The model of the modular production line is consisted of:

• Mitsubishi Electric Melfa Assista collaborative robot,
• Mitsubishi Electric RH-CH Scara robot,
• Mitsubishi Electric MELSEC Q Series PLC-a,
• Sick TriSpector 1060 3D Vision system,
• Sick Inspector P631 2D Camera,
• OnRobot Dual Grip system with 2FG7 Finger Gripper and VGC10 Vacuum Gripper,
• Audioms Automatika doo ISO-USB-BOX motion controller,
• Audioms Automatika doo MST-107 microstep drive for stepper motors and
• Audioms Automatika doo PSB-1 power supply module with integrated motor brake.

ISO-USB-BOX motion controller with drivers for MST-107 stepper motors should provide motion of the coordinate table which is located between the Melf Assist collaborative robot and the RH-CH Scara robot. MELSEC Q series PLC is used for complete synchronization of the system’s motion.

ISO-USB-BOX motion controller communicates with PLC over a certain number of digital inputs and outputs. Automatic referencing of the coordinate table, as well as executing predefined axis movements, is done with a special script.

Thanks to the colleagues at Faculty of engineering for shagging the data with us.

Authors:
Industrial Competence Centre
Faculty of engineering in Kragujevac
University of Kragujevac
E-mail: ceter@kg.ac.rs 

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