PackML sample utilizing Tc3_PackML_V2 lib & OMAC implementation guide
Developed in TwinCAT 3, build 4024.32
Production Line = Master (no PackML Modes or States, only giving PackTag commands to the Units)
Unit 1 is a Robotic Delta Cell = (PackML Modes, States & PackTags)
• SubUnit 1 is the infeed conveyor (PackML States)
• SubUnit 2 is the delta robot (PackML States)
• SubUnit 3 is the discharge conveyor (PackML States)
Unit 2 is a Robotic SCARA Cell = (PackML Modes, States & PackTags)
• SubUnit 1 is the infeed conveyor (PackML States)
• SubUnit 2 is the scara robot (PackML States)
• SubUnit 3 is the discharge conveyor (PackML States)
There’s a simple visu to walk through the modes & states of the main units/sub-units.