CA1276271C - Conveyors - Google Patents

Abstract

Abstract of the Invention Drive means for a conveyor to enable the latter to be positioned accurately relative to a delivery station or the like. An electric stepper motor is provided with control circuit means therefor to generate a sequence of electrical pulses the frequency and duration of which can be controlled so as to accurately position the motor and in turn the conveyor linked thereto. In a preferred arrangement the shaft of the stepper motor is held stationary and the outer casing is provided with a drive means for engaging the endless belt of the conveyor which is caused to pass around the motor casing. Typically teeth are formed around the motor casing for engaging in slots in the belt or a chain forming part of the conveyor.
In order to obtain programmable control of the motor, the latter is conveniently controlled by means of pulses derived from a microprocessor control unit. Programming means is provided for entering programme information into a memory associated with the microprocessor. Preferably the microprocessor control unit includes input means for inputting electrical signals indicative of the arrival of objects at the delivery station or the arrival of a container or tray or the like below the delivery station.

Description

PATENT
Cl91/W

Title- Improvements in and relating to Conveyors Field of invention This invention concerns conveyors particularly those which have to precisely move objects relative to a delivery station or the like.

Backqround to the invention It is known to deliver a product from one conveyor to another and often the ~ake-off conveyor operates trans-versely to the delivery conveyor so as to position collecting trays or boxes or the like at the output of the delivery conveyor so as to receive articles from the de-livery conveyor.

Where accurate positioning of the articles in or on the trays or boxes is required, it is of course necessary to accurately position the articles as they leave the de-livery conveyor and also to accurately position the trays or boxes relative to the outlet end of the delivery conveyor, whilst it is relatively straightforward to pro-vide deflecting fingers or guides to co-act with the de-livery conveyor and position articles across the width thereof. However, the positioning of receptacles by means of the take-off conveyor relative to the delivery station requires very accurate positioning of the take-off conveyor and it is with this in mind that the present in-vention provides an improved drive mechanism for a take-,, ~ ~.~

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-- 2off conveyor.

Summarv of the i.nvention According to the present invention there is provided in a tray loading system wherein a plurality of cut pieces of meat are to be loaded onto a tray, a tray conveying apparatus comprising:
conveyor means for carrying a tray on which a plurality of cut pieces of meat are to be loaded at a loading station;
stepper motor means for moving said conveyor means;
tray indexing control means for operating said stepper motor means to move said conveyor means by predetermined increments between loadings of individual ones of the plurality of cut pieces of meat; and tray change control means, responsive to the plurality of cut pieces of meat being loaded on the tray, for operating said stepper motor means to move said conveyor means until the tray has been removed from the loading station.
The invention also extends to a method of controlling the placement of cut pieces of meat loaded onto a tray, comprising the steps of:
(a) disposing a tray on a conveyor;
(b) moving the conveyor so that the tray is moved into a loading station where the cut pieces of meat are to be loaded onto the tray;
(c) loading a first cut piece of meat onto the tray at the loading station;
(d) after said step (c), actuating a stepper motor connected to the conveyor to move the conveyor a first predetermined increment so that the tray and the first cut piece of meat are moved relative to the loading station;
(e) after said step (d), loading another cut piece of meat onto the tray at the loading station;
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12~76;Z7il ~ f) after said step (e), actuating the stepper motor to move the conveyor a second predetermined increment, different from the first predetermined increment, so that the tray and the loaded cut pieces of meat are moved relative to the loading station; and (g) repeating said steps (e) and (f) until a predetermined number of cut pieces of meat are loaded onto the tray so that the first two loaded cut pieces of meat are spaced the first predetermined increment and all subsequent loaded cut pieces of meat are spaced the second predetermined increment.
Further features of the invention will be apparent from the appended claims and from the following description of a preferred embodiment thereof, which.......

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will now be described by way of example with reference to the accompanying drawings, in which:-Figure 1 is a diagrammatic plan view of a packaging lineincorporating apparatus embodying the invention.

Figure 2 is a general view in the direction the arrow A of part of the apparatus shown in Figure 1.

Figure 3 is a perspective view from above of the outlet end of one of the delivery conveyors shown in Figure 2.

Figure 4 is a perspectivew view of the lower end of the tray stack.

Figure 5 is another perspective view of the tray stack, this time shown empty, Figure 6 is an end view of the lower end of the tray stack support and shows the mechanism by which trays are removed from the bottom of the stack and loaded onto the tray con-veyor, Figure 7A and 7B are diagrammatic side and top views of the delivery end of the tray conveyor, Figure 8 is a top view of a tray loaded with 4 meat chops after passing through the loading station shown in Figure 3, Figure 9 is a side view of the tray of Figure 8 with the nearer side of the tray removed to enable the lay of the chops to be seen, Figure 10 is a perspective view of part of the main con-veyor onto which the filled tray is delivered from the transfer conveyor of Figure 7A, Figure 11 is a perspective view of a buffer conveyor and gate to which the filled trays are delivered by the main conveyance of Figure 10, and Figure 12 is a perspective view of the gate mechanism of Figure ll from the opposite side.

Figure 13 is a schematic block circuit diagram of part of the control system associated with the apparatus of Figures l to 12.

Figure 14 illustrates the basic control panel for a control system generally modeled on that of Figure 13, Figure 15 illustrates the same control panel with an overlay card fitted, Figure 16 shows the overlay card to a larger scale, Figure 17 shows how the central control unit of Figure 13 can be made up of two programmable control computers for delivering control signals to the left and right hand pair of chop cutting machines of Figure 1, Figure 18 is a listing of the l/O assignments for computer 252, Figure 19 is a listing of the l/O assignments for computer 254, Figure 20, made up of 24 sheets is a complete circuit/wiring diagram of the control system, Figure 21 illustrates the connections to some of the chop cutting machines controls from the computer 252, Figure 22 illustrates the same connections to the other chop cutting machine controls from the computer 254, and Figure 23 illustrates the essential parts of the speed control system for a stepper motor conveyor drive.

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Detailed Description of Drawings Figure 1 is a plan view of an overall pac~aging line. The apparatus is designed to cut large pieces of meat into chops or similar slices and two band saw automatic cutting ma-chines shown at 10 and 12. Each includes a carousel 14 and 16 respectively on which can be mounted up to 4 pieces of meat from which chops can be cut as the carousel is rotated past a band saw. The cut pieces leave the cutting station in the direction of the arrow 18 in the case of cutter 10 and 20 in the case of cutter 12.

Conveyors generally designated 22 and 24 deliver the cut pieces to two loading stations generally designated 26 and 28 respectively which will be described in greater detail in relation to later figures.

Trays are stacked at 30 and are removed one by one and po-sitioned on a tray conveyor generally designated 32 which incrementally moves the trays through the loading stations 26 and 28 to a transfer conveyor 34 and from thence to a main delivery conveyor 36, part of which serves as a buffer conveyor at 38 the output from which is controlled by the operation of a gate 40.

Two further meat cutting machines at 42 and 44 are also shown with associated conveyors 46 and 48 for supplying a second tray conveyor 50 having trays supplied from a second stack 52 for delivering filled trays to a second buffer con-veyor 54 whose output is controlled by a second gate 56.
The second pair of meat cutting machines 42 and 44 are optional and simply indicate how throughput can be increased by parallel operation.

~76;~1 In order to accommodate output from two gates 40 and 56, a two into one conveying station 58 is provided for supplying a single line of filled trays to a wrapping apparatus 59 via a conveyor 61.

In its simplest form, the apparatus would comprise a single cutting machine such as 10, associated conveyor 22, and related tray conveyor 32 and tray stack and delivery station 30. The second cutting machine 12 simply allows a more efficient operation in that whilst the first cutter is operating, the second cutter can be reloaded and cleaned ready to be put into action as soon as the meat in the operating machine is exhausted.

Figure 2 is a perspective view of the apparatus in the direction of arrow A in Figure 1. Thus the two meat cutting machines 10 and 12 can be seen in the background with their associated conveyors 22 and 24 feeding the tray conveyor which will be described in more detail later and which is supported by a framework 60 which extends transversely to the two feed conveyors 22 and 24.

An upright tray magazine is shown at 62 within which are stacked trays 64 one above the other. Each of the trays is generally square or rectangular in plan view, includes a depressed central region into which product can be laid and has a peripheral lip. The form of each tray can best be seen from Figures 8 and 9 to which reference will be made later.

The magazine 62 can be lifted clear from a support 66 to allow a fresh magazine to be fitted or simply for the maga-zine to be filled with trays.

~276Z 71 A mechanism which will be described later removes each tray in turn from the bottom of the stack and each such tray is engaged on a conveyor having upstanding driving dogs, one of which is shown at 68 which engage the rear edges of the trays and move them in a direction from beneath the magazine 62 towards the loading stations at the delivery ends of the conveyors 24 and 22.

The path of the conveyor (not shown) containing the dogs 68, is such that the latter rise up at the right hand end of the framework 60, move across the framework 60 from right to left in Figure 2 and descend in a downward direction at the left hand end of the framework 60 in Figure 2. At that point the trays are delivered to a further conveyor as will be hereinafter described.

Controls, drives and power supplies (e.g., relays, air sole-noid valves and terminal blocks) for the conveyors, tray magazine and for controlling the delivery of cuts from the conveyors 22 and 24 onto the tray conveyor 32 are contained within units 70, 72 and 74 respectively. This equipment receives control signals from a central controller depicted in Figure 13 and more specifically described hereinbelow.

Delivery Station Figure 3 of the drawings illustrates to a larger scale the outlet end of the delivery conveyor 22 of Figures 1 and 2 and the interaction of this with the tray conveyor generally designated 32. This interaction forms the delivery station or loading station where cut pieces of product such as meat chops or the like are loaded into a tray.

One such cut piece is shown at 76 and in practice will be preceded and followed by other similar cut pieces all 127627i travelling towards the tray conveyor 32.

To one side of the delivery conveyor 22 is an alignment guide 78 made up of a metal leaf spring anchored at 80 and adjustable in position at its downstream end by means of a screwed rod 82 and block 84. Positioning of the leaf 78 determines the precise position of the cut pieces across the width of the delivery conveyor 22 as they approach the exit end or outlet thereof.

Where the conveyor belt 86 of the delivery conveyor 22 passes around the end roller 88, the cut pieces 76 will fall in free flight from the end of conveyor 22 onto a waiting tray, one of which is shown in dotted outline at 90.

~he tray 90 is one of a number of such trays lying along the tray conveyor 32 and which are indexed in a forward di-rection denoted by arrow B in Figure 3 by means of the tray conveyor drive dogs of which one is shown at 92. These are attached to an endless chain (not visible in Figure 3) and the latter is driven in a series of incremental movements so as to shunt the line of trays past the loading station. As each tray is positioned in front of the loading station formed by the outlet of the conveyor 22, the cut pieces leave the conveyor belt 86 and after free flight land on the tray below.

