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Pick & Place This example demonstrates a simple pick & place routine. This is based off of a two-axis linear system with a pneumatic z-axis and pneumatic gripper. For now, we will assume that the controller is an XSEL controller with standard “sinking” (NPN) I/O. Both the x-axis (axis 1) and y-axis (axis 2) have 200mm stroke lengths.

The following I/O has been chosen by the user:

  • Output 302 : “On” = Gripper close, “Off” = Gripper open
  • Output 303 : “On” = z-axis down, “Off” = z-axis up
  • Input 10 : “On” = Bad part sensed
  • Input 11 : “On” = Good part sensed
  • Input 12 : “On” = z-extended
  • Input 13 : “On” = z-retracted
  • Input 14 : “On” = cycle start input

The following point data has been “taught” by the user (mm units):

  • Pt.1: (pick) x-axis ( 25.255), y-axis (68.111)
  • Pt.2: (place1) x-axis (101.935), y-axis (194.932)
  • Pt.3: (place 2) x-axis (126.942), y-axis (194.932)
  • Pt.4: (place 3) x-axis (151.942), y-axis (194.932)
  • Pt.5: (place 4) x-axis (176.942), y-axis (194.932)
  • Pt.6: (place 5) x-axis (101.935), y-axis (144.932)
  • Pt.7: (place 6) x-axis (126.942), y-axis (144.932)
  • Pt.8: (place 7) x-axis (151.942), y-axis (144.932)
  • Pt.9: (place 8) x-axis (176.942), y-axis (144.932)
  • Pt.10: (bad part) x-axis (163.942), y-axis (43.111)

Since the procedure of moving the pneumatic z-axis and operating the gripper will not change, the procedure will be placed into a subroutine and called using the EXSR command. This subroutine needs to be called before every pick and every place. Both pick and place will have separate subroutines controlling the status of the gripper.

Right-click here and "Save Target As" to download .PRG file.

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