INTRODUCTION

Introducing the cutting-edge fusion of precision and adaptability: the integration of a rotary
gripper and a linear conveyor system. In the realm of automation and material handling, this
collaboration seamlessly combines the regulated precision of a linear conveyor with the
versatile efficiency of a rotary gripper. Let's first explore the world of linear conveyors—a
specialized system designed for the straightforward transfer of objects or materials in a linear
fashion. Also known as linear motion conveyors, these systems are distinct in their ability to
move goods along a straight path, catering to sectors such as pharmaceuticals, electronics,
automotive, and manufacturing. Unlike traditional conveyor systems, which rely on circular
or meandering patterns, linear conveyors follow a specified command or program, precisely
transporting workpieces from one station to another. Now, envision the dynamic capabilities
of a rotary gripper entering the scene. This versatile and efficient tool in the realm of
automation mirrors the dexterity of a human hand. Excelling in the precise handling of
objects, the rotary gripper's unique design allows it to rotate and grip items from various
angles, making it an invaluable asset in manufacturing processes, assembly lines, and
industries where a delicate touch is paramount. Whether it's the meticulous picking up,
manipulation, or placement of objects, the rotary gripper contributes to the seamless
operation of automated systems. Now, unite these two technological marvels—the linear
conveyor and rotary gripper. Picture the linear conveyor providing a regulated path, while the
rotary gripper adeptly handles objects with finesse and flexibility. Together, they redefine
material handling, setting new standards in accuracy, adaptability, and efficiency. Welcome
to a future where the precision of linear conveyors meets the versatility of rotary grippers,
creating a synergy that transcends the boundaries of conventional automation.

OBJECTIVE
 Define the components at the Rotary Gripper and Linear Conveyor.
 Identify internal and external sensors.
 Define the function of actuator, electric motor, sensor and relays.
 Developed the program.
 Test the program.
 Identify and solve the problem refer to exercises.

COMPONENT/EQUIPMENT
1) PSV TESTING STATION
A PSV station, or Pressure Safety Valve station, is like the guardian of a system under
pressure. It's a setup that includes Pressure Safety Valves (PSVs) designed to release
excess pressure from equipment, preventing potential hazards like explosions. The
station ensures that the pressure within the system remains within safe limits,
safeguarding both people and equipment. It's a critical component in industries where
maintaining precise pressure levels is vital for safety and operational integrity.
 Figure 1 : PSV Testing Station

2) BP03 CONTROL PANEL-PUSH BUTTON

Figure 2 : BP03 CONTROL PANEL –PUSH BUTTON

BP03 CONTROL PANEL-I/O ADDRESS

Input Terminal
2800 (10.0) light pushbutton STOP
2801(10.1) lighted pushbutton START
2802 (10.2) button TOUCH
2803 (10.3) lighted pushbutton HALT at and of cycle
2S04 (10.4) lighted pushbutton RELEASE
2805 (10.5) toggle switch OPERATING MODE 1
2833 (13.3) toggle switch OPERATING MODE 2
Output Terminal
2H00 (Q0.0) indicator light STOP (red)
2H01 (Q0.1) indicator light START (green)
 2H02 (Q0.2) indicator light HALT at end of cycle (yellow)
2H03 (Q0.3) indicator light RELEASE (blue)

3) PSV : LCM EO2S – Component Home Position Workpiece Carrier

Explain the precise moment in a manufacturing or assembly process when a
component or workpiece carrier begins or ends. In order to make sure that
components are regularly and precisely processed or assembled at the proper area, this
position is essential. It is frequently utilized in robotics and automation to increase
accuracy and efficiency in industrial processes.

