Tigger Signals at pick and place

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   Hi,

I would like to do two actions during picking and place.
- At Pick - Firstly, clamp the part.
- Then after 2 seconds, extend a fork to hold the part.

If I am using zone and activator, I could not trigger the 2nd movement 2 seconds later.

Same for placing.
- At Place - Firstly retract the fork
- Then 2 seconds later retract the clamp.

Can you please advise?

Best regards,
Lam

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wclam Members Profile Send Private Message Find Members Posts Add to Buddy List Newbie Joined: 2010-July-22 Online Status: Offline Posts: 1	Quote Reply Topic: Tigger Signals at pick and place Posted: 2010-July-22 at 08:49
	Hi, I would like to do two actions during picking and place. - At Pick - Firstly, clamp the part. - Then after 2 seconds, extend a fork to hold the part. If I am using zone and activator, I could not trigger the 2nd movement 2 seconds later. Same for placing. - At Place - Firstly retract the fork - Then 2 seconds later retract the clamp. Can you please advise? Best regards, Lam

JohnV Members Profile Send Private Message Find Members Posts Add to Buddy List Groupie Joined: 2009-August-20 Online Status: Offline Posts: 39	Quote Reply Posted: 2010-July-22 at 15:43
	You can use the activator to handle the clamp as you are. If you go to the format, there are tool actions (before pick, at pick, after pick, before place, at place, after place). If you set the at pick to handle the closing the forks, this should take care of this. There is a dwell time of 1/2 the pick time. I.E, if you have a pick time a 3 seconds, the forks will close 1.5 seconds after the clamps. You can do the same for placing. If this does not give you enough flexibility, you can always set a fake output using the format, and in rapid put a timer after that fake output has been fired. This will give you total flexibility.

Mats W. Members Profile Send Private Message Find Members Posts Add to Buddy List Pickmaster members Joined: 2004-July-27 Location: Sweden Online Status: Offline Posts: 159	Quote Reply Posted: 2010-August-05 at 13:04
	A general solution for complex pick and place actions, is to use the activator/zone GO to tell a PLC that the robot is in pick position and use a check I/O in the format to wait for the accknowledge. Then the PLC can start do whatever is required and return I/O when it's ready to take off.