Adjacent the exit of the conveyor belt 86 are located two sensors 94 and 96 with an optical link between them so that as a piece of cut product such as 76 arrives at the exit end of the conveyor belt 86 so also the optical link is interrupted causing an electrical signal to be generated to serve as a control signal.

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~276~1 Further information is obtained when the optical link is re-established after the passage of a piece of cut material allowing a further electrical signal to be generated indi-cating that one piece has passed and another can now be expected.

Adjacent the exit end is located an air pipe 98 having an outlet nozzle 100 which pipe is adjustable so as to direct an airstream from the nozzle 100 toward the flight path of cut pieces such as 76 as they leave the conveyor. By appropriate adjustment of the nozzle and appropriate adjust-ment of the pressure and volume and duration of each air pulse leaving the nozzle, so a cut piece such as 76 leaving the conveyor 86, can be deflected and tilted simultaneously so as to land in the tray in a tilted condition instead of lying flat on the bottom of the tray. This is of great advantage where chops and similar types of meat product are involved since it allows the pieces to be layered in the pack to present the edge regions of the chops or other pieces of meat one overlying the other.

Opposite the delivery end of the conveyor belt 86 are located two spring fingers 102 and 104 which are mounted on pivot blocks 106, 108 and are sprung in a direction so as to cause the fingers to protrude into the path of the trays.

The springing is very light and as each tray is pushed into the position aligned with the end of the conveyor belt 86, so the two fingers 102 and 104 are pushed out of the way by the side wall of the tray. However, there is just sufficient friction between the fingers and the tray edge to restrain the tray so that the latter is prevented ~,..

from overshooting as it is pushed in a series of incremental steps past the delivery end of the conveyor belt 86 by the movement of a dog 92.

In addition to the fingers 102 and 104, a tray sensor 110 is located immediately below the path of the trays which is itself engaged by the underside of each tray as the latter is moved into position. Control signals from the sensor are used to instigate the operation of the cutting machine and delivery conveyor drive.

In this connection the signals from the sensor link 94, 96 serve to indicate that cut pieces have now arrived at the delivery end of the conveyor 22 and each piece can be counted as it passes between 94 and 96. Overall control of the apparatus is achieved by means of a microcomputer con-trolled device having a memory into which information is stored concerning inter alia a number of pieces to be laid in each tray and the distance through which tray must be indexed after it has arrived at the loading station so as to accommodate the desired number of cut pieces in a particular configuration within the tray. This control device of the preferred embodiment is more specifically described herein-below with reference to Figures 13-20. The signal from the sensor 110 thus initiates the process, the signal from the sensor link 94, 96 dictates the number of pieces which are laid in the tray and in the event that no tray supplants the first ater the latter has been moved out of the delivery station region, the appropriate signal from the sensor 110 temporarily halts the cutting and delivery of further pieces until the fault has been remedied.

The timing of the jet of air from the nozzle 100 is achieved using as a trigger the signal from the link 94, 96.

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As is best seen from Figures 3 and 4, the sides of the tray conveyor are made up of pairs of upper and lower guide rails 112 and 114 on one side and 116 and 118 on the other side.

The conveyor bed is stationary and is formed from a pair of elongate plates 120 and 122 separated by a groove 124 through which the dogs 92 extend and along which they can pass.

Tray magazine The tray magazine 62 as shown in Figure 2, is shown in greater detail in Figures 4, 5, and 6.

Referring particularly to Figure 5, the magazine is con-structed from a number of upright rods some of which are denoted by reference numeral 126 in Figure 5, forming a cage and bounded at the top and bottom and midway by means of bands 128, 130 and 132 respectively.

The lower band includes pairs of fixing knobs such as 134 and 136 (see Figure 6) on opposite sides by which the magazine can be secured to two upright flanges 138 and 140 secured to and extending from the support 60.

Two tray support rods 156, 158 extend across the underside of the band 132 on which the lips of the lowermost tray rest and the precise spacing between the rods is adjusted by means of cams 141 and 142 acting on pivoted levers 144, 146.
Alternative means could be used, such as lateral bolts which can be manually threaded in or out to adjust spacing between the rods.

Relative outward movement of the rods reduces the amount of overlap between the tray and the rods thereby making it easier to remove the lowermost tray whilst decreasing the spacing, increases the resistance to movement of the lower-most tray and removal thereof.

Actual removal of a tray from the lowest position in the stack is achieved by means of 4 suction cups of which 2 are visible in Figure 5 and are designated 148 and 150. The suction cups are formed at the upper ends of 4 piston rods of which two are shown at 152 and 154 in Figure 6. Upward displacement of the rods 152, 154 etc. raises the suction cups 148, 150 etc. into contact with the underside of the lowermost tray as shown in dotted outline in Figure 6.
Subsequent withdrawal of the piston rods causes the tray impaled on the 4 suction cups to be dragged in a downward direction and by virtue of the deformability oE the material forming the tray, the latter can be pulled downwardly past the rods 156, 158.

Figure 6 shows by way of dotted outline the lowermost tray 160 in the stack of trays contained in the magazine and in solid outline below the last tray to have been removed at 162.

Also visible in Figure 6 are the two pairs of guide rails 112 and 114 and 116 and 118. Adjustment of the relative spacing between the two pairs of guide rails can be effected by adjusting knob 164. Rotation so as to move the knob to the right in Figure 6 displaces the rails 116 and 118 in one direction whilst rotating the knob in the opposite sense produces reverse movement of the arm bearing the rails 116, 118.

Similar adjusters are provided at 166 and 168 (see Figure 5) so that by appropriate adjustment the rails 116 and 118 can be twisted from the position shown in Figure 6 where ,.

the tray will just rest on the upper rails 116 and 112, to the reverse of that shown in Figure 6 in which the tray can slip between the two upper rails and rest on the two lower rails 114 and 118 and be held captive in an upward sense by means of the two upper rails 116 and 112.

The transition from the position shown in Figure 6 to the position in which the rim of the tray is held captive between the pairs of rails on opposite sides of the track of the tray conveyor is effected as the tray is moved from below the stack in the magazine 62 towards the loading station.

Replacement of the magazine 62 with a freshly stacked maga-zine or simply to facilitate servicing or removal of jammed trays, is simply effected by undoing knobs 134 and 136 and lifting the magazine bodily away from the side cheeks 138 and 140 (see Figure 6).

Tray Conveyor Figure 7A and 7B illustrate the tray conveyor and also vis-ible is the transfer conveyor onto which the filled tray is passed.

The tray conveyor is an endless chain 170 on which are mounted the driving dogs such as 92. The chain passes around idlers such 172 and driven wheels 174.

In accordance with the invention the drive for the chain is derived from a stepper motor (not shown) which will ac-curately index the chain through predetermined distances in response to an appropriate number of electrical pulses sup-plied to the motor.

1Z76~71 In this way the trays can be indexed along the path of the tray conveyor by controlled distances so as to accurately position the trays relative to the discharge conveyor such as 22 and once in position can also be indexed accurately to receive different pieces of the cut product such as 76 at predetermined positions along the length of each tray thereby ensuring that the product is evenly distributed along the length of the tray and can be shingled, that is made to overlay one piece on another, preferably with edge regions shown uniformly.

Beyond the tray conveyor is located a transfer conveyor best seen in Figure 7B. This is made up of a number oE endless belts of which one is designated 176. There are 6 belts in all arranged in two groups of three on opposite sides of the central chain 170 of the tray conveyor.

Rollers such as 178 and 180 are provided at opposite ends of the transfer conveyor path and a constant speed drive (shown in Figure 7A) at 182 drives the endless belts such as 176.
Idlers 184 and 186 take up the slack and provide for the change of direction of the belts.

As shown in Figures 7A and 7B in dotted outline, a tray 90 will be pushed by the driving dogs 92 off the platform of the tray conveyor onto the endless belts such as 176 which since they are moving in the direction of the arrow C in Figure 7A, will cause the tray 90 to be transferred to the left in Figure 7A.

A take-off conveyor 36 (see Figure 1) picks up the trays from the transfer conveyor 34 and conveys the now filled trays towards a buffer conveyor 38 and the remainder of the wrapping apparatus.

Take-off Conveyor The take-off or main conveyor is shown in part in Figure 10.

Positioned over the surface of the moving section of the conveyor (188) are located two rails 190 and 192 which are adjustable in position by slackening off the knobs 194 and 196 and sliding the arms 198 and 200 through the blocks 202 and 214 respectively to the desired positions. The knobs 194 and 196 can then be retightened.

The main or take-off conveyor serves to convey the filled trays to a buffer conveyor which is made up of a series of rotatable but non-driven rollers on which the trays will queue and shunt towards the outlet as more trays are added from the take-off conveyor 188.

Buffer Conveyor This item 38 is shown in Figures 11 and 12. The filled trays arrive from the main conveyor 36 and are eventually halted in their forward movement over the bed of freely rotatable rollers 206 by means of a gate 208 which is raisable by means of a pneumatic ram 210.

Operation of the gate is controlled by means of the central control system for the overall apparatus and the gate serves to release trays from the buffer in response to the siqnals from the central control.

The latter is fed with signals from various sensors which lZ76271 are shown at 212, 214, 216 and 218. The signals from the various sensors indicate the arrival of a tray at the gate (sensor 212), the arrival of a sensor just in advance of the gate (sensor 214) and where signals are simultaneously received from sensors 216 and 218, the fact that numerous trays are now backing up on the buffer conveyor indicating that the supply of trays to the buffer conveyor is exceeding the rate at which they are being released by the gate.

Beyond the gate 208 are located driven rollers 220 and a further transfer conveyor similar to the transfer conveyor 34 is provided beyond the driven rollers at 222.

System operation Figure 13 shows the control system for part of the apparatus of Figures 1 to 12. The heart of the system is a central, processor controlled, control unit 224 the operation of which will become evident from the following description.

On pressing ON-push button 226 CPU 224 sends a signal to a tray de-stacker 228 to remove a tray from the stack 64 (Figure 2) and initiate operation of tray conveyor drive 230. Passage of a tray past the decoder 232 produces a control signal for CPU 224 to indicate the size of the tray in use and using a look-up table or other device the CPU 224 generates appropriate control signals for the tray conveyor drive to enable the correct step size movement to be achieved as each tray passes through the delivery station 26.

