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Trendsetter Autoloader Pick/Load/Unload Sequence

Settings:
  • Leading edge plate guide installed ("al lpg" set to 1)
  • Drum over-rotates for unload ("al duoff" set to 125 ticks)
  • Creo encoder (9000 ticks)
  • Plate handling verbosity set to 1 ("verbose alcmd" and "verbose alconv" set to 1)
  • Plate size 491mm x 673mm
Pick command for Version 2 Picker ("al vpi (ver3_pkr_installed)" = 0)

>> pick Al cmd : Picking metal plate
*** State message: ALE command (9) Pick Started (3681)
Al cmd : unlocking plate cover solenoid
Al cmd : locking plate cover solenoid
Al cmd : locking plate cover solenoid
Al cmd : Moving separator out
Al cmd : Moving picker up
Al cmd : locking plate cover solenoid
Al cmd : Moving picker in
Al cmd : Turning picker vac on
Al cmd : Turning picker vac on
Al cmd : Waiting for picker vac
Al cmd : plate grabbed
*** State message: ALE command (9) Grab Complete (4543)
Al cmd : locking plate cover solenoid
Al cmd : Turning air knife on
Al cmd : Turning air knife off
Al cmd : Moving picker out
Al cmd : locking plate cover solenoid
Al cmd : Moving separator in
*** State message: ALE command (9) Pick Complete (5010)

Pick command for Version 3 Picker ("al vpi (ver3_pkr_installed)" = 1)

>> pick Al cmd : Picking metal plate
*** State message: ALE command (9) Pick Started (2814509)
Al cmd : unlocking plate cover solenoid
Al cmd : locking plate cover solenoid
Al cmd : locking plate cover solenoid
Al cmd : Moving separator out
Al cmd : Moving picker up
Al cmd : locking plate cover solenoid
Al cmd : Moving picker in
Al cmd : Turning picker vac on
Al cmd : Moving picker wrist in
Al cmd : Turning picker vac on
Al cmd : Waiting for picker vac
Al cmd : plate grabbed
*** State message: ALE command (9) Grab Complete (2815435)
Al cmd : locking plate cover solenoid
Al cmd : Turning air knife on
Al cmd : Moving picker wrist out
Al cmd : Turning air knife off
Al cmd : Moving picker out
Al cmd : locking plate cover solenoid
Al cmd : Moving separator in
*** State message: ALE command (9) Pick Complete (2816700)
Load command

>> >> load Al cmd : loading plate onto drum
*** State message: ALE command (10) Load Started (5297)
Al cmd : unlocking plate cover solenoid
Al cmd : locking plate cover solenoid
Al cmd : locking plate cover solenoid
Al cmd : Moving picker down
Al cmd : Turning picker vac off
Al cmd : locking plate cover solenoid
Al cmd : locking plate cover solenoid
Al cmd : Holding drum
Al cmd : Closing LE clamp
Al cmd : Lowering plate roller
Al cmd : locking plate cover solenoid
Al cmd : winding plate onto the drum
Al cmd : starting to move drum to position 34006
Al cmd : plate edge detected after moving 293 mm
measured plate size = 491 mm
Al cmd : locking plate cover solenoid
Al cmd : Moving separator out
Al cmd : Clamp TE & raise drum roller
Al cmd : lowering TE bar
Al cmd : unlocking TE clamps
Al cmd : raising plate roller
                    extending LRC
                    raising TE bar
Al cmd : unlocking plate cover solenoid
*** State message: ALE command (10) Load Complete (5857))
Unload command (small plate, so cups can't grab it in the centre) 

>> unload
Al cnvyr: unloading plate from drum
*** State message: ALE command (11) Unload Started (13398)
Al cnvyr: unlocking plate cover solenoid
Al cnvyr: Moving plate pusher in
Al cnvyr: Enabling unload table stepper motor
Al cnvyr: Moving unload cups down
Al cnvyr: Moving rotator unrotate
Al cnvyr: moving drum to position 34006
Al cnvyr: unclamp TE and lower roller
Al cnvyr: Moving load ramp
Al cnvyr: lowering plate roller
                      and TE bar...
Al cnvyr: locking onto TE clamps...
Al cnvyr: raising TE bar
Al cnvyr: Moving load ramp
Al cnvyr: moving drum to position 16492
Al cnvyr: Moving unload cups up
Al cnvyr: Turning unload vac on
Al cnvyr: Waiting for unload cups to grab plate
Al cnvyr: Waiting for unload vac
Al cnvyr: Raising plate roller
Al cnvyr: Opening LE clamp
Al cnvyr: Move plate up to clear load ramp
Al cnvyr: closing LE clamp
Al cnvyr: moving drum to position 16617
Al cnvyr: opening LE clamp
Al cnvyr: Moving load ramp
Al cnvyr: unlocking plate cover solenoid
*** State message: ALE command (11) Unload Complete (14069)
Process command with rotation (state plate_loc u rp 1)

