Robot processes
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HVAC Pickup
Clever: AA Krups: 10 PLC1 10.29.68.26 PORT 2001
1. C-> OSTA;010;AA2;DV9882111110018;1628281-99-A When the cockpit is in position clever will send this message. CockpitID, HVAC part number
2. <-R PDAT;010;AA2;DV9882111110018;HVAC-content_of_scanning robot sends scanned data to clever
3. clever evaluates data
4. C-> ORES;010;AA3;DV9882111110018;1 Clever sends OK in case of 1 (OK) result, 0 (NOK) in other case. If the robot's part pickup will be NOK clever waits until part selection will be fulfilled or skipped by any control barcode.
5. <-R PDAT;010;AA4;DV9882111110018;FINISH Robot confirms - job finished. Can have two statuses FINISH - means finished OK, BREAK - means finished NOK. Regardless of whether the robot finished FINISH - or BREAK clever releases the trolley.
CCB and e-Cart
Clever: AK Krups: 20 PLC1 10.29.68.26
1. C-> OSTA;030;AU1;DV9882111110018;LHD When the cockpit is in position clever will send this message. CockpitID, cockpit variant - LHD or RHD
2. robot takes CCB from rack and put to reach of fixed scanner
3. clever evaluates if it is correct CCB
4. C-> ORES;020;AK2;DV9882111110018;1
In case of a 0 (NOK) result robot drops invalid part to a temporary place and breaks its job, operator fixes it and restarts robot’s job. In some cases operators can skip this workplace (PLCABCALL). In such cases, the next workplace AU (HVAC CCB tightening) should be skipped as well. So clever will not send OSTA there, or osta with some special flag?
5. <-R PDAT;020;AK3;DV9882111110018;FINISH Can the robot send any other result than FINISH?
HVAC CCB tightening
Clever: AU Krups: 30 PLC2 10.29.68.27 PORT 2002
6. C-> OSTA;030;AU1;DV9882111110018;LHD When the cockpit is in position clever will send this message. CockpitID, cockpit variant - LHD or RHD
7. the robot starts to do his job - tightening. Robot triggers the tightening machine.
8. C-> ORES;030;AU2;DV9882111110018;1 For each screw clever sends 1 in case of OK result, 0 in other case
9. <-R PDAT;010;AA3;DV9882111110018;FINISH
Robot confirms - job finished. Can have two statuses FINISH - means finished OK, BREAK - means finished NOK. Regardless of whether the robot finished OK or NOK, clever releases cockpit. If robot finishes with NOK, tightening operation should be skipped (PLCABCAA3)
Offloading
Clever: IW Krups: ?? PLC4 10.29.68.28 PORT 2003
1. C-> OSTA;??;IW1;DV9882111110018;LHD When the cockpit is in position clever will send this message. CockpitID, cockpit variant - LHD, RHD or REW. REW will be sent in case that empty trolley - reworked arrives.
2. <-R PDAT;010;AA3;DV9882111110018;FINISH Robot confirms - job finished. Can it be any other status than FINISH? Can the robot return NOK, how to solve it?
Questions:
- It is necessary to think about communication protocol. Is it necessary to use communication with acknowledgements?
- Is the AtlasCopco tightening machine able to be controlled by OpenProtocol by clever and from the robot at the same time?
- Emergency strategies for all processes should be prepared.
