ST 2000 Maintenance 3 1

MAINTENANCE/OPERATIO MANUAL
COURSE
ST-2000
AUTOMATED STORAGE/
RETRIEVAL SYSTEM
(WINDOWS VERSION 02)
DEGEM® SYSTEMS
ST-2000 SYSTEM DESCRIPTION
Copyright © 1999 by I.T.S. Inter Training Systems Ltd.All rights

reserved.This book, or parts thereof, may not be reproduced in any
form without prior written permission from I.T.S.This publication is
based on the exclusive methodology of Degem ® Systems.
In the interest of product improvement, circuits, components or

values of components may be changed at any time without prior
notification.
First English edition printing, 1999.

Catalogue Number: 9021395420

TABLE OF CONTENTS
1 SYSTEM DESCRIPTION 3
1.1 INTRODUCTION 3
2 CONTENT, UNPACKING AND ASSEMBLY 4
2.1 System's Content 4
2.2 Unpacking 5
2.3 Assembly 5
3 THE SYSTEM 7
3.1 The ST-2000 Components 8

3.1.1 Storage compartment 8
3.1.2 PLC 8
3.1.3 Front panel 8
3.1.4 Stacker manipulator 9
3.1.5 Pickup and Delivery manipulator 10
4 SOFTWARE INSTALLATION 11
4.1 INSTALLATION OF THE WVUNIQ SOFTWARE 11
4.2 LMODSOFT 14
4.2.1 How to Load the Program into the Controller 15
5 OPERATING INSTRUCTIONS 18
5.1 Operation Procedure 19

5.2 ST-2000 OPERATION SCREEN LISTING 28

5.2.1 Main Storage Screen 28
5.2.2 Storage Status Screen 28
5.2.3 Manual Control Pickup & Delivery Manipulator 29
5.2.4 Stacker, I/O Data 30
5.2.5 P&D Manipulator I/O Data 30
5.2.6 Semi-automatic Control Panel 31
5.2.7 Work Parts Status 32
5.2.8 CIM Control Request Table 32
6 MAINTENANCE INSTRUCTIONS 33
6.1 Weekly Maintenance 33
6.2 Monthly Maintenance 33
6.3 Semiannual Maintenance 33
7 TROUBLESHOOTING 35
1 SYSTEM DESCRIPTION
1.1 INTRODUCTION
The ST-2000 system was developed for computerized instruction in

Automatic Storage management, and provides an environment similar to
plant production. ST-2000 provides students with basic experience in all
stages of the planning and operation of a computerized Automatic
Storage. This manual provides instructions in the correct and efficient
maintenance and operation of the ST-2000 system.
2 CONTENT, UNPACKING AND ASSEMBLY
2.1 System's Content
▪ ST-2000 stand
▪ MODICON 984 controller
▪ XYZ Cartesian manipulator
▪ P&D position manipulator
▪ Manual operation box
▪ Barcode – (optional)
▪ Controller/computer communication cable
▪ MODSOFT software
▪ VUNIQ software & operation plug
▪ Course manual
▪ MODICON 984 manual
▪ Barcode study manual – (optional)

2.2 Unpacking
▪ Open the wood case carefully.
▪ Release the strip bands.
▪ Open the nylon wrapping.
▪ Ensure that no mechanical damage has occurred in transit.
▪ Place ST-2000 on a surface, in the desired location
2.3 Assembly
▪ The ST-2000 is part of CIM system. Place the ST-2000 in

front of the ST-2000 station on the CIM conveyer (station
u-1)
▪ Level the ST-2000 using the bolts on the table legs.
▪ Lubricate the screw-axis’s with light oil.
▪ Check visually the electric box for damages and lose

components.
▪ Checks the electric box for lose bolts in the connectors.
▪ Connect communication cable U-1 between the main CIM

electric box and the ST-2000 electric box.
▪ Connect communication cable RS-232 (modbus) between
the main PLC and the ST-2000 PLC (short cable).
▪ Connect electrical cables.
▪ Attach the barcode bracket to the ST-2000 (If it was supply).
▪ Connect the air supply pipe (8mm) from the CIM to the
solenoid block (you have to open the back cover of the
ST-2000 system).
In case that the system works in a stand-alone configuration,

it requires air pressure supply of 5.5-6.5 atm.
▪ Connect the communication cable between the ST-2000
controller and the PC to COM1 (the long cable).
▪ Connect the communication cable between the Barcode and
the PC to COM2 – (if it was ordered).
▪ Connect the VUNIQ plug to the PC parallel port.
3 THE SYSTEM
The system consists of the following parts:
Figure 3-1 : The System and its Parts
1. Storage compartment 3. Front panel 5. Rotational manipulator
2. PLC 4. Y, X axis manipulator

