Slipsheet Function

1    Operation Procedure
The Slipsheet Function is an automatic feature that continuously operates in the background of the controller. The user does not need to take any action to activate or deactivate it. When a tool file with a mass less than or equal to 20 kg is selected, the robot allows full range of motion on the L, R, and B axes. However, when a tool file with a mass greater than 20 kg is selected, the robot automatically limits motion on the L, R, and B axes. A simplified illustration of this behavior is shown in Figure 3.1.
 

Figure 3.1 – Simple flow chart depiction of controller logic

 

Figure 3.2 – Range of motion for payloads over 20kg to 30kg; 196230-1CD
 

Figure 3.3 – Range of motion for payloads of 20kg or less; 196230-1CD

2    Notes on Slipsheet Function
2.1    Switching to High Payload ABOVE 15 Degrees
If the user switches to a payload above 20 kg while the tool's posture is outside the allowable range of motion, the behavior will depend on the playback mode. In teach, the user can move the tool as long as the movement brings it in the direction of an allowable posture. Movement that takes the tool farther from an allowable posture will not be permitted. In play, if the tool is changed to a tool with a mass greater than 20kg while the posture is outside the allowable range, the controller will generate an alarm and stop the job.

2.2    Palletize Mode with Slipsheet Function Enabled
If Palletize Mode is used in conjunction with the Slipsheet Function, Palletize Mode will take priority over the tool posture. For example, if the job is taught using P-variables to specify that the flange should not be pointing downward, enabling Palletize Mode will override this setting, and the flange will be forced to point downward.

2.3    Torque Sensor MotoFit
Torque sensor MotoFit is not available on the HC30PL manipulator even with Slipsheet Function enabled.

2.4    Automatic Weight Gravity Measurement
Automatic weight gravity measurement is not available on the HC30PL manipulator even with Slipsheet Function enabled.

2.5    Conveyor Tracking
Conveyor tracking is not available on the HC30PL manipulator even with Slipsheet Function enabled.