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Equipment and method for controlling the operation of a line of machines, particularly presses

Image Number 2 for United States Patent #5150451.

In a line of presses, the pieces are transferred from one press to another by means of a plurality of programmable manipulator robots interposed between the presses. The operating cycles of the manipulator robots are synchronised with those of the presses on the basis of the operating frequency of the first press at the input of the line, the operating cycles of the various machines in the line being derived from each other in a cascade process starting from the basic operating frequency.

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Methods, devices and software applications for facilitating a development of a computer program
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