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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 a SuperSEL G 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):
1: (pick) x-axis ( 25.255), y-axis ( 68.111)
2: (place1) x-axis (101.935), y-axis (194.932)
3: (place 2) x-axis (126.942), y-axis (194.932)
4: (place 3) x-axis (151.942), y-axis (194.932)
5: (place 4) x-axis (176.942), y-axis (194.932)
6: (place 5) x-axis (101.935), y-axis (194.932)
7: (place 6) x-axis (126.942), y-axis (194.932)
8: (place 7) x-axis (151.942), y-axis (194.932)
9: (place 8) x-axis (176.942), y-axis (194.932)
10: (bad part) x-axis (176.942), y-axis (194.932)

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.