At the same time the ,cutter drive 234 and delivery ~2~76271 conveyor drive 236 are energised and pieces of cut product are delivered to the input end of the delivery conveyor 22. If for any reason product fails to leave the exit end of the conveyor 22, the back-up of product on the conveyor 22 is sensed by a product sensor 238 causing CP~ 224 to temporarily arrest drives 234 and 236.

Assuming delivery conveyor 22 is functioning correctly, cut pieces pass between 94, 96 and electrical pulses are supplied to the CPU 224 to indicate the arrival and passage of cut product pieces to the waiting tray. To this end a power supply 240 supplies current for the light source 94.

A counter 242 (which may form part of the CPU 224) accumulates electrical pulses corresponding to the passage of cut product pieces and provides an overflow signal after preset numbers of pieces have been counted - the counter being reset after each preset number has been counted.

CPU 224 is arranged to produce a small increment of travel of the tray at the delivery station for each pulse counted until the overflow signal is generated, whereupon the tray conveyor drive 230 is caused to operate at a higher speed and/or for a longer period of time, so as to shift the tray well clear of the delivery station 26 and replace it with another empty tray.

If at any time the apparatus must be stopped, the push button switch 244 can be pressed, to supply a further signal to the CPU 224, which in response thereto is arranged to halt all drives immediately.

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CPU 224 also provides control signals at the correct point in time to a valve 246 for releasing air from a reservoir or pump 248 to the air nozzle 98 (see Figure 3).

General Where a second delivery conveyor such as 24 is provided adjacent the same tray conveyor, a second tray sensor similar to sensor 110 is provided within the tray conveyor opposite the end of the other discharge conveyor and control signals for the tray conveyor from the central control unit take account of the fact that trays are being filled at both locations and the control signals for the tray conveyor are arranged to accelerate the latter in the event that a tray has been filled by a first discharge conveyor 24 through the second loading station from the discharge conveyor 22 so that the latter makes no attempt to discharge cut pieces onto a filled tray but is always presented with an empty tray.

Where a second line is provided also fed from one or two cutting machines and discharge conveyors such as 42, 44, 46 and 48 as described with reference to Figure 1, it is merely necessary to ensure that the outputs from the two buffer conveyors 38 and 54 are themselves synchronised and phased so that the output from one line is mixed with the output from the other line to provide a single line of filled trays ready for wrapping.

~276271 A more complete description of the control system for the apparatus of Figures 1 to 12 now follows with reference to Figures 14 - 23. The system allows up to four chop cutting machines to be operated in any desired mode - i.e., singly or in pairs. Each chop cutting machine is an APS 200 machine as manufactured by AEW Engineering Co Limited of Norwich, England and each is referred to as an APS. Since there are two pairs of such machines arranged in left and right hand lines, the two machines in each line are denoted APSlL, APS2L, and APSlR and APS2R respectively. Thus item 12 in Figure 1 is APSlL.

Figures 14 - 16 illustrate the control panel of this more complete system - Figure 16 showing one of a number of over-lay cards which can be selected and fitted thereto depending on the mode of operation desired. The card fits over an array of light emitting diodes 250, which can be seen in Figure 14.

General Description of Preferred Embodiment Svstem and Operation The control system is used to control the slicing, tray loading and converging of the two lines of trays.

The control system uses two I.M.O. SYSMAC S6 programmable control computers 252, 254 to define the central control unit 224 as depicted in Figure 17. Each computer controls one tray conveyor, left and right, independently. Addition-ally both computers drive different sections of the overall control system. For the system to operate correctly BOTH
computers must be operational. These computers are respon-sive to inputs entered through the control panel illustrated in Figures 14 - 16.

The master software for each computer is contained in a programmable read-only memory (PROM) module.
TABLE A contains a listing of the program for the computer 252, and TABLE B contains a listing of the program for the computer 254. The modules plug directly into a receptacle on the central processing ~Z76Z71 unit (CPU) of each controller. Each memory module contains two full programs either of which can be selected by the PLC switch 256 on the control panel.

P 1 = PROGRAM
P 2 = PROGRAM 2 It is essential that only PROM modules containing the correct sofware are plugged into the appropriate CPU.
Each PROM is marked with CPU-L or CPU-R. If the wrong PROM is in a CPU the system will not function and tne PROGRAM ERROR lamp will light on the ALARM Panel.

CONTROL PANEL
_ _ .

The control panel shown in Figures 14 - 16 is divided into logical sections which will now be described:-MIMIC DIAGRAMS

The mimic diagram shows a diagrammatic representation ofthe system. Indicator lamps (red) show the status of the 13 emergency stop buttons around the equipment. If an emergency stop button is operated, the whole system will shut down and the appropriate red indicator will light on the panel showing which button has been operated. The system cannot be restarted until the emergency stop button has been released and the corresponding indicator lamp extinguished.

Also on the mimic diagram each APS Slicer has an amber status indicator. These enable the operator to see the status of each machine dependent upon the state of the indicator.

12762'71 STATUS IND ICATOR APS STATUS

OFF OFF or loading FLASHING Standby CONTINUOUS Slicing Additionally these status indicators flash alternately -left pair - right pair for a period of time after pressing the system start button, before conveyors start.

These status indicators on the mimic panel correspond to the red status lamps mounted on top of each APS slicer.

ALARM DISPLAY

In the centre of the panel is the alarm display section.
This provides both visual and audible indication of alarm conditions.

SYSTEM PROGRAMMING

The right hand end of the panel is dedicated to SYSTEM
PROGRAMMING and enables any of the 18 chop/tray/product combinations to be selected from preset values within each program of a PROM module. Since each PROM module contains two complete programs a total of 36 chop/tray/product combinations is selectable from the panel without changing the prom module.

The program display accepts special overlay cards which refer to a particular program within a particular prom. The indicators which shine through the overlay give visual con-firmation that the correct program has been selected.

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Also in system programming section are the MODE selection switches.
ESET - stops the line and clears out the program registers.

L - left line only operative R - right line only operative B - both lines operative independently S - both lines operative in synchronism OPERATION

To start both disconnect switches on the doors of the power console are turned on, the main STOP button is released by turning the key, and the POWER ON button is pressed. The red MAINS ON indicator on the control panel will light.

Select the correct overlay card for the program to be run.
Ensure that both CPU-L and CPU-R are fitted with correct PROM module and that the module number corresponds with the number written on top of the overlay card.

Place the overlay card over the program display so that the four pins are located in the corresponding holes in the card.

Pl/P2 SELECT

Turn the PLC switch to either Pl or P2 to select the program in the PROM modules which corresponds to the overlay card fitted.

~Z7GZ71 PROGRAM LOAD

Check that the program switches are now set as required. If correct, press the PROGRAM LOAD button. The program as set up on the switches is now loaded into memory and the com-puter confirms the loading by illuminating the appropriate LED indicators beneath the overlay card.

If the wrong program has been selected, press the RESET mode button and repeat the programming process using the correct switch settings.

Once both lines have been programmed, either program may be confirmed by moving the LINE switch either to the L or R
position. This simply switches the program display to either the left line or right line for confirmation of the program which has been loaded.

The program load button is locked out once a line has had a program loaded. To reprogram a line the RESET mode switch must first be operated both lines reprogrammed as necessary.

If the system is running and the RESET switch is operated the entire line including the APS slicers will SHUT DOWN.

To start the system once properly programmed simply press the SYSTEM START button. The amber status indicators on the mimic diagram will flash alternately in pairs tleft pair then right pair) at half second intervals for about 25 seconds. At the end of that period, the conveyors on the line or lines selected by the mode switches will start auto-matically.

~Z76Z~71 n the computer selected for this system, the RAM capacity is such that up to 512 single instructions can be stored in addresses 0000 to 0512.

Thus some of the addresses in each of the two computers are reserved for the operation of the tray conveyors of the lines to which the computers are connected. Other addresses provide for the operation of an air jet where chops are detected at the delivery end of the conveyors 46, 48 etc.
(see Figure 1) as required.

The computer chosen for this system has an additional and useful facility - namely the production of control signals for a printer to enable the logic instructions stored in the PROM to be printed out as either a mnemonic listing or a so-called ladder diagram. TABLE A comprises the mnemonic listing for the computer 252 and TABLE B that for computer 254.

Figure 18 is a listing of the I/o assignment for computer 252 and Figure 19 is the same for computer 254. In the system described, only parts 000 - 064 are externally available and the higher number parts are only accessible within the software.

In addition to the I/O listing, Figures 18 and 19 describe the functions allocated to the software bistable relays KR00 - KR07, the 32 registers (outputs 00-31) of reversible up/down software counter RDM, the 32 outputs of the high speed software counter HDM (00-31), the eight software coun-ters TIM0 - TIM7 and the eight software counters CNT0 - CNT7 in each of the two computers 252, 254. Figures 18 and 19 are to be read in conjunction with the description of TABLES
A and B given further hereinbelow.

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Figure 20 is made up of 24 sheets and comprises the circuit ~, diagrams of the numerous parts of the control system for the chop shingling apparatus of Figures 1 to 12, particularly ~,~
those circuits of the central control unit 224. In general, Figures 20a and 20c show circuits for the start-up and emer- , gency stop operations of the central control unit 224; x Figure 20b shows the power circuitry; Figures 20d and 20e show the control console manual switch circuits; Figure 20f pertains to the control console display; Figures 209 - 201 ,~
primarily pertain to the relay control coils used for con- f';i trolling corresponding relay contacts shown in other draw-ings of Figure 20; Figures 20m - 20p depict the status indi-cator control relay contacts: Figures 20q - 20r show control relay contacts for signals to be communicated to equipment of the conveyor assembly shown in Figures 1 - 12; and `~
Figures 20s - 20x show the circuits for receiving inputs into the computers of the central control unit 224. These drawings are otherwise believed to be self-explanatory in ~-that they are simple circuit diagrams primarily showing wiring of switches, relay coils, and normally open/closed i,~
relay contacts among various terminals. These components are located with the computers 252, 254, which can be spaced ~such as in a separate control room) from the conveyor equipment shown in Figures I - 12.

Figure 21 illustrates the connections between the interface associated with the control system for APSLl and APSL2 and the control console containing the control panel of Figure ~'~
14 whiIe Figure 22 illustrates the same connections from the APSRl and APSR2 control system and the control panel.

In this system status inverters are used to power inductive !~`~
motors for driving those conveyors whose speeds need to be ,' closely controlled and easily varied, such as the conveyors 22, 24, 46, 48 shown in Figure 1. n , . .
By way of example, for the delivery conveyor drive 236 of ~-the conveyor 22, a static inverter takes a normal AC supply and applies it to a full wave rectifier. The resultant intermediate DC voltage is then applied to solid state out-put devices which are turned on and off in a three-phase 28 ~276;~
switching sequence by the internal control logic of the inverter. This produces an output which is effectively a rebuilt 3 phase ~C waveform. The switching logic is driven by a master oscillator so by varying the frequency of that E;
oscillator, the frequency of the 3 phase output is also varied. Since the rotational speed of a standard squirrel ~-cage induction motor is a function of the supply freguency, it is also varied by the change in master oscillator fre-~uency.