3.1 The ST-2000 Components
3.1.1 Electricity Cabinet
An electricity cabinet contains all the system's wiring. From the

electricity cabinet, the wiring lead to a PLC and from there to a PC
computer.
3.1.2 Storage compartment
There are 32 compartments for holding pallets with or without a

particular product.
3.1.3 PLC
MODICON 984-145 controller, 16 bit CPU, 8K user logic size. The

controller receives I/O, enabling the computer to control the ST-2000.
3.1.4 Front panel
The front panel serves for the operation of the system and indications of
the system's status. The front panel consists of the following switches and
indicators:
PLC ON DC
POWER
ON
PLC OFF CIM ON

LINE
EMERGENCY ERROR
STOP
▪ PLC ON - turns controller on
▪ PLC OFF - turns controller off
▪ EMERGENCY STOP - shuts down the system in an emergency

▪ DC POWER ON - indicates voltage supply to system
▪ CIM ON LINE - indicates communication with CIM
▪ ERROR - indicates a system malfunction

3.1.5 Stacker manipulator
This unit controls the transferring of the pallets into and out of the
compartments. The manipulator has two spiral axes that are operated by
two DC motors. Sensors are installed at the ends of the axes and pins are
mounted on rails that enable to stop the manipulator in front of the
appropriate compartment, when so ordered by the software.
The Stacker manipulator can also be operated manually by manual

control box, the control box is usually used only for calibration purposes.
The manual control box is installed in the electrical board, on the right
side of the “mode of operation” console.
NOTE:
After using the manual control, change the cutoff switch position from
manual to Auto mode
3.1.6 Pickup and Delivery manipulator
The pickup and delivery manipulator links the conveyor (production line)
and the storage compartment in the ST-2000 . The manipulator is capable
of making 180° rotary movement from the conveyor to the buffer
compartment. In addition, it may make up-down linear motion to allow
the pallet to be removed from the conveyor and placed in the pickup
position. An axis piston connected to the rotary piston allows the pallet to
be placed in the delivery position. An angular gripper attached to the axis
piston grasps the pallet on the conveyor and transfers it to the buffer
compartments.
Pickup /delivery Pneumatic gripper

buffer
Pallet ID sensor
Adjustable shutter Adjustable

(for the rotation of shutter (for the
the manipulator) rotation of the
manipulator)
Rotary piston
Z axis piston
4 SOFTWARE INSTALLATION
Note: 1. The system was delivered after the software had
already been installed and tested. It may
however be necessary to repeat the installation
process if any damage had occurred or if a
computer had been replaced.
2. This appendix will explain how to load
the software into the PLC.
4.1 INSTALLATION OF THE WVUNIQ SOFTWARE
The Vuniq system enables to create operator interfaces, data acquisition,

monitoring and control applications for industrial automation, discrete,
continuous or batch process environments.
Vuniq Modules
Module Description
VuServer Vuniq DDE server with a real time data table and
with:
Communication drivers for controllers and

I/O subsystems.
LAN communication with remote Vuniq

servers. Dynamic data exchange with other
Windows applications
VuRun Vuniq live graphic operator workstation
VuDraw Vuniq graphics builder
VuAlarm Real time and historical alarm display and log, with
advanced alarm analysis and reporting.
Module Description
VuReport
Data logging, advanced data manipulation, analysis
and report generation. Recipe manager with recipe
library.
VuTrend Real time and historical trend charts
VuLadder Writing and running PC applications in ladder

diagram language.
For more information, refer to the VUNIQ USER MANUAL FOR CIM
BASED SOFTWARE
1. Make sure you have WVUNIQ CD.
2. Insert WVUNIQ CD into the CD-ROM driver. The setup program will start
automatically.
3. Follow the instructions on the screen.
4. The software program is installed in: c:\vuniq20. The Vuniq files are installed
in: c:\vuniq20\bin. The application files are installed in: c:\vuniq20\app.
5. The user may choose to install the program in a different directory. The
installation software will automatically modify the boot file - vuniq.ini, in
order to reflect these changes. During installation, you may choose which
modules you wish to actually install, by selecting Custom Setup.
6. To test the computer-PLC communications:
a. Make sure the PLC is on.

