Expectations
In this application, we needed to support products that ranged from 48 inches to 112 inches. We needed to process 1 length every 10 seconds. Each length could have 1 to 4 cuts, depending on the product. The client expected the cut tolerance to be +- 1/16 inch. The Auto-feed system is needed to keep up with the production rate and move the product through the cell in a safe manner. It was also required to find the first position to pick because not all skids were coming in loaded to the same point.
Vision
Vision was not used in this system. We used Force torque feedback from the UR to find our first pick position.
UR10 E
This inverted UR10E was stationary so the UR reach was critical. Table and infeed were designed for maximum reach with a product that would be as large as 112 Inches.
Safety system
This safety system needed to be about to transfer a full or empty skid through the light curtains. When in run mode we needed to ensure that the UR moved product onto the table without creating dangers for operators. We needed to ensure all sources of energy like servo saw blades were killed so safe to enter was utilized.
PLC and Programming
This system used AB safety PLC with Servo control as well as VFD control. An HMI was installed for recipe management and selection of modes for running.
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