The inverters used in this sytem are IMO JAGUAR units, INl-5, housed in the power console, as manufactured by IMO
Precision Controls Ltd, 1000 North Circular Road, Staples ;~
Corner, London, England. Inverters INl-4 are the VN 75 model having a 1 hp rating and IN5 s the 2 hp, VN150 model.
The output of all these units is 220V 3 phase 2-100 Hz and ;~
the input power is 220V 1 phase 60 Hz. The master oscilla-tor frequency is controlled by a 10k ohm linear track poten-tiometer. In the case of IN5 which controls the converger ~-speed, the 10k ohm potentiometer is replaced by speed selec-tor module SSM-1 AEW 2158/2. Speed control of the converger i8 achieved using a specially designed control module (SSM-l) and basically comprised 10 x lk-ohm resistors con-nected in series and this chain is connected across IN5 ter-minals 4 and 6, normally connected across the track of the speed control potentiometer. IN5 terminal 5 normally con- :~
nected to the wiper of the potentiometer is connected to the I``b end of a chain of relay contacts. The relays are operated by the computer and enable it to select speeds from 0 to 100% of full speed in 10~ steps by tapping off at the junc-tions of the 10 x lk-ohm resistors. IN5 is set so that full speed of the converger represents an outfeed rate of 100 trays/min. The 10 speed tappings therefore each represent a ~.
change of 10 trays/min from the adjacent tappings.

The computer selects one of three speeds high (HI), normal `
(NORM) or low (LO) for each of three tray sizes (2P), (4P), (8P).

The Jaguar inverters have both acceleration and deceleration ramp controls. Since the ~peed of the converger materially ~'~76Z7~

affects the transfer timing of a tray from the buffer dis-charge release gate to the next set of converger slats, it is important that acceleration and deceleration ramps of IN5 are set to match the inherent rate of change of the mechani-cal and electrical controls of that part of the system. In practice, these are quite slow ramps which have to be deter-mined by trial and error.

The delivery conveyors (46, 48; 22, 24) are responsible for delivering a chop into a tray. The speed at which the chop is travelling is important. Too fast, and the chop will overshoot, too slow, and it will undershoot. The correct speed for these conveyors has been found to be 43.7 meters/min (143.4 feet/min).

The set-up is therefore quite simple. Using a tachometer with a linear speed wheel, the speed potentiometers are adjusted on each inverter INl-4 until the appropriate con-veyor is running at the correct speed.

No acceleration ramp or deceleration ramp is required on these conveyors. They need to start and stop as quickly as possible.

Reference is made to the IMO Jaguar Introduction Manual for details of the operation of these devices.

In accordance with the present invention, the tray conveyors 32 and 50 are driven by stepper motors of the tray conveyor drive 230 depicted in Figure 13. The drive system for one such motor 258 comprises the following major components shown in Figure 23;

1 x SLO-SYN TM 600U TRANSLATOR (260) as manufactured by The Superior Electric Co., of Bristol, Connecticut 06010, United States of America, and 1 x SLO-SYN M112 FJ8030 STEPPER MOTOR (258), and 1 x PULSE STRETCHER AEW 2158/1 (262) as manufactured by AEW Engineering Co Ltd of Norwich, Norfolk, England.

" ~276271 + the high speed counter (HDM) of the SYSMAC S6 (264).

The rotor of a stepper motor rotates in discrete angular steps, in this case 200 steps per revolution or 1.8 degress of rotation per step. A master oscillator t266) in the TM 600~ drive electronics provides a stream of pulses to the translator logic. On each pulse of the oscillator, the translator connects the four phase windings of the stepper motor to a DC supply in a particular pattern and the rotor rotates just one step.
By sending the translator a known number of pulses, the motor will rotate through a pre-set number of degrees and then stop. The frequency of the master oscillator's output determines the speed of rotation of the motor.
Since the master oscillator frequency is variable, the speed of rotation of the motor is also variable.

The stepper motor directly drives the chain (17~) of the tray of the conveyor (see Figure 7a) so one oscillator pulse rotates the stepper motor shaft l/200th of a revolution which results in a known linear motion of the tray.

The extent of that linear motion is controlled in this system by the High Speed Counter (HDM) (264) of the SYSMAC
S6 PC. After a chop has landed in a tray the PC starts, and in response to the signal from the sensors 94, 96, the oscillator of the TM 600U and the stepper motor starts rotating, driving the chain and moving the tray. The master oscillator pulses are tapped off and fed to the pulse stretcher module (AEW 2158). This acts as an interface between the TM600U and the SYSMAC S6. The HDM
input of the SYSMAC S6 has a maximum frequency response of 1 kHz and the TM 600U oscillator produces pulses only 10 micro-seconds wide. The pulse stretcher therefore expands lZ76~1 these pulses to a width of 1 milli-second to match the response of the HDM input.

It is important to note from this that in modes of operation where an exact number of steps is required in this system, the master oscillator frequency must not exceed 1 kHz other-wise the HDM counter will be unable to follow the pulse train. Thus as the tray moves, the number of oscillator pulses fed to the translator is counted by HDM. When this number is the same as the preset value of the appropriate HDM register, the SYSM~C S6 stops the master oscillator and consequently, the movement of the tray.

In this way, the spacing between chops is determined and controlled. It should be noted that only during this 'INDEX' phase of tray movement are pluses counted by the HDM. In other phases such as 'TRAY LOAD' and 'TRAY CHANGE' the stepper motor is used as an ordinary drive in that it rotates continuously but the STOP command is derived from tray position sensors rather than by pulse counting. In these other modes, therefore, the oscillator frequency can exceed 1 kHz since it is not limited by the maximum fre-quency response of the HDM counter.

The TM 600U may also be connected in 'HALF STEP MODE' which results in a finer resolution at the stepper motor which then has as many steps per revolution i.e. 400 STEPS/REV.
Half step mode gives smoother operation at low speeds.

Full details of the operation of the TM 600U are given in the manual for that unit produced by The Superior Electric Co .

In this system, at ' TRAY LOAD' and ' TRAY INDEX' speeds, the stepper motor is used in HALF STEP MODE; and at ' TRAY
CHANGE' speed, FULL STEP MODE is used.

The linear movement of the tray achieved per step of the stepper motor or per pulse of the oscillator is only of con-sequence in TRAY INDEX mode, since this is the only time when the HDM is used to count pulses to determine the spacing between chops.

Since the stepper motor directly drives the chain on the tray conveyor the distance per step may be determined as follows:-DRIVE SPROCXET = 30 TEETH
CHAIN PITCH = 3/8 in (9.525mm) thus 1 REV OF SPROCKET

= 30 x 3/8 ins chain movement = 11 1/4 ins (285.75mm) and 1 STEP OF STEPPER MOTOR
= (11 1/4) 200 ins chainmovement = 0.0565 ins/step (1.429mm/Step) so 1/2 STEP OF STEPPER MOTOR
= 0.028 ins/step (0.714mm/Step) The stepper motor is used in half-step mode for indexing the tray between chops so each oscillator pulse gives O . 028 ins of tray movement (0.714mm). If the appropriate HDM register was set to a value of 10, the tray would 1276;Z'7i move for 10 oscillator pulses between chops or 10 x 0.028 ins = 0.28 ins (7.14mm).

However as detailed later under the section relating to dif-ferential spacing, the SYSMAC logic selects the value in the software counters C004 and C005 and effectively multiply the HDM pre-set value by the value set in the C004 counter for first spacing and C005 counter for the second spacing. Only if these counters are set to 1 will a tray move as calcu-lated above.

Thus the actual formula for calculating the chop spacing is as follows:-SPACE BETWEEN FIRST AND SECOND CHOP

SPACE 1 = HDM SETTING X C004 SETTING X 0.028 INS

SPACE BETWEEN SUBSEQUENT CHOPS

Space 2 = HDM SETTING X C005 SETTING X 0. 028 INS

EXAMPLE

Suppose C004 is set to 3, C005 is set to 2 and Program 1 isselected so HDM 000 is in use and set to, say, 10 SPACE 1 = HDM 000 X C004 X 0.028 = 10 x 3 x 0.028 = 0.84 ins (21.34 mm) SPACE 2 = HDM 000 X C005 X 0.028 = 10 x 2 x 0.028 = 0.56 ins (14.22 mm) , ~,, lZ76Z71 Obviously if C004 and C005 both contain the same pre-set value then all chops in a tray will be spaced equally.

It can be seen that by adjusting the values of the HDM
register settings and the values of C004 and C005, a wide range of finely controlled spacings can be achieved.

Detailed description of operation with reference to the SYSMAC logic mnemonic listing of TABLE A for computer 252.
Specific addresses in the listing are identified and described below. The following description of TABLE A is to be read in conjunction with the software implemented devices defined in Figure 18 and the hardware implemented devices numerically designated in Figure 20.

As a chop reaches the end of a delivery conveyor it breaks a light beam across the end of the conveyor between two fibre-optic cables.

The channel 1 sensor is coupled to input 0000.
The channel 2 sensor is coupled to input 0023.

Obviously only one channel is operative at any one time so each sensor is enabled by the appropriate APS RUN/STOP
relay.

Thus channel 1 (0000) is enabled by APS 1 RUN ~0044);
channel 2 (0023) is enabled by APS 2 RUN (0045).

Since the sensors are through-beam types their inputs are assigned normally closed logic.

The entire chop detection circuit can be disabled by the normally closed contact of timer T006 (100ms). This prevents the system cycling should a chop or any other material remain at rest in the sensor beam.

Thus considering channel 1 operation, only contact 44 is closed because APS 1 is operating and T006 is closed.
Contact 65 is closed and bistable contact KOOO is closed.
Contact 0000 is open because the sensor beam is unbroken.
When a chop passes through the beam, the sensor turns off so the input to 0000 is removed and contact 0000 closes operating the coil of relay 0064 and starting timer TOOO
(200ms). Relay 0064 then latches via contact 0064.

After time delay TOOO which allows transit time and settling time for the chop to transfer from the launch conveyor to the tray and to settle in the tray the TOOO contact at address 0020 closes and provided no alarm condition exists (0014) Relay 13 is energised and starts the tray conveyor advancing at index speed.

As the stepper motor rotates to advance the conveyor at index speed the pulses from the stepper translator are pro-cessed by the pulse stretcher module in the power console to l.Oms width to match the CPU count input specification.