b. Go to Start\Programs\Vuniq for Windows\VuServer and press ENTER.
c. On
the screen that opens
up, click the "Port
Configuration" icon
d. Make sure the parameters in the box that opens are identical to the data
appearing in the box below.
Now you are ready to start working. To begin, go to

Start\Programs\Vuniq for Windows\VuRun and press ENTER. At this
point, the application will begin running and we can return to the main
operating screen.
4.2 LMODSOFT
This program enables us to communicate with the PLC, construct various

ladder programs and make programming changes, then save the changes
and load them into the PLC.
The system is packed with a kit from MODICON, which includes a

complete reference book and a set of diskettes.
The system arrives with the software already installed, however, in the
event that a program problem arises sometime in the future for whatever
reason, here are its installation instructions:
1. Make sure you have two LMODSOFT diskettes (provided in the MODICON
kit) and one diskette labeled: "ladder diagrams".
2. Insert diskette 1 into drive A. Switch to DOS, type "a:\linstall" and press
ENTER then follow the instructions (always accept the suggested default
options)
3. Insert the diskette labeled "Ladder Programs" into drive A and copy its
content to the "C:\Lmodsoft\Programs" folder.
4.2.1 How to Load the Program into the Controller
1. Run: "C:\Lmodsoft\Lmodsoft.exe".
2. Select the PLC you want to communicate with by selecting its address.
ST-2000 10
PN-2800 20
PS-2800 50
3. Go to "Offline\PLC Change Address" (see the diagram below).
4. Type the desired address (refer to the table in paragraph 2) in the box in the
lower left corner of the screen that has opened (see the diagram below), then
press ENTER until you return to the main screen.
Note: No need to change any other parameters,

aside from the address.
5. After selecting the desired address, make sure that its PLC is ON. From the
main screen, go to "Transfer\File to PLC", and follow the instructions
appearing on the screen that opens.
The system is supplied with 4 operating programs, listed below:
FILE
MAIN-PLC UNIT00
ST-PLC UNIT01
PN-PLC UNIT02
PS-PLC UNIT05HP
After the program had been loaded, you will be asked if you want to run
the controller. Type "Y" then press ENTER. Ten seconds later, make
sure that the "PLC Run" LED has gone on.
5 OPERATING INSTRUCTIONS
This chapter will introduce you to the Automated Storage/Retrieval System

(AS/RS ). It will enable you to operate the AS/RS using the Control Computer.
The principles of operation of an AS/RS are as follows:
a. All items are stored in the system using a storage unit of uniform
dimensions. This storage unit is called "unit load". In most
Automated Storage/Retrieval System (AS/RS ), the unit load is a
pallet. All items in the system are assigned to pallets, which are used
to store the parts, and to transport them to various processing
stations in the CIM. In certain warehousing operations, containers of
uniform size are used as the "unit loads".
b. Pallet loads that have to be stored are transported to the Pickup and
Delivery (P&D) stations. The pallet identification, and the contents
of the pallet are communicated to the central control computer. This
computer assigns the pallet a storage location in the rack, and stores
the location in its memory. The pallet is moved from P&D stations
to the storage location by a stacker (also called storage/retrieval
(S/R) machine).
c. When an item is needed, a retrieval request is sent to the control
computer. The computer searches its memory for all the storage
locations in which such item is stored, and directs the stacker to a
selected location to retrieve the pallet with the desired item. The
stacker delivers the pallet to the P&D station, from which it is
transported by the system conveyor to the final destination.
5.1 Operation Procedure
SAFETY RULES
Before operating the AS/RS in any of the operation modes, make sure
that the station power switch is in the "OFF" position. Make sure that you
are familiar with the location and operation of the emergency STOP
button on the AS/RS control panel, and with the "soft" STOP button on
the ST2000 computer main menu screen.
Before operating the AS/RS in any of the operation modes, check the
Storage Status screen (Manual Control Screen) in the control computer,
and make sure that it correctly reflects the status of pallets and items
stored in the rack. Correct any discrepancies before operating the system.
Figure 5.1. The Logo screen of the CIM-2000 Mechatronics Training System
1. Select the icon labeled “MAIN PROGRAM” on the top icons bar (shown in
Figure 5.1). By clicking on it the main programming screen (Fig. 5.2) will
appear.
From the CIM GENERAL list, select Common Work Permission and System
can TAKE-PUT, by clicking on the corresponding button. The background of
the indicators will turn green.
From the STATION SETTING list, select Storage (pay attention to a change
of the indicator’s background).
Figure 5.2. The Main Programming screen