>> process
Al cnvyr: ejecting plate into processor
*** State message: ALE command (12) Process Started (10155)
Al cnvyr: Turning beeper on
Al cnvyr: Moving unload down
Al cnvyr: Activate beeper
Al cnvyr: Turning beeper off
Al cnvyr: Waiting for unload to move down
Al cnvyr: Turning beeper on
Al cnvyr: Turning beeper off
Al cnvyr: Move plate to center of table
Al cnvyr: Turning unload vac off
Al cnvyr: Moving unload cups down
Al cnvyr: move unload to center cups on table
Al cnvyr: Moving unload cups up
Al cnvyr: Turning unload vac on
Al cnvyr: Waiting for unload vac
Al cnvyr: Moving rotator rotate
Al cnvyr: Turning unload vac off
Al cnvyr: Moving unload cups down
Al cnvyr: Moving rotator unrotate
Al cnvyr: move unload back to bottom of plate
Al cnvyr: Moving unload cups up
Al cnvyr: move plate to processor at fast speed
Al cnvyr: move unload traveller back home
Al cnvyr: Waiting for plate to leave unload table
Al cnvyr: Activate beeper
Al cnvyr: Turning beeper on
Al cnvyr: Moving unload up
Al cnvyr: Turning beeper off
Al cnvyr: Moving unload cups down
*** State message: ALE command (12) Process Complete (11510)
Process command without rotation (state plate_loc u rp 0)

>> process
Al cnvyr: ejecting plate into processor
*** State message: ALE command (12) Process Started (14208)
Al cnvyr: Turning beeper on
Al cnvyr: Moving unload down
Al cnvyr: Activate beeper
Al cnvyr: Turning beeper off
Al cnvyr: Waiting for unload to move down
Al cnvyr: Turning beeper on
Al cnvyr: Turning beeper off
Al cnvyr: Move plate to center of table
Al cnvyr: Turning unload vac off
Al cnvyr: Moving unload cups down
Al cnvyr: move unload back to bottom of plate
Al cnvyr: Moving unload cups up
Al cnvyr: move plate to processor at fast speed
Al cnvyr: move unload traveller back home
Al cnvyr: Waiting for plate to leave unload table
Al cnvyr: Activate beeper
Al cnvyr: Turning beeper on
Al cnvyr: Moving unload up
Al cnvyr: Turning beeper off
Al cnvyr: Moving unload cups down
*** State message: ALE command (12) Process Complete (15104)
Process command with punching and rotation (note: plate size 812mm x 1118mm)