These pulses are applied to the EXT point of the High Speed Counter HDM and HDM starts counting the pulses when its STA
(start) input is enabled by the contact of timer TOOO.

HDM has 32 outputs (HOOO - H031) which can be individually programmed to change states and different values of the ~27627~

HDM counter.

In this system only 18 (H000 - H017) of the outputs are used. The outputs will have been selected by the program set on the programming panel (See Program Decoding~. For this description consider that program 0 is being run. Thus contact 0079 (address 0125) is closed and 80 through 96 are open. When the main HDM register has counted a number of stepper pulses equivalent to the number preset in HDM sub-register H000, the contacts HOOO will close and operate relay 97 via program 0 contact 79. The contacts of relay 97 at address 120 close and reset the main register of HDM to zero.

Differential spacing is a provision in the Software to allow a large space between the first and second chops in a tray which in some cases gives a more stable load in a tray. It is controlled by two counters, C004 and C005. C004 is shown set for a count of 2 and C005 is shown set for a count of 2.

When the HDM register has completed its count relay 97 closes, resets HDM to zero and bumps counter C004 and C005.
These now both contain a value of 1 so their outputs do not change state, thus relay 0065 (address 0185) remains unenergised so the chop detection circuit (address 0000) remains latched and HDM starts counting up from zero again (tray still moving). This time when HDM reaches its preset value, H000 again closes and operates relay 97. 97 again zeroes HDM and bumps counters C004 and C005. On this pass both counters now contain 2 so their outputs change state.
At address 185, therefore C004 and 127627~

C005 close. Since we are considering the first chop into a tray only C004 has an effect because RDM counter output R031 is set to change state at a count of 2 or greater (see CHOPS/TRAY COUNT). Thus the closure of C004 energises 0065 whose normally closed contact at address line 0000 opens and the entire chop detection circuit is unlatched and ready for the second chop.

It can be seen from the above that the full movement of the tray index for the first chop required two complete cycles of HDM controlled by C004. For all subsequent chops into that tray the number of HDM cycles will be controlled by C005 because the chop counter RDM will have counted more than one chop into the tray so R031 taddress 0185) changes state.

If a greater spacing is required between the first and second chops in a tray then the value of C004 is simply increased.

i.e. if C004 = 3 and C005 = 2 then the space between the first and second chops in a tray will require 3 HDM cycles as opposed to 2 HDM cycles for subsequent chops. Thus the space between the first and second chops in a tray will be 50% greater than that between subsequent chops.

C004 and C005 can be loaded with any value or combination or values to give different spacing arrangements.

-i;~'76:~7~

The chops/tray control uses the RDM reversible counter in the SYSMAC which has 32 outputs each of which may be programmed to changed state at different values of the main RDM counter.

The count input IN is driven by a contact of timer T000 which closes a short time after a chop has landed in a tray.

The counter can be reset by the tray change bistable K000 or the tray load push button 0019 or at power-up by 0109.

Thus ~fter initial tray loading the counter is set to zero and as slicing commences, it then counts the number of closures of the T000 contact which is the same as the number of chops in the tray. One of theoutputs of the RDM counter R000 - R017 will be selected by the program decode contacts 0079 - 0096 (see PROGRAM DECODING).

When the counter reaches the pre-set value of the selected output, the corresponding output contact closes and ener-gises the COUNT DONE relay 0069 (address line 0200). This signal is used to indicate TRAY FULL i.e. the tray now con-tains the required number of chops. The operation of 0069 initiates the tray change sequence.

When the appropriate RDM chop count is reached the 0069 con-tact closes and since this count is based on chops breaking the detector beam the T000 contact also closes and the bistable(latching relay)K000 is set. The contacts of K000 change state and perform the following functions:

,, ,,,~

~2762~

1. Resets chop detection circuit (address line 0000) 2. Selects tray conveyor high speed by operating relays 0013 and 0019 (address lines 0020 and 0030) 3. Inhibits RDM counter (address line 0193) 4. zeroes RDM counter (address line 0196) Thus the full tray is moved away from the chop discharge position at tray change speed. When the next empty tray approaches the chop discharge position its leading edge is sensed by the sensor at the channel two tray position, con-nected to input 0024. The contact 0024 at address line 0256 operates relay 0070 which self latches through the normally closed contact of timer T001 and at the same time starts timer T001 timing. Similarly, at address line 0260 another contact 0070 operates relay 0072. 0072 is then de-energised when T001 times out.

The contacts of relay 0072 therefore pulse when the channel 2 tray detector is switched by a tray giving a one-shot out-put. At address line 0281 the pulse from contact 0072 recets the tray change bistable KR000 which in turn releases relays 0013 and 0019 stopping the tray conveyor and bringing the new tray to rest in the correct position for receiving the first chop.

It is important to note that trays are always aligned to the channel 2 sensor regardless of which channel is currently discharging chops. The channel 1 tray sensor is used only to check for the presence or absence of a tray in that po-sition.

Reference is made to Tables ~ and B for the complete description of the software command to effect the stepper motor control.

1Z76X7~

Operating System for SYSMAC-S6 ADR INST DATA

0000: LD.NOT.TIM 0006 0001 0001: LD.NOT.O 0044 0002: OR.NOT.23 0000 0003: AND.LD 0045 0004:
0005:
0006:
0007: LD 0064 0008: OR.LD
0009: LD.NOT 0065 0010: AND.NOT.KR 0000 0011: AND.LD
0012: OUT 0064 0013: TIM 0000 0002 0014:
0015: LD.NOT.O 0000 0016: OR.NOT.23 0045 0017:
0018:
0019: TIM 0006 0001 0020: LD.TIM 0000 0002 0021: OR.KR 0000 0022: LD.NOT 0014 0023: OR 0033 0024: AND.LD
0025: LD 0019 0026: OR.LD
~/ .

~6~71 .

ADR INST DATA

0027: OUT 0013 0028: LD.KR 0002 0029: OUT 0019 0030: LD 0033 0031: OR.NOT 0014 0032: AND.KR 0000 0033: AND.NOT 0019 0034: OUT 0016 0035: LD 0060 0036: IL
0037: LD 0042 0038: AND 0062 0039: OUT 0079 0040: LD 0042 0041: AND.NOT 0062 0042: OUT 0080 0043: LD 0071 0044: AND 0062 0045: OUT 0081 0046: LD 0071 0047: AND.NOT 0062 0048: OUT 0082 0049: LD 0043 0050: AND 0062 0051: OUT 0083 0052: LD 0043 0053: AND.NOT 0062 0054: OUT 0084 0055: IL.END
005G: LD 0061 ~1 :,, 1271~2'~

TABL~ A - Page 3 ADR INST DATA

0057: IL
0058: LD 0042 0059: AND 0062 0060: OUT 0085 0061: LD 0042 0062: AND.NOT 0062 0063: OUT 0086 0064: LD 0071 0065: AND 0062 0066: OUT 0087 0067: LD 0071 0068: AND.NOT 0062 0069: OUT 0088 0070: LD 0043 0071: AND 0062 0072: OUT 0089 0073: LD 0043 0074: AND.NOT 0062 0075: OUT 0090 0076: IL.END
0077: LD.NOT 0060 0078: AND.NOT 0061 0079: IL
0080: LD 0042 0081: AND 0062 0082: OUT 0091 0083: LD 0042 0084: AND.NOT 0062 0085: OUT 0092 0086: LD 0071 'rABLE A - Page ~

ADR INST DATA

0087: AND 0062 0088: OUT 0093 0089: LD 0071 0090: AND.NOT 0062 0091: OUT 0094 0092: LD 0043 0093: AND 0062 0094: OUT 00g5 0095: LD 0043 0096: AND.NOT 0062 0097: OUT 0096 0098: IL.END
0099: LD.NOT 0003 0100: AND 0002 0101: OUT 0042 0102: LD 0003 0103: AND.NOT 0002 0104: OUT 0071 0105: LD 0003 0106: AND 0002 0107: OUT 0043 0108: LD 0008 0109: AND.NOT 0042 0110: LD.NOT 0008 0111: AND.NOT 0009 0112: ~ND.NOT 0071 0113: OR.LD
0114: LD 0009 0115: AND.NOT 0043 0116: OR.LD

:1276~71 ADR INST VATA

0117: AND 0006 0118: OUT 0059 0119: LD.TIM 0000 0002 0120: LD 0097 0121: OR.NOT.TIM 0000 0002 0122: OR 0019 0123: OR 0109 0124: HDM
0125: LD.HDM 0000 (0006-0999) 0126: AND 0079 0127: LD.HDM 0001 (0005-0999) 0128: AND 0080 0129: OR.LD
0130: LD.HDM 0002 (0001-0999) 0131: AND 0081 0132: OR.LD
0133: LD.HDM 0003 (0001-0999) 0134: AND 0082 0135: OR.LD
0136: LD.HDM 0004 (0005-0999) 0137: AND 0083 0138: OR.LD
0139: LD.HDM 0005 (0005-0999) 0140: AND 0084 0141: OR.LD
0142: LD.HDM 0006 (0014-0999) 0143: AND , 0085 0144: OR.LD
0145: LD.HDM 0007 (0010-0999) 0146: AND 0086 ~5 1Z76;~

ADR INST DATA

0147: OR.LD
0148: LD.HDM 0008 (0012-0999) 0149: AND 0087 0150: OR.LD
0151: LD.HDM OO09 (OO10-O999) 0152: AND 0088 0153: OR.LD
0154: LD.HDM 0010 (0008-0999) 0155: AND 0089 0156: OR.LD
0157: LD.HDM 0011 (0007-0999) 0158: AND 0090 0159: OR.LD
0160: LD.HDM 0012 (0012-0999) 0161: AND 0091 0162: OR.LD
0163: LD.HDM 0013 (0014-0999) 0164: AND 0092 0165: OR.LD
0166: LD.HDM 0014 (0001-0001) 0167: AND 0093 0168: OR.LD
0169: LD.HDM 0015 (0012-0999) 0170: AND 0094 0171: OR.LD
0172: LD.HDM 0016 (0000-0000) 0173: AND 0095 017~: OR.LD
0175: 0017 (0010-0999) 0176: AND 0096 ~G

