A robot is used to load/unload parts to a machine from a conveyor.

The
layout of the system is shown in Figure. The process can be described as
follows.
A part comes along the conveyor. When it touches a micro switch, it is
scanned by a bar code reader to identify it .If the part is the desired one, a
stopper is activated to stop it. A robot pocks up the part and loads it onto
the machine if it is idle. Otherwise the robot waits to unload the machine.
Robotic Material Handling Control System A Case Study
Program
Explanation of the program
Rung 1: If a part arrives and no part is
stopped, trigger the bar-code reader.
Rung 2: If it is a right part, activate the
stopper.
Rung 3: If the stopper is up, the machine is
not busy and the robot is not busy; load the
part onto the machine.
Rung 4:If the task is completed and the robot
is not busy, unload the machine.
ID DESCRIPTION STATE EXPLANATION
MSI Microswitch 1 Part arrives
R
1
Output to
bar-code
reader
1 Scan the part
C
1
Input from bar-
code reader
1 Right part
R
2
Output robot 1 Loading cycle
R
3
Output robot 1 Unloading cycle
C
2
Input from
robot
1 Robot busy
R
4
Output to
stopper
1 Stopper up
C
3
Input from
machine
1 Machine busy
C
4
Input from
machine
1 Task complete
WIRING DIAGRAM