>> process
Al cnvyr: ejecting plate into processor
*** State message: ALE command (12) Process Started (2821862)
Al cnvyr: Turning beeper on
Al cnvyr: Moving unload down
Al cnvyr: Activate beeper
Al cnvyr: Turning beeper off
Al cnvyr: Checking punch status
Al cnvyr: waiting for punch response
Al cnvyr: received message G from punch
Al cnvyr: flushing punch messages
Al cnvyr: flushing punch messages
Al cnvyr: requesting punch status
Al cnvyr: Sending E 0 to punch
Al cnvyr: waiting for punch response
Al cnvyr: received message I from punch
Al cnvyr: received info data 1 from punch
Al cnvyr: signal punch to prepare for a plate with configuration 13
Al cnvyr: Sending A 13 to punch
Al cnvyr: Waiting for unload to move down
Al cnvyr: Turning beeper on
Al cnvyr: Turning beeper off
Al cnvyr: Move plate to center of table
Al cnvyr: first rotation for punch
Al cnvyr: Moving rotator rotate
Al cnvyr: Turning unload vac off
Al cnvyr: Moving unload cups down
Al cnvyr: Moving rotator unrotate
Al cnvyr: Edge position: 196mm
Al cnvyr: Offset: 3mm
Al cnvyr: Moving unload cups up
Al cnvyr: Turning unload vac on
Al cnvyr: Waiting for unload vac
Al cnvyr: second rotation for punch
Al cnvyr: Moving rotator rotate
Al cnvyr: Turning unload vac off
Al cnvyr: Moving unload cups down
Al cnvyr: Moving rotator unrotate
Al cnvyr: move unload back to bottom of plate
Al cnvyr: Moving unload cups up
Al cnvyr: wait for ready signal from punch
Al cnvyr: waiting for punch response
Al cnvyr: received message A from punch
Al cnvyr: flushing punch messages
Al cnvyr: punch ready, move plate towards punch at fast speed
Al cnvyr: move plate into punch at slow speed
Al cnvyr: jog into punch and poll for pin registration signal from punch
Al cnvyr: waiting for punch response
Al cnvyr: received message B from punch
Al cnvyr: flushing punch messages
Al cnvyr: grab plate with unload cups and jog plate off pins
Al cnvyr: Moving unload cups down
Al cnvyr: Moving unload cups up
Al cnvyr: Turning unload vac on
Al cnvyr: Waiting for unload vac
Al cnvyr: send plate_away signal to punch
Al cnvyr: Sending B 0 to punch
Al cnvyr: wait for punch inlay to move in to position
Al cnvyr: waiting for punch response
Al cnvyr: received message C from punch
Al cnvyr: flushing punch messages
Al cnvyr: waiting for punch response
Al cnvyr: received message B from punch
Al cnvyr: flushing punch messages
Al cnvyr: wait for punch to complete
Al cnvyr: waiting for punch response
Al cnvyr: received message D from punch
Al cnvyr: flushing punch messages
Al cnvyr: signal punch to lower
Al cnvyr: Sending C 0 to punch
Al cnvyr: Turning unload vac off
Al cnvyr: Moving unload cups down
Al cnvyr: Moving unload cups up
Al cnvyr: Turning unload vac on
Al cnvyr: Waiting for unload vac
Al cnvyr: Moving rotator rotate
Al cnvyr: Turning unload vac off
Al cnvyr: Moving unload cups down
Al cnvyr: Moving rotator unrotate
Al cnvyr: move unload back to bottom of plate
Al cnvyr: Moving unload cups up
Al cnvyr: check that the punch is lowered
Al cnvyr: waiting for punch response
Al cnvyr: received message F from punch
Al cnvyr: flushing punch messages
Al cnvyr: move plate to processor at fast speed
Al cnvyr: move unload traveller back home
Al cnvyr: Waiting for plate to leave unload table
Al cnvyr: Activate beeper
Al cnvyr: Turning beeper on
Al cnvyr: Moving unload up
Al cnvyr: Turning beeper off
Al cnvyr: Moving unload cups down
*** State message: ALE command (12) Process Complete (2827496)
Manually loading plate using media type 1 and thickness 300 - use "set state plate_loc d" to check plate parameters

>> mload
Al cmd : manually loading 491 x 673 plate onto drum
*** State message: ALE command (28) Load Started (12262)
Al cmd : thickness = 300 um, media type = 1
*** State message: Work Station command (0) Pick Started (12269)
Al cmd : unlocking plate cover solenoid
Al cmd : unlocking plate cover solenoid
Press push-button to continue
*** Waiting for the button to be pressed ***
Al cmd : Activate beeper
Al cmd : Holding drum
Al cmd : Closing LE clamp
Al cmd : Lowering plate roller
Al cmd : winding plate onto the drum
Al cmd : starting to move drum to position 34006
Al cmd : plate edge detected after moving 293 mm
measured plate size = 491 mm
Al cmd : Clamp TE & raise drum roller
Al cmd : lowering TE bar
Al cmd : unlocking TE clamps
Al cmd : raising plate roller
                    extending LRC
                    raising TE bar
Al cmd : unlocking plate cover solenoid
*** State message: ALE command (28) Load Complete (12879)
Manual unload command

>> munload
Al cnvyr: manually unloading plate from drum
*** State message: ALE command (29) Unload Started (21038)
Al cnvyr: unlocking plate cover solenoid
Al cnvyr: moving drum to position 34006
Al cnvyr: unclamp TE and lower roller
Al cnvyr: Moving load ramp
                      and TE bar...
Al cnvyr: locking onto TE clamps...
Al cnvyr: raising TE bar
Al cnvyr: Moving load ramp
Al cnvyr: moving drum to position 27994
Al cnvyr: Moving load ramp
Al cnvyr: moving drum to position 16617
Al cnvyr: Raising plate roller
Al cnvyr: Opening LE clamp
*** State message: Work Station command (0) 43 (21527)
Al cnvyr: unlocking plate cover solenoid
*** Waiting for plate to be removed from load ramp ***
Al cnvyr: Activate beeper
Al cnvyr: unlocking plate cover solenoid
*** State message: ALE command (29) Unload Complete (21600))
Technical contact Juliet Wyles
Date submitted April 14, 2000

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