12~76Z71 ADR INST DATA

0177: OR.LD
0178: OUT 0097 0179: LD 0097 0180: LD 0065 0181: CNT 0004 0002 OL82: LD 0097 0183: LD 0065 0185: LD.CNT 0004 0002 0186: OR 0019 0187: 0109 0188: AND.NOT.RDM 0031 (0002-0999) 0189: LD.C~T 0005 0002 0190: AND.RDM 0031 (0002-0999) 0191: OR.LD
0192: OUT 0065 0193: LD.NOT.KR OO00 0194: LD.KR 0000 0195: LD.TIM 0000 0002 0196: LD.KR 0000 0197: OR 0019 0198: OR 0109 0199: RDM
0200: LD 0079 0201: AND.RDM 0000 (0006-0999) 0202: LD 0080 0203: AND.RDM 0001 (0007-0999) 0204: OR.LD
0205: LD 0081 0206: AND.RDM 0002 (0008-0999) 0207: OR.LD
4~

iZ762'71 ADR INST DATA

0208: LD 0082 0209: AND.RDM 0003 (ooog-oggg) 0210: OR.LD
0211: LD 0083 0212: AND.RDM 0004 (0010-0999) 0213: OR.LD
0214: LD 0084 0215: AND.RDM 0005 (0011-0999) 0216: OR.LD
0217: LD 0085 0218: AND.RDM 0006 (0003-0999) 0219: OR.LD
0220: LD 0086 0221: AND.RDM 0007 t0004-0999) 0222: OR.LD
0223: LD 0087 0224: AND.RDM 0008 (0004-0999) 0225: OR.LD
0226: LD 0088 0227: AND.RDM 0009 (0005-0999) 0228: OR.LD
0229: LD 0089 0230: AND.RDM 0010 (0007-0999) 0231: OR.LD
0232: LD 0090 0233: AND.RDM 0011 (0008-0999) 0234: OR.LD
0235: LD 0091 023G: AND.RDM 0012 (0002-0999) 0237: OR . LD

~276271 ADR INST DATA

0238: LD 0092 0239: AND.RDM 0013 (0003-0999) 0240: OR.LD
0241: LD 0093 0242: AND.RDM 0014 (0003-0999) 0243: OR.LD
0244: LD 0094 0245: AND.RDM 0015 (0004-0999) 0246: OR.LD
0247: LD 0095 0248: AND.RDM 0016 (0003-0999) 0249: OR.LD
0250: LD 0096 0251: AND.RDM 0017 (0006-0999) 0252: OR.LD
0253: OUT 0069 0254: LD 0070 0255: AND.NOT.TIM 0001 0001 0256: LD 0024 0257: OR.LD
0258: OUT 0070 0259: TIM 0001 0001 0260: LD 0070 0261: AND.NOT.TIM 0001 0001 0262: OUT 0072 0263: LD 0045 0264: OR 0022 0255: AND.NOT.CNT 0000 0003 0266: LD.TIM 0005 Q006 0267: OR 0109 ~7 ADR lNST DATA

0268: KR 0002 0269: LD 0024 0270: AND.KR 0002 0271: AND.CNT 0000 0003 0272: TIM 0005 0006 0273: LD 0072 0274: LD 0044 0275: AND.NOT.KR 0002 0276: LD 0022 0277: OR.LD
0278: CNT 0000 0003 0279: LD 0069 0280: AND.TIM 0000 0002 0281: LD 0072 0282: OR 0109 0283: KR 0000 0284: LD.TIM 0003 00003 0285: OR 0109 0286: LD.NOT 0025 0287: AND.NOT 0016 0288: KR 0001 0289: LD.KR 0001 0290: OUT 0017 0291: LD.NOT 0026 0292: AND.NOT.KR 0001 0293: TIM 0003 0003 0294: LD.NOT 0026 0295: OUT 0012 0296: LD 0069 0297: OR 0019 5~

~276271 TA~LE A - Page IL

ADR INST DATA

0298: LD 0066 0299: AND.NOT 0065 0300: OR.LD
0301: OUT 0066 0302: LD 0066 0303: AND 0044 0304: OUT 0015 0305: LD 0066 0306: AND 0045 0307: OUT 0018 0308: LD 0056 0309: IL
0310: LD 0027 0311: AND.NOT 0068 0312: LD.NOT 0005 0313: OR 0006 0314: AND.LD
0315: OUT 0067 0316: LD 0107 0317: LD 0067 0318: CNT 0002 0004 0319: LD 0028 0320: AND.NOT 0067 0321: AND.CNT 0002 0004 0322: LD.NOT 0005 0323: OR 0006 0324: AND.LD
0325: OUT 0068 0326: LD 0011 0327: AND. NOT 007 ~/

~Z7627~

ADR INST DATA

0328: LD 0005 0329: OR 0006 0330: AND.LD
0331: OUT 0073 0332: LD 0107 0333: LD 0073 0334: CNT 0003 0004 0335: LD 0020 0336: AND.NOT 0073 0337: AND.CNT 0003 0004 0338: LD 0005 0339: OR 0006 0340: AND.LD
0341: OUT 0074 0342: LD.NOT 0007 0343: AND 0067 0344: LD 0007 0345: AND 0067 0346: LD 0073 0347: OR 0044 0348: AND/LD
0349: OR.LD
0350: AND.NOT 0014 0351: AND.NOT 0033 0352: OUT 0044 0353: LD.NOT 0007 0354: AND 0068 0355: LD 0007 0356: AND 0068 0357: LD 0074 ~27~;Z71 ADR INST DATA

0358: OR 0045 0359: AND.LD
0360: OR.LD
0361: AND.NOT ~ 0014 0362: AND.NOT 0033 0363: OUT 0045 0364: LD.NOT 0007 0365: AND.NOT 0010 0366: AND 0073 0367: LD 0007 0368: AND.NOT 0014 0369: AND 0073 0370: LD 0067 0371: OR 0057 0372: AND.LD
0373: AND.NOT 0033 0374: OR.LD
0375: OUT 0057 0376: LD.NOT 0007 0377: AND.NOT 0010 0378: AND 0074 0379: LD 0007 0380: AND.NOT 0014 0381: AND 0074 0382: LD 0068 0383: OR 0058 0384: AND.LD
0385: OR.LD
038G: AND. Nolr 0033 0387: Ol1T D058 5~

1i~76Z7~

TABLE A - Page 1~

ADR INST DATA

0388: IL.END
0389: LD 0004 0390: LD 0109 0391: OR 0056 0392: KR 0006 0393: LD 0107 0394: LD.NOT.KR 0006 0395: OR 0056 0396: CNT 0001 0021 0397: LD.CNT 0001 0021 0398: OR 0056 0399: OUT 0056 0400: LD.~R 0006 0401: AND.NOT 0107 0402: LD 0027 0403: AND 0056 0404: AND 0107 0405: AND.NOT 0044 0406: OR.LD
0407: OR 0044 0408: OUT 0052 0409: LD.KR 0006 0410: AND.NOT 0107 0411: LD 0028 0412: AND 0056 0413: AND 0107 0414: AND.NOT 0045 0415: OR.LD
0416: OR 0045 0417: OUT 0D53 5S~

"` 1276~7i TAsLE A - Page 15 ADR lNST DATA

0418: LD.KR0006 0419: AND 0107 0420: LD 0011 0421: AND 0056 0422: AND 0107 0423: AND.NOT 0057 0424: OR.LD
0425: OR 0057 0426: OUT 0054 0427: LD.KR0006 0428: AND 0107 0429: LD 0020 0430: AND 0056 0431: AND 0107 0432: AND.NOT 0058 0433: OR.LD
0434: OR 00S8 0435: OUT 0055 0436: LD.NOT0029 0437: AND.NOT 003S
0438: AND.NOT 0030 0439: AND.NOT 0036 0440: LD 0029 0441: AND 0030 0442: AND 0031 0443: LD.NOT000S
0444: OR 0006 0445: AND.LD
0446: LD 0035 0447: AND: 003G
~5 lZ76271 ADR INST DATA

0448: AND 0037 0449: LD 0005 0450: OR 0006 0451: AND. LD
0452: DR. LD
0453: KR 0003 0454: LD.KR 0003 0455: AND.NOT 0031 0456: AND.NOT 0037 0457: LD 0036 0458: AND 0037 0459: LD 0030 0460: AND 0031 0461: OR.LD
0462: KR 0004 0463: LD.NOT.KR 0003 0464: AND 0029 0465: OR 0035 0466: OUT 0049 0467: LD.KR 0004 0468: OUT 0050 0469: LD 0032 0470: AND 0105 0471: LD.NOT 0032 0472: CNT 0006 0005 0473: LD 0098 0474: AND . CNT 0006 0005 0475: OUT 004 0476: LD 0038 0477: AN[) 0105 5~

1~76;~71 ADR lNST DATA

047f3: LD.NOT 0038 0479: CNT 0007 0005 0480: LD.CNT 0007 0005 0481: AND 0099.
0482: OUT 0047 0483: LD 0034 0484: OR 0098 0485: AND.CNT 0006 0005 0486: OUT 0098 0487: LD 0021 0488: OR 0099 0489: AND.CNT 0007 0005 0490: OUT 0099 0491: LD.NOT 0001 0492: OR.NOT 0024 0493: OR.KR 0002 0494: TIM 0002 0040 0495: LD.TIM 0002 0040 0496: OUT 0051 0497: LD.TIM 0002 0040 0498: OR.KR 0002 0499: OR.NOT 0046 0500: OR 0059 0501: LD 0010 0502: AND 0007 0503: OR.LD
0504: OR 0033 0505: OUT 0014 0506: LD 0063 0507: OllT 0()46 5~

~276271 TABLE: A - Page 18 ADR lNST DATA

0508: LD.NOT 0101 0509: OUT 0040 0510: END

3~

127627~

Operating System for SYSMAC-S6 ADR INST DATA

0000: LD.NOT.TIM 0006 0001 0001: LD 0030 0002: AND.NOT 0000 0003: LD 0028 0004: AND.NOT 0023 0005: OR.LD
0006: AND.LD
0007: LD 0064 0008: OR.LD
0009: LD.NOT 0065 0010: AND.NOT.KR 0000 0011: AND.LD
0012: OUT 0064 0013: TIM 0000 0001 0014: LD 0030 0015: AND.NOT 0000 0016: LD 0028 0017: AND.NOT 0023 0018: OR.LD
0019: TIM 0006 0001 0020: LD.TIM 0000 0001 0021: OR.KR 0000 0022: LD.NOT 0014 0023: OR 0043 0024: AND.LD
0025: LD 0019 0026: OR.LD
0027: OUT 0013 ~f lZ7627~

ADR INST DATA

0028: LD.KR 0002 0029: OUT 0019 0030: LD 0043 0031: DR.NOT 0014 0032: AND.KR 0000 0033: AND.NOT 0019 0034: OVT 0016 0035: LD 0032 0036: IL
0037: LD 0038 0038: AND 0036 0039: OUT 0079 0040: LD 0038 0041: AND.NOT 0036 0042: OUT 0080 0043: LD 0071 0044: AND 0036 0045: OUT 0081 0046: LD 0071 0047: AND.NOT 0030 0048: OUT 0082 0049: LD 0039 0050: AND 0036 0051: OUT 0083 0052: LD 0039 0053: AND.NOT 0036 0054: OUT 0084 0055: IL.END
0056: LD 0033 ~0 ~ Z76~7i TABLE B - Page ~