Figure 5.3. The Storage Station screen
2. Return to the Main screen and select the ST-2000 Storage station. There are
two ways to start the MMI of the ST-2000: either by selecting the push-button
(icon) STORAGE at the top bar of the screen, or by selecting the rectangle
that represents the ST-2000 station in the outline of the CIM-2000 system.
Other screens of the station are activated from the Storage Station screen
shown in Figure 5.3.
3. The Storage Station screen contains two distinguishing areas.
At the top of the screen there are five push-buttons and three indicators. The
indicator labeled “Power On” indicates that permission to work has been
received from the CIM CONTROL STATION, and DC POWER ON light
on the control board is functioning.
The indicator labeled “In Line” shows that the station has been included in
the CIM-2000 control loop.
The indicator labeled “Ready” displays that the controller is either active
(PLC ON light on the control board is ON) or not.
The push-buttons labeled “Manual” and “Automatic” allow selection of the

mode of operation. Note that the various processes may be operated in two
modes, manual and automatic:
a. The manual mode enables the action of all the elements in the
system, such as valves and pumps. Some of the elements are
controlled only as an ON/OFF operation; other elements can be
continuously controlled.
b. The automatic mode enables the activation of certain selected
control loops. The manual operation options for the elements
controlled by it are blocked.
The push buttons labeled “START” and “STOP” control the power supply
of the programmable controller (PLC). The “START” push-button
switches on the power supply of the PLC and push-button “STOP”
switches it off.
The “RESET” push-button switches off the mode of operation.
4. In the STORAGE STATION screen click on the button marked START.
a. The green PLC ON lamp turns on.

b. The STACKER will drive to the home position if it is not already
there.
5. Select MANUAL MODE by clicking on the button marked Manual. When

Manual mode has been activated, the text on the button will turn blue.
6. Click on the button marked STORAGE STATUS. This screen (see Fig. 5.4)
shows the storage rack and the identification of pallets in each storage
location. It also shows the current status of the stacker.
Figure 5.4. Storage Status screen

7. Verify that the screen correctly represents the actual storage status on the rack.
(Pallets may have been added or removed manually while the system was not
operating). If necessary, update the actual storage rack to correctly represent
the graphic rack display on the screen. Update the screen as follows:
a. Remove any pallet from storage rack if it does not appear on the screen.
b. Add a pallet if there is symbol of a pallet on the screen, yet it does not
exist in the actual storage rack.
c. Update the SP, PV and BarCode data as well.
8. A pallet is represent by three data fields show below: Set Point (SP) data
field, Present Value (PV) data field, and Bar Code (BC) field.
Figure 5.5
For example, to update a pallet SP data field:

Click on SP data field. The small pop-up window will appear on the
screen.
Figure 5.6.
Enter the 4-digit numeric code.

Press the Enter key <↵> or click the WRITE VALUE push-button.
To remove the window, click the CLOSE push-button.
9. The location of the stacker is identified by X and Y co-ordinates, relative

to storage rack row and column locations. Location X=0, Y=0 is the
stacker "Home" location. This is the location that the stacker moves to
when it is first turned on. While in this location, the stacker is at the
pickup station. Other stacker locations are identified by X=1, 2, …, 8 and
Y=0, 2, 3 for each of the eight storage rack columns and four rows.
MOVING THE STACKER FETCHING AND STORING MATERIAL.
1. Moving the stacker to a specific address in order to fetch/get or store/put a

material, is done as follows:
a. Under the button marked GET move the cursor to the field marked X.
Move the cursor along this button until it changes into a "hand", then
click.
Figure 5.7.
b. Enter the X: address. Enter a numeric number between 08 for X address
and press the Enter key <↵>.
c. Move the cursor to the button marked Y. Move the cursor along this
button until it changes into a "hand" then click.
d. Enter the Y address. Enter a numeric number between 03 for Y address
and press the Enter key <↵>.
2. Click on the button marked GET. The stacker will move to the entered X,Y
co-ordinates and retrieve the pallet. In the case shown in Figure 5.7, the pallet
is located in the storage rack at the address X=8, Y=3.
Figure 5.8
Figure 1.8 displays the change in the stacker’s status.
3. To transfer the pallet to the Pick Up & Delivery station use the STORE
function. This is done as follows
a. Under the button marked STORE :

