

RST F+
SET H+

t_15

h1* t_17

SET E+
RST E-
SET G+

e1

g1* t_18

RST B+

SET I+

t_16

i1

SET D+
RST G+

t_4

g0 * t_19

RST H+

h0 * t_20

SET G+

g1 * t_21

RST I+

i0* t_19

RST G+

g0 * t_19

MAP-205
 P_First_Cycle

(m+m_SCADA)*i_c i_c

SET A+ SET FM

m+m_SCADA

dp4*j0*wait a0*e1*h0*j0*dp1*dp2
m j1 no_e1*t13 no_e1*t13
*dp3*dp4*cycle

RST wait SET J- SET E+ SET E- RST FM

P_On*t10 k1*t10 k1*v*t10 t10

SET K+ SET V+ SET dp4 SET wait

MAP-205