ADR INST DATA

0059: AND 0036 0060: OUT 0085 0061: LD 0038 0062: AND.NOT 0036 0063: OUT 0086 0064: LD 0071 0065: AND 0036 0066: OUT 0087 0067: LD 0071 0068: AND.NOT 0036 0069: OUT 0088 0070: LD 0039 0071: AND 0036 0072: OUT 0089 0073: LD 0039 0074: AND.NOT 0036 0075: OUT 0090 0076: IL.END
0077: LD.NOT 0032 0078: AND.NOT 0033 0079: IL
0080: LD 0038 0081: AND 0036 0082: OUT 0091 0083: LD 0038 0084: AND.NOT 0036 0085: OUT 0092 0086: LD 0071 0087: AND 0036 127627~

ADR INST DATA

0088: OUT 0093 0089: LD 0071 0090: AND.NOT 0036 0091: OUT 0094 0092: LD 0039 0093: AND 0036 0094: OUT 0095 0095: LD 0039 0096: AND.NOT 0036 0097: OUT 0096 0098: IL.END
0099: LD.NOT 0003 0100: AND 0002 0101: OUT 0038 0102: LD 0003 0103: AND.NOT 0002 0104: OUT 0071 0105: LD 0003 0106: AND 0002 0107: OUT 0039 0108: LD.TIM 0000 0001 0109: LD 0097 0110: DR.NOT.TIM 0000 0001 0111: OR 0019 0112: aor 0109 0113: HDM
0114: LD.HDM 0000 (0006-0999) 0115: AND 0079 0116: LD.HDM 0001 (0005-0999) 0117: AND 0080 6~

127627i TABLE B - Pa9e 5 ADR INST DATA

0118: OR.LD
0119: LD.HDM 0002 (0005-0999) 0120: AND 0081 0121: OR.LD
0122: LD.HDM 0003 (0005-0999) 0123: AND 0082 0124: OR.LD
0125: LD.HDM 0004 (0005-0999) 0126: AND 0083 0127: OR.LD
0128: LD.HDM 0005 (0005-0999) 0129: AND 0084 0130: OR.LD
0131: LD.HDM 0006 (0014-0999) 0132: AND 0085 0133: OR.LD
0134: LD.HDM 0007 (0010-0999) 0135: AND 0086 0136: DR.LD
0137: LD.HDM 0008 (0012-0999) 0138: AND 0087 0139: OR.LD
0140: LD.HDM 0009 (0013-0999) 0141: AND 0088 0142: DR.LD
0143: LD.HDM 0010 (0008-0999) 0144: AND 0089 0145: OR.LD
0146: LD.HDM 0011 (0007-0999) 0147: AND 0090 ~Z76271 TABLE B - Paqe 6 ADR INST DATA

0148: DR.LD
0149: LD.HDM 0012 (0012-0999) 0150: AND 0091 0151: OR. LD
0152: LD.HDM 0013 (0014-O999) 0153: AND 0092 0154: OR.LD
0155: LD.HDM 0014 (0014-0999) 0156: AND 0093 0157: OR.LD
0158: LD.HDM 0015 (0012-0999) 0159: AND 0094 0160: OR.LD
0161: LD.HDM 0016 (0001-0001) 0162: AND 0095 0163: OR.LD
0164: LD.HDM 0017 (0010-0999) 0165: AND 0096 0166: OR.LD
0167: OUT 0097 0168: LD 0097 0169: LD 0065 0170: OR 0109 0171: OR 0019 0172: CNT 0004 0002 0173: LD 0097 0174: LD 0065 0175: OR 0109 0176: OR 0019 0177: CNT 0005 0002 6y .... .

1Z76~71 ADR INST DATA

0178: LD.CNT 0004 0002 0179: AND.NOT.RDM 0031 (0002-0999) 0180: LD.CNT 0005 0002 0181: AND.RDM 0031 (0002-0999) 0182: OR.LD
0183: OUT 0065 0184: LD.NOT.KR 0000 0185: LD.KR 0000 0186: LD.TIM 0000 0001 0187: LD.KR 0000 0188: OR 0109 0189: OR 0019 0190: RDM 0019 0191: LD.RD 0000 (0004 0999) 0192: AND 0079 0193: LD.RDM 0001 (0007-0999) 0194: AND 0080 0195: OR.LD
0196: LD.RDM 0002 (0008-0999) 0197: AND 0081 0198: OR.LD
0199: LD.RDM 0003 (0009-0999) 0200: AND 0082 0201: OR.LD
0202: LD.RDM 0004 (0010-0999) 0203: AND 0083 0204: OR.LD
0205: LD.RDM O005 (0011-0999) 0206: AND 0084 0207: o R . Ln ~5 lZ76i'~71 ADR INST DATA

0208: LD.RDM 0006 (0003-0999 0209: AND 0085 0210: OR.LD
0211: LD.RDM 0007 (0004-0999) 0212: AND 0086 0213: OR.LD
0214: LD.RDM 0008 (0004-0999) 0215: AND 0087 0216: OR.LD
0217: LD.RDM 0009 (0005-0999) 0218: AND 0088 0219: OR.LD
0220: LD.RDM 0010 (0007-0999) 0221: AND 0089 0222: OR.LD
0223: LD.RDM 0011 (0008-0999) 0224: AND 0090 0225: OR.LD
0226: LD.RDM 0012 (0002-0999) 0227: AND 0091 0228: OR.LD
0229: LD.RDM 0013 (0003-0999) 0231: OR.LD
0232: LD.RDM 0014 (0003-0999) 0233: AND 0093 0234: OR.LD
0235: LD.RDM 0015 (0049-0999) 0236: AND 0094 0237: OR. Ll) ADR INST DATA

0238: LD.RDM 0016 (0003-0999) 0239: AND 0095 0240: OR.LD
0241: LD.RDM 0017 (0006-0999) 0242: AND 0096 0243: OR.LD
0244: OUT 0069 0245: LD 0070 0246: AND.NOT.TIM 0001 0001 0247: LD 0024 0248: OR.LD
0249: OUT 0070 0250: TIM 0001 0001 0251: LD 0070 I/t ~
0252: AND.NOT.TIM 0001 0001 0253: OUT 0072 0254: LD.NOT 0024 0255: OR.NOT 0001 0256: AND 0022 0257: AND.NOT.KR 0002 0258: LD.NOT.CNT 0000 0003 0259: AND 0028 0260: OR.LD
0261: LD.TIM 0005 0002 0262: OR 0109 0263: KR 0002 0264: LD 0024 0265: AND 0001 0266: AND.KR 0002 0267: AND.C~T 0000 0003 ~276~i ADR INST DATA

0268: TIM 0005 0002 0269: LD 0072 0270: LD 0030 0271: AND.NOT.KR 0002 0272: LD 0022 0273: OR.LD
0274: CNT 0000 0003 0275: LD 0069 0276: AND.TIM 0000 0001 0277: LD 0072 0278: OR 0109 0279: KR 0000 0280: LD.TIM 0003 0003 0281: OR 0109 0282: LD.NOT 0025 0283: AND.NOT 0016 0284: KR 0001 0285: LD.KR 0001 0286: OUT 0017 0287: LD.OUT 0026 0288: AND.NOT.KR 0001 0289: TIM 0003 0003 0290: LD.NOT 0026 0291: OUT 0012 0292: LD 0069 0293: OR 0019 0294: LD 0066 0295: AND.NOT.RDM 0019 (0002-0999) 0296: OR.LD
0297: OUT 00hG
G~

~76;~7~

ADR INST DATA

0298: LD 0066 0299: AND 0030 0300: OUT 0015 0301: LD 0066 0302: AND 0028 0303: OUT 0018 0304: LD 0004 0305: OR 0009 0306: AND 0008 0307: AND 0005 0308: LD 0032 0309: OR.LD
0310: LD.NOT 0033 0311: AND.NOT 0075 0312: AND.NOT 0029 0313: AND.LD
0314: OUT 0032 0315: LD 0004 0316: OR 0009 0317: AND 0008 0318: AND.NOT 0006 0319: AND.NOT 0005 0320: LD 0033 0321: OR.LD
0322: LD.NOT 0032 0323: AND.NOT 0075 0324: AND.NOT 0029 0325: AND.LD
0326: OUT 0033 0327: LD 0004 ~;~76:~

~DR INST DATA

0328: OR 0009 0329: AND 0008 0330: AND 0006 0331: LD 0075 0332: OR.LD
0333: LD.NOT 0032 0334: AND.NOT 0033 0335: AND.NOT 0029 0336: AND.LD
0337: OUT 0075 0338: LD.NOT 0004 0339: OR 0009 0340: AND 0008 0341: AND 0005 0342: LD 0034 0343: OR.LD
0344: LD.NOT 0035 0345: AND.NOT 0076 0346: AND.NOT 0029 0347: AND.LD
0348: OUT 0034 0349: LD.NOT 0004 0350: OR 0009 0351: AND 0008 0352: AND.NOT 0005 0353: AND.NOT 0006 0354: LD 0035 0355: OR.LD
0356: LD.NOT 0034 0357: ANO.NOT 0076 7o ~762~71 TABLE B - ~age 13 ADR INST DATA

0358: AND.NOT 0029 0359: AND.LD
0360: OUT 0035 0361: LD. NOT 0004 0362: OR 0009 0363: AND 0008 0364: AND 0006 0365: LD 0076 0366: OR.LD
0367: LD.OUT 0034 0368: AND.NOT 0035 0369: AND.NOT 0029 0370: AND.LD
0371: OUT 0076 ~i~ 0372: LD 0004 0373: OR 0009 0374: AND 0008 0375: AND 0007 0376: LD 0036 0377: OR.LD
0378: LD.NOT 0077 0379: AND.NOT 0029 0380: AND.LD
0381: OUT 0036 0382: LD 0004 0383: OR 0009 0384: AND 0008 0385: AND.NOT 0007 0386: LD 0077 0 3 ~ 7 : O R . Ll) ~/