b. Enter the X address as above in paragraph 10.
Enter numeric number between 08 for X address.
Press the Enter key <↵>
c. Enter the Y address
Enter numeric number between 03 for Y address.
Press the Enter key <↵>
d. Then click on the button marked STORE. The stacker will store the
pallet at the entered X,Y co-ordinates.
Figure 5.9.
4. Watch the travel of the stacker, and the horizontal and vertical motions.
Write down below which motion (the horizontal along X axis, or the
vertical along Y axis) was completed first.
5. Place a pallet at the delivery station and assign a SP value of 6000.
6. Move the stacker back to the "Home" position [location (0,0)] using the
GET function and write down the same data requested above.
7. This motion of the stacker is called shuttle travel. Watch the shuttle
travel. Notice that when moving to a rack address in which there is a unit
load, the stacker fork is ready to pick up the load. It stops at a vertical
location below the pallet, moves towards the storage rack, moves up to
pick up the pallet, and finally retracts with the pallet into the aisle.
8. Using the STORE function, store the pallet at an empty location. Notice
the shuttle travel when depositing a load. Write down below in what way
the shuttle travel to deposit a load differs from the shuttle travel to pick
up a load.
PICKUP AND DELIVERY (P&D) CONTROL
Figure 5.10. Manual PickuP&Delivery Control Window
1. Remove a pallet from the PickuP&Delivery buffer. Place a wagon and pallet
at the storage station port.
2. To return to the Storage Station screen, click on the button marked MAIN
on Figure 5.4.
3. Select the button marked P&D Manipulator. The manual

PickuP&Delivery Control window will pop up on the screen (see Fig.
5.10).
4. Using functions on this screen, try to deliver the unit load from the
conveyor to the delivery station. To select a function from the screen:
move cursor to the appropriate function number. Move the cursor along
the button until the cursor changes to a hand, then click.
5. Design a sequence of operations in accordance with existing constrains,
and record it in the table below.
5.2 ST-2000 OPERATION SCREEN LISTING
5.2.1 Main Storage Screen
This screen gives accesses to all the screens that are described bellow
5.2.2 Storage Status Screen
This screen provides status information on the content of the ST-2000 .

Each compartment has three numbers displayed as parameters: PV
(present value), SV(set point) and BR (barcode). These numbers indicate
the status of each part in the ST-2000 and the number of the pallet on
which it is located This screen also enables parts to be put in and taken
out as does Screen 10.
5.2.3 Manual Control Pickup & Delivery Manipulator
This screen is used for manual operation of the manipulator, which places
and removes material on/from the conveyor. The pneumatic manipulator
consists of a cylinder, which rotates and moves up and down, and a
pneumatic gripper. The motion sequence implemented by the manipulator
depends on the order in which the material is put in or taken out. To rotate
the manipulator it must first be raised so as to prevent error. This screen
also displays the status of the operative sensors (highlighted in purple).
The numbers appearing next to the input are the numbers of the
commands entering the PLC controller.
This screen is used also for checking and calibration of the manipulator
movement in the rotation plane.
5.2.4 Stacker, I/O Data
This screen provides status information on all sensors of the main

manipulator. All operative sensors are highlighted in purple. The
operative commands and their numbers are also indicated (OUTPUT
ADD). This screen is used as a status indicator only.
5.2.5 P&D Manipulator I/O Data
This screen shows the status of the input commands to the small
manipulator operating opposite the conveyor, with PLC command
numbers. Commands highlighted in purple are those which had been fed
to the controller.
5.2.6 Semi-automatic Control Panel
This screen is used for semi-automatic operation of both manipulators.

The P&D Manipulator operating screen executes the entire cycle:
removing a pallet from the conveyor and placing it in the ST-2000 buffer
position. The Stacker Manipulator operating screen is for transfer of
material from compartment to compartment by defining the compartment
from which material is taken and the compartment into which it is placed.
Compartments are defined by their X,Y axis coordinates:
0,1
0,0 1,
0
← X →
The coordinates of the lowest leftmost compartment are 0, 0.
5.2.7 Work Parts Status
In this screen you can find the alarm messages. Every time that the station
is not working the first step is to go into this screen and to identify the
problem.
5.2.8 CIM Control Request Table
In mode of CIM operation this screen show what part/material the CIM is
required from the storage.
6 MAINTENANCE INSTRUCTIONS
6.1 Weekly Maintenance
1. Ensure that stacker manipulator X-Y screw-axis’s are lightly lubricated.

