DATASHEETD:PLOY - CNC MACHINE TENDING APPLICATION

v1.0.700

CNC MACHINE TENDING APPLICATION

CNC Machine Tending Application

1/Grippers
a.

2FG7

2FG14 3FG15 3FG25

1/ Tool
Quick Changer or Dualb. mounting
Quick Changer

2.

3.

2

Robot
brandsRobot
mounting

ABB
Techman

RG6Angle Bracket 45°

Denso
UR

RG2

Jaka

VGC10Angle Bracket 90°

Doosan

Elite

FANUC

FANUC
CRX

Omron
TM

SchneiderKawasaki

Yaskawa

Can be mounted at any height, can be tilted 0°, 30°, 45° or 90°

CNC
4. machinetypes

Communicating via
Only Automatic door is supported
CNC
CNC
Digital I/O or EtherNet/IP (robot cannot be used to open/
Milling Lathe
fieldbusclose door)In/
5. Outfeed
options

Grid (set row and/or
Fixed - only onecolumn) or Honeycomb
Pattern and Fixed can bepart at the in/(for cylindrical parts),
combined (Pattern as infeed andoutfeed (requiresand can be stacked
Fixed as outfeed or the other way
conveyor belt or(parts on top of eacharound)
turn table)
other)Part size/
6. weight/
type

Any size (the gripper/machine can handle)

Any weight (thegripper/machine
can handle)

Cuboid or Cylindrical (both may
not available on a given gripper)

CNC MACHINE TENDING APPLICATION

7.

Realignment

8. Cleaning

Optional steps before load
and/or after unload

It can be used either to make sure the partis gripped properly (aligned) or to change
the gripping (re-grip at a different angle, aspicking angle can be defined or change theorientation before placed)

Optional step
And/orBoth support: Fixed
before load (tooptionallypoint (waiting time)
make sure the before unload
or movement (via
workholding is (make sure partmultiple waypoints)clean)is clean)

Robot (mounted)
Machine Cleaning
output device needs
to be added to thecell setup

Additional Information
1/a. Grippers
Only OnRobot tools are supported, but can be customized with any OnRobot accessory, orcustom fingertip/vacuum accessory.
Finger grippers

Vacuum grippers

2FG7 2FG14 3FG15 3FG25 RG2 RG6VGC10**

CuboidCan grip
Cylindrical***Pick with an angle* With special fingertips.
** Do not use vacuum grippers in wet or damp conditions, particularly in CNC applications
with moisture or cutting fluids. It can damage the gripper.
1/b. Tool mounting
HEX-E/H QC is not supported.
2. Robot brands
Supported robot models and controllers

3CNC MACHINE TENDING APPLICATION

Robot
TypeRobot
Model

ABB

Doosan

CRB 1100-4/0.58
CRB 15000-5/0.95
CRB 15000-10/1.52
CRB 15000-12/1.27
IRB 1100-4/0.58
VM-6083 A0509
IRB 1100
VM-60B1 A0509s-4/0.47
VP-6242 A0912
IRB 120
VS050A3 A0912s
IRB 1200
VS087A4 H2017-5/0.9
VP-5243 H2515
IRB 1200 -7/0.7
VS-050-S2 M0609
IRB 1300 -7/1.4
VS-087A4 M0617
IRB 1300
VS-6577 M1013-10/1.15
VS-6556 M1509
IRB 1300
VS-087E0509-11/0.9
IRB 1300-12/1.4
IRB 1600 -6/1.2
IRB 1600-6/1.45
IRB 1600-10/1.2
IRB 160010/1.45

Robot
IRC5Controll
OmniCoreer

4Denso

RC8

FANUC
CRX

Elite

FANUC

CS63
CS66
CS612
CS620
CS625

CR-7iA
CR-7iA/L
CR-14iA/L
CR-15iA
CRX-5iA
CR-35iB
CRX-10iA
LR MateCRX-10iA/L
200iD
CRX-20iA/
LR MateL
200iD/4S
CRX-25iA
LR Mate200iD/7L
LR Mate
200iD/14L

R-30iB
EliRobot
R-30iB+CS-03 EliServer Plus
R-30iB
CS-04
Mini Plus

Jaka

Zu3
Zu3S
Zu5
Zu5S
Zu7
Zu7S
Zu12
Zu12S
Zu18
Zu18S
Zu20
Pro5
Pro12
Pro16

R-30iB Mini ElectricalPluscabinetCNC MACHINE TENDING APPLICATION

Robot
Type

Kawasaki Omron TM

Robot
Model

RS003N
RS005L
RS005N
RS006L
RS007N
RS007L
RS010L
RS010N
RS013N
RS015X
RS020N
RS025N
RS030N
RS050N
RS080N

TM5-700
TM5X-700
TM5-900
TM5X-900
TM5S
TM5S-X
TM7S
TM7S-X
TM12
TM12X
TM12STM12S-X
TM14
TMX14
TM14S
TM14S-X
TM16
TM16X
TM20
TM20X
TM25S
TM25S-X

RL03
RL05
RL07
RL12
RL18

Robot
Controll
er

E01
E02
F01
F02
F60

TM

LXMRL03S000
LXMRL05S000
LXMRL05S000
LXMRL12S000
LXMRL12S000

Schneider

TechmanUR

Yaskawa

TM5-700
TM5X-700
TM5-900
TM5X-900
TM5S
TM5S-X
TM7S
UR3
TM7S-X
UR3e
TM12
UR5
TM12X
UR5e
TM12S
UR10
TM12S-X
UR10e
TM14
UR16e
TMX14
UR20
TM14S
UR30
TM14S-X
TM16
TM16X
TM20
TM20X
TM25S
TM25S-X\GP4, GP4FGG
GP7, GP7FGG
GP8, GP8FGG,
GP8FGG HS
GP8L
GP12, GP12FGG
GP20
GP20HL
GP25, GP25FGG
GP25-12
GP35L
HC10HC10DT
HC10DTP,HC10DTFP,
HC10DTP Classic
HC20
HC20DT
HC20DTP
HC30PL

CB3e-Series
CB5.3+

YRC1000
YRC1000 MicroTM

3. Robot mounting
The robot cannot be facing downward (ceiling mounted).
4. CNC machine types
Supported communication protocols between D:PLOY and the CNC machine••Digital Inputs and Outputs
EtherNet/IP

Using the OR:MACHINE module (with relays) the front panel push buttons can be used tooperate it.
5. In/Outfeed options
Pattern requires in/outfeed container, Fixed requires in/outfeed sensor. Both can beultrasonic, laser/infra or any other type 24V digital sensor.
6. Part type/size/weightPart parameter can be changed at unloading. For complex shapes use a bounding box.

5

CNC MACHINE TENDING APPLICATION

7. Re-alignment
Two or more side machining is not supported (but can can be done by having a complete runfinished on one side and then do the rest).
8. Cleaning
Integrator needs to take care of nozzle, air supply and a 24V controllable valve to activate theair pressure. After-unload cleaning is not supported.
Layout configuration••••••••

Using CNC Milling or Lathe machine
Without or with 1 or 2 cleaning steps
Without or with 1 or 2 re-alignment steps
Using Single or Dual QC
Pattern as infeed and Pattern as outfeed
Fixed as infeed and Pattern as outfeed
Pattern as infeed and Fixed as outfeed
Fixed as infeed and Fixed as outfeed

Examples6