76Z7~

ADR INST DATA

0388: LD. NOT 0036 0389: AND.NOT 0029 0390: AND.LD
0391: OUT 0077 0392: LD.NOT 0004 0393: OR 0009 0394: AND 0008 0395: AND 0007 0396: LD 0037 0397: OR.LD
0398: LD.NOT 0078 0399: AND.NOT 0029 0400: AND.LD
0401: OVT 0037 0402: LD.NOT 0004 0403: OR 0009 0404: AND 0008 0405: AND.NOT 0007 0406: LD 0078 0407: OR.LD
0408: LD.NOT 0037 0409: AND.NOT 0029 0410: AND.LD
0411: OUT 0078 0412: LD 0008 0413: LD 0029 0414: OR 0109 0415: KR 0003 0416: LD.KR 0003 0417: OUT 0044 ~2 ~Z76Z71 TABLE ~ - Page 15 ADR INST DATA

0418: LD.NOT 0001 0419: OR . NOT 0024 0420: TIM 0002 0040 0421: LD.TIM 0002 0040 0422: OR.KR 0002 0423: OR 0043 0424: OR.NOT 0099 0425: OR 0020 0426: LD 0031 0427: AND 0009 0428: AND.NOT 0014 0429: OR.LD
0430: OUT 0014 0431: LD.TIM 0002 0040 0432: OUT 0042 0433: LD 0020 0434: OUT 0040 0435: LD.NOT 0099 0436: OUT 0041 0437: LD 0010 0438: AND 0011 0439: OUT 0099 0440: LD 0021 0441: TIM 0007 0030 0442: LD.TIM 0007 0030 0443: OUT 0043 0444: LD 0105 0445: LD 0109 0446: CNT 0002 0015 0447: END

Claims (16)

1. In a tray loading system wherein a plurality of cut pieces of meat are to be loaded onto a tray, a tray conveying apparatus comprising:
conveyor means for carrying a tray on which a plurality of cut pieces of meat are to be loaded at a loading station;
stepper motor means for moving said conveyor means;
tray indexing control means for operating said stepper motor means to move said conveyor means by predetermined increments between loadings of individual ones of the plurality of cut pieces of meat; and tray change control means, responsive to the plurality of cut pieces of meat being loaded on the tray, for operating said stepper motor means to move said conveyor means until the tray has been removed from the loading station.

2. An apparatus as defined in claim 1, wherein said tray indexing control means includes:
sensing means for sensing loading of individual cut pieces of meat on the tray;
oscillator means for generating an oscillating signal in response to said sensing means sensing the loading of a cut piece of meat;
drive means for actuating said stepper motor means in response to the oscillating signal;
pulse counter means for counting pulses of the oscillating signal; and means for stopping the generation of the oscillating signal in response to said pulse counter means counting a predetermined number of pulses of the oscillating signal.

3. An apparatus as defined in claim 2, wherein said tray change control means includes:

piece counter means, responsive to said sensing means, for counting the number of cut pieces of meat loaded on the tray;
means for activating said oscillator means in response to said piece counter means counting a predetermined number of cut pieces of meat loaded on the tray, thereby to cause said drive means to actuate said stepper motor means to move said conveyer means so that the tray carried thereon is moved away from the loading station and so that another tray carried thereon is moved towards the loading station;
tray sensor means for sensing when said another tray has moved into the loading station; and means for deactivating said oscillator means in response to said tray sensor means sensing said another tray has moved into the loading station.

4. An apparatus as defined in claim 2, wherein said pulse counter means includes:
high speed counter means for counting at least one cycle of a predetermined number of pulses of the oscillating signal;
first preset counter means, containing a first preselected count, for controlling the number of said cycles counted by said high speed counter means between a first cut piece of meat being loaded on the tray and a second cut piece of meat being loaded on the tray; and second preset counter means, containing a second preselected count, for controlling the number of said cycles counted by said high speed counter means between two cut pieces of meat, other than between the first and second cut pieces of meat, being loaded on the tray.

5. An apparatus as defined in claim 4, wherein:
said high speed counter means has a maximum frequency response so that said high speed counter means is responsive to pulses having at least a minimum pulse width;

said oscillating signal of said oscillator means includes pulses having widths less than said minimum pulse width; and said pulse counter means further includes pulse stretcher means, connected between said oscillating means and said high speed counter means, for increasing the widths of the pulses of said oscillating signal to at least said minimum pulse width.

6. An apparatus as defined in claim 1, wherein said tray indexing control means includes:
first selectable spacing means for controlling the operation of said stepper motor means so that said conveyor means and the tray carried thereon are moved to obtain a selected spacing between a first cut piece of meat and a second cut piece of meat loaded on the tray; and second selectable spacing means for controlling the operation of said stepper motor means after the second cut piece of meat is loaded on the tray so that said conveyor means and the tray carried thereon are moved to obtain a selected spacing between subsequent cut pieces of meat loaded on the tray after the second cut piece of meat is loaded thereon.

7. An apparatus as defined in claim 1, wherein:
said tray indexing control means operates said stepper motor means at a first speed; and said tray change control means operates said stepper motor means at a second speed which is greater than said first speed.

8. In a tray loading system wherein at least three cut pieces of meat are to be loaded onto a tray, a tray conveying apparatus comprising:
conveyor means for carrying a plurality of trays, on each of which trays at least three cut pieces of meat are to be loaded at a loading station;
stepper motor means for moving said conveyor means;
and tray indexing control means, responsive to individual cut pieces of meat being loaded on a respective one of the trays, for operating said stepper motor means so that said stepper motor means moves said conveyor means a first preselected distance between the time when a first cut piece of meat is loaded on the respective one of the trays at the loading station and the time when a second cut piece of meat is loaded on the respective tray at the loading station and further so that said stepper motor means moves said conveyor means a second preselected distance between the time when the second cut piece of meat is loaded on the respective tray at the loading station and the time when a third cut piece of meat is loaded on the respective tray at the loading station.

9. An apparatus as defined in claim 8, further comprising tray change control means, responsive to the at least three cut pieces of meat being loaded on the respective tray at the loading station, for operating said stepper motor means so that said stepper motor means moves said conveyor means until the respective tray is moved from the loading station and a subsequent one of the trays is moved into the loading station.

10. An apparatus as defined in claim 8, wherein said tray indexing control means includes:
an oscillator;
drive means for energizing said stepper motor means in response to said oscillator;
a counter;
pulse stretcher means, connected between said oscillator and said counter, for increasing the widths of the pulses provided from said oscillator to said counter;
means for activating said oscillator in response to a cut piece of meat being loaded onto the respective tray;

first deactivating means, responsive to said counter, for deactivating said oscillator after the first cut piece of meat is loaded onto the respective tray but before the second cut piece of meat is loaded onto the respective tray; and second deactivating means, responsive to said counter, for deactivating said oscillator before each subsequent cut piece of meat after the second cut piece of meat is loaded onto the respective tray.

11. An apparatus as defined in claim 10, wherein:
said first deactivating means includes a first software counter containing a first preselected value; and said second deactivating means includes a second software counter containing a second preselected value.

12. In a tray loading system wherein at least three cut pieces of meat are to be loaded onto a tray at a loading station, a tray conveying apparatus comprising:
conveyor means for carrying a tray on which the at least three pieces of meat are to be loaded at the loading station;
stepper motor means for moving said conveyor means;
tray sensing means for sensing when the tray is moved into the loading station on said conveyor means in response to said stepper motor means:
cut piece sensing means for sensing that a cut piece of meat is loaded onto the tray at the loading station;
an oscillator;
means for activating said oscillator in response to said cut piece sensing means sensing that a cut piece of meat is loaded onto the tray;
drive means for energizing said stepper motor means in response to said oscillator being activated;
first counter means, responsive to said oscillator, for counting preselected numbers of pulses from said oscillator;

second counter means, responsive to said cut piece sensing means, for counting the number of cut pieces of meat loaded on the tray;
first deactivating means, responsive to said first and second counter means, for deactivating said oscillator after a first cut piece of meat is loaded onto the tray but before a second cut piece of meat is loaded; and second deactivating means, responsive to said first and second counter means, for deactivating said oscillator before each subsequent cut piece of meat after the second cut piece of meat is loaded onto the tray.

13. An apparatus as defined in claim 12, further comprising:
means for activating said oscillator in response to said second counter means counting a predetermined number of cut pieces of meat loaded onto the tray; and third deactivating means, responsive to said tray sensing means sensing another tray moved into the loading station in response to said oscillator being activated by said means for activating said oscillator in response to said second counter means counting a predetermined number of cut pieces of meat loaded onto the tray, for deactivating said oscillator after said another tray is moved into the loading station.

14. A method of controlling the placement of cut pieces of meat loaded onto a tray, comprising the steps of:
(a) disposing a tray on a conveyor;
(b) moving the conveyor so that the tray is moved into a loading station where the cut pieces of meat are to be loaded onto the tray;
(c) loading a first cut piece of meat onto the tray at the loading station;
(d) after said step (c), actuating a stepper motor connected to the conveyor to move the conveyor a first predetermined increment so that the tray and the first cut piece of meat are moved relative to the loading station;
(e) after said step (d), loading another cut piece of meat onto the tray at the loading station;
(f) after said step (e), actuating the stepper motor to move the conveyor a second predetermined increment, different from the first predetermined increment, so that the tray and the loaded cut pieces of meat are moved relative to the loading station; and (g) repeating said steps (e) and (f) until a predetermined number of cut pieces of meat are loaded onto the tray so that the first two loaded cut pieces of meat are spaced the first predetermined increment and all subsequent loaded cut pieces of meat are spaced the second predetermined increment.

15. A method of loading cut pieces of meat onto a tray, comprising the steps of:
(a) selecting a basic count;
(b) selecting a first spacing count;
(c) selecting a second spacing count;
(d) loading a first cut piece of meat onto a tray;
(e) generating a series of pulses after the first cut piece of meat is loaded onto the tray;
(f) moving the tray by a predetermined increment in response to each pulse generated in said step (e);
(g) counting the number of pulses generated in said step (e);
(h) stopping the generation of pulses in said step (e) when the number of pulses counted in said step (g) equals the product of the selected basic count and the selected first spacing count so that the movement of the tray is stopped once the tray has moved a total distance determined in response to the product of the selected basic count and the selected first spacing count;

(i) loading a next cut piece of meat onto the tray after it has stopped;
(j) generating a series of pulses after the next cut piece of meat is loaded onto the tray;
(k) moving the tray by the predetermined increment in response to each pulse generated in said step (j);
(l) counting the number of pulses generated in said step (j); and (m) stopping the generation of pulses in said step (j) when the number of pulses counted in said step (1) equals the product of the selected basic count and the selected second spacing count so that the movement of the tray is stopped once the tray has moved a total distance determined in response to the product of the selected basic count and the selected second spacing count.

16. A method as defined in claim 15, further comprising, after said step (m), repeating said steps (i) through (m) until a predetermined number of cut pieces of meat are loaded onto the tray.