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Pick and Place Application

Preprint · September 2021

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Kamlesh Chaudhari
Lineomatic
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 Pick and Place Application

Pick and place robots are commonly used in modern manufacturing environments. Pick and
place automation speeds up the process of picking up parts or items and placing them in other
locations. Automating this process helps to increase production rates. Pick and place robots
handle repetitive tasks while freeing up human workers to focus on more complex work.

1. Basic Overview How its Work.

 Pick and Place Application

2. Servo Motion Controller + 2 Servo Motor and its Servo Drive+ Power and Encoder
cable.
Communication Cable…………….
initialize Variable definition
pap_stXYPara.diPosStrtX: =16380.
pap_stXYPara.diPosStrtY: =86100.
pap_stXYPara.diPosEndX: =32760.
pap_stXYPara.diPosEndY: =270600.
pap_stXYPara.udiApprDist: =10000.
pap_stXYPara.udiApprVel: =10000.
pap_stXYPara.udiApprAcc: =30000.
pap_stXYPara.udiApprDec: =400000.
pap_stXYPara.udiTrgtVel: =8800.
pap_stXYPara.udiTrgtAcc: =30000.
pap_stXYPara.udiTrgtDec: =400000.
pap_stXYPara.diPosActlX: =X_Pos_PDO.
pap_stXYPara.diPosActlY: =Y_Pos_PDO.

pap_stXYPltPara.uiElemNbX: =4.

pap_stXYPltPara.uiElemNbY: =4.

pap_stXYPltPara.udiShiftX: =8190.
pap_stXYPltPara.udiShiftY: =24600.

3. Program and its Block

Programming Example
Pick and Place Application
Pick and Place Application
Pick and Place Application
 Pick and Place Application

4. Challenges
. After variable declaration, program execute and it’s working fine according to logic but after
power cycle all data has been lost. So ultimately X Axis and Y Axis Position is lost. And middle of
you cannot do home position.
So, in PLC program I have crated two variable and move continuous X Axis and Y Axis Position in
this variable. And after power cycle, using MC_SetPosition Block I have written the last position
of x-axis and y-axis.

5. References
➢ Schneider Electric - Packaging Appl. Functions - Packaging Lib. Guide - May 2010-
XYPickAndPlace: Moving X- and Y-Axis in a Plane Coordinate System
➢ LMC058LF42 Motion Controller, Lexium32M Servo Drive
➢ SoMachine Logic Builder

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