Lubricate as necessary with light oil.
2. Ensure that there is no mechanical damage to the ST-2000 . Wipe

compartments and system units with a dry cloth.
3. Clean the dust from the barcode eye cover.
6.2 Monthly Maintenance
1. Using a dry cloth, clean the sensors at the end units of manipulator X-Y tracks
and in the buffer compartments.
2. Ensure that pins on the manipulator X-Y belt are securely attached to the belt
surface.
3. Inspect visually the communication and electrical cables for damages.
6.3 Semiannual Maintenance
1. Ensure that stacker manipulator X-Y screw-axis’s are lightly lubricated.

Lubricate as necessary with light oil.
2. Ensure that there is no mechanical damage to the ST-2000 . Wipe

compartments and system units with a dry cloth.
3. Clean the dust from the barcode eye cover.
4. Using a dry cloth, clean the sensors at the end units of manipulator X-Y tracks
and in the buffer compartments.
5. Ensure that pins on the manipulator X-Y mounted on the rails are securely
attached.
6. Inspect visually the communication and electrical cables for damage.
7. Check that all the sensors are secure to their carrier socket.
8. Check the stacker manipulator accuracy by making self-test from the

“Semi-Auto Control Panel “ in manual mode.
NOTE:
Before executing the next inspection please verify that the system power
supply is disconnected!
9. Check the electrical box for lose component & lose connectors bolts.
7 TROUBLESHOOTING
Fault Suggested Remedy
Buffer piston and Z-axis piston not Check system air pressure.
operating.
Manipulator does not stop at desired point. Pin has fallen out. The sensor is not reading
the pin.
ST-2000 does not operate via computer. Set switch in electrical compartment from
MANUAL to AUTO. Ensure
computer/ST-2000 communication cable is
connected.
Decrease or increase in piston operating Sudden increase in air pressure. Piston

speed. shutters are not properly adjusted.

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MAINTENANCE/OPERATIO MANUAL

(WINDOWS VERSION 02)

Copyright © 1999 by I.T.S. Inter Training Systems Ltd.All rights

In the interest of product improvement, circuits, components or

First English edition printing, 1999.

Catalogue Number: 9021395420

2 CONTENT, UNPACKING AND ASSEMBLY 4

2.1 System's Content 4

3.1 The ST-2000 Components 8

4.1 INSTALLATION OF THE WVUNIQ SOFTWARE 11

5.1 Operation Procedure 19

5.2 ST-2000 OPERATION SCREEN LISTING 28

6.1 Weekly Maintenance 33

6.2 Monthly Maintenance 33

6.3 Semiannual Maintenance 33

The ST-2000 system was developed for computerized instruction in

2 CONTENT, UNPACKING AND ASSEMBLY

2.1 System's Content

▪ MODICON 984 controller

▪ XYZ Cartesian manipulator

▪ P&D position manipulator

▪ Manual operation box

▪ Controller/computer communication cable

▪ VUNIQ software & operation plug

▪ MODICON 984 manual

▪ Barcode study manual – (optional)

▪ Open the wood case carefully.

▪ Release the strip bands.

▪ Open the nylon wrapping.

▪ Ensure that no mechanical damage has occurred in transit.

▪ Place ST-2000 on a surface, in the desired location

▪ The ST-2000 is part of CIM system. Place the ST-2000 in

▪ Lubricate the screw-axis’s with light oil.

▪ Check visually the electric box for damages and lose

▪ Connect communication cable U-1 between the main CIM

▪ Attach the barcode bracket to the ST-2000 (If it was supply).

In case that the system works in a stand-alone configuration,

Figure 3-1 : The System and its Parts

1. Storage compartment 3. Front panel 5. Rotational manipulator

2. PLC 4. Y, X axis manipulator

3.1 The ST-2000 Components

3.1.1 Electricity Cabinet

An electricity cabinet contains all the system's wiring. From the

3.1.2 Storage compartment

There are 32 compartments for holding pallets with or without a

MODICON 984-145 controller, 16 bit CPU, 8K user logic size. The

3.1.4 Front panel

PLC OFF CIM ON

▪ PLC ON - turns controller on

▪ PLC OFF - turns controller off

▪ EMERGENCY STOP - shuts down the system in an emergency

▪ DC POWER ON - indicates voltage supply to system

▪ CIM ON LINE - indicates communication with CIM

▪ ERROR - indicates a system malfunction

The Stacker manipulator can also be operated manually by manual

3.1.6 Pickup and Delivery manipulator

Pickup /delivery Pneumatic gripper

Adjustable shutter Adjustable

4.1 INSTALLATION OF THE WVUNIQ SOFTWARE

The Vuniq system enables to create operator interfaces, data acquisition,