Observe the entire operation
The robot brings the tool into position, grips the product, confirms retention, transfers it, releases it and returns. It may also wait for the upstream machine, space at the destination or completion of a pallet change. All of these situations affect the cell's capacity.
A maximum travel speed describes only part of the movement. It does not alone inform how many parts will be delivered per minute. To evaluate the application, start with the actual sequence and conditions that allow each step to begin.
Relate the cadence to the available cycle
Cadence describes how many products arrive or need to leave in an interval. The cycle describes the sequence that repeats itself. If the tool moves more than one product at a time, also record the quantity per cycle and the time needed to form the group.
Didactic example: the arrival of 12 boxes per minute corresponds to an average interval of 5 seconds per box. A catch with two boxes would have, on average, 10 seconds between groups. This does not prove capacity: it is necessary to evaluate the pair formation, arrival variations, waiting times and delivery.
For production with pauses and bursts, the average hides part of the problem. A video and a sequence of measurements help to distinguish a regular arrival from a feed that concentrates several products in a short interval.
Separate movement, waiting and switching
| Observed excerpt | What to register | Question for engineering |
|---|---|---|
| Pick up and confirmation | Time until retention is confirmed | What condition permits transportation? |
| Transport and return | Trajectory, heights and interferences | Are there movements that can be coordinated? |
| Liberation | Tool support, positioning and exit | Does the destination need to confirm availability? |
| Wait | Origin, destination and duration | What equipment does the robot wait for? |
| Product or pallet exchange | Frequency and downtime | Is an accumulation area necessary? |
Do not automatically add durations of concurrent activities. If two axes move together, the time for this step depends on the coordinated movement. On the other hand, activities with a mandatory release condition cannot be overlapped just to close an estimate.
The controller coordinates; the application sets the requirements
In the CR-NX configuration presented by Carioli, the Delta AX-308 controller coordinates the drives in EtherCAT. The AX-308E family documentation describes motion and interpolation capabilities. The result of the cell continues to depend on the route, the tool, the product and the integration.
Likewise, the resolution of a motor's encoder does not equate to the repeatability measured on the tool. When comparing equipment, ask that the capacity, cycle and measurement condition are described for the same product and the same task.
Measure a representative condition
- Define the beginning and end of an observable cycle.
- Record product, quantity per cycle and power condition.
- Observe several cycles, noting waits and interrupts separately.
- Include relevant pallet swaps, replacements, and product changes.
- Compare the current operation with the result you intend to accept.
Identify the measurement period and data source. Don't turn observed best streak into expected continued performance. Test conditions and acceptance criteria must accompany the proposal and validation.
Revenue exchange is not commission
The palletizing Carioli system calculates positions based on the product dimensions in the serviced configurations. Changing these parameters is not the same as installing, integrating, testing and putting the cell into operation.
When planning deployment, separate manufacturing, installation, tuning, testing, and release. In production, evaluate the recipe exchange and physical preparation required for each product family. This separation makes the timeline and productivity expectation clearer.
Sources and in-depth
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