PSV : Linear Conveyor LF400- I/O Address

Input Terminal
2S06 (I0.6) Position Transport LEFT LF400EE
2S07 (I0.7) Position Transport test BUSHING LF400EE
2S10 (I1.0) Position Transport RIGHT LF400EE
2S43 (Not Used) Limit switch RIGHT
2S44 (Not Used) Limit switch LEFT

Output Terminal
2K04(Q0.4) Relay for motor LF400EE to the RIGHT
2K05 (Q0.5) Relay for motor LF400EE to the LEFT

Figure 3 : Linear Conveyor LF400

4) PSV STATION : ROTARY GRIPPER – DG5S

A rotary actuator is an actuator that produces a rotary motion or torque. The simplest
actuator is purely mechanical, where linear motion in one direction gives rise to
rotation. The most common actuators though are electrically powered. Other actuators
may be powered by pneumatic or hydraulic power, or may use energy stored
internally through springs. In this application Rotary actuator is combined with the
pneumatic powered gripper.
 PSV : Gripper – I/O Address
Input Terminal
2B11 (I1.1) Rotary Gripper DG TOP
2B12 (I1.2) Rotary Gripper DG Bottom
2B13 (I1.3) Rotary Gripper DG LEFT
2B14 (I1.4) Rotary Gripper DG RIGHT
2B15 (I1.5) Rotary Gripper DG CLOSE Gripper

Output Terminal
2Y07(Q0.7) LOWER rotary gripper DG
2Y10 (Q1.0) SWIVEL rotary gripper DG
2Y11 (Q1.1) Rotary gripper DG GRIP

Figure 4 : Rotary Gripper – DG5S

5) PC/LAPTOP
FLOW CHART PROCESS
PROCEDURE

A. HOW TO OPEN THE SOFTWARE AND BUILD THE PROGRAM

i. Start your computer, then click the shortcut icon (WinSPS 3.21)
ii. As indicated, choose the directories for the project path and library;
 Project path
 Student
 Class (DEM5B)
 Library path
 C:/BIBLIOTHEK/CL200
iii. Select "new project" and provide the controller's name.
iv. Select the CL200 controller type.
v. Put SFC at the end. Function table
vi. Select Editor from the Program Menu
vii. Select the Sequential Function Chart (SFC) icon.
viii. Click the program module icon.
ix. Select the symbol file icon
x. Select everything and remove the software.
xi. Launch the desktop shortcut for PSV SYMBOL.
xii. Pick everything in the program and duplicate it.
xiii. In WinSPS 3.21, open the symbol file and paste it.
xiv. Enter the input signal and output signal using the keyboard.
xv. Complete Exercises 1, 2, and 3 in the curriculum.

B. HOW TO TRANSFER THE PROGRAM TO PSV TESTING STATION

i. Select the sequence parameters in the toolbox.
ii. Enter 50 for KUE and 10 for KWA
iii. Select BTSMADAP then click "apply"
iv. Choose "Click File" and "Create Sequences"
v. Mark / with the "rebuild all" option selected at the create sequence call in
OM1, click the "create icon" button.
vi. Select DBAS.PXD from the data module menu.
vii. Change the second row's start and automatic numbers from 0 to 1.
viii. Test the control and choose interface.
ix. Select load from the control menu.
x. Choose "load total program" and click "ok"
xi. Awaiting the delivery of the software to the PSV testing station
PLC PROGRAMMING CODE
WORKING SAFETY PROCEDURES
1) Wear a clothing that follows the procedures like a workshop jacket
2) Do not run in the lab room
3) Follow the safety working procedures rules
4) Do not bring bags or food and drinks in lab room
5) Always provide a clear label and easy to access emergency stop button at the machine

CONCLUSION
In conclusion, the seamless integration of the rotary gripper and linear conveyor encapsulates
the pinnacle of innovation in the realms of robotics and automation. The rotary gripper, a
testament to our commitment to advancing technology, showcases its prowess in securely
grasping and manipulating objects with precision. Its remarkable adaptability across various
industries positions it as a pivotal tool, enhancing efficiency and productivity in
manufacturing, assembly lines, and beyond. As we witness the evolution of technology, the
rotary gripper stands as a beacon, symbolizing our relentless pursuit of solutions that not only
simplify tasks but also usher in new possibilities in the ever-expanding landscape of
automation. Whether deployed in intricate manufacturing processes or everyday applications,
the rotary gripper plays a crucial role in shaping a future where machines seamlessly
collaborate with human endeavors. On the other hand, the linear conveyor, a specialized
system designed for precise and straight-line material transfer, emerges as a key player in
various sectors such as manufacturing, electronics, automotive, and pharmaceuticals. Its
indispensable role in today's automated production processes is underscored by its ability to
enhance accuracy, expedite procedures, and elevate overall productivity. The LF400 linear
conveyor, far more than a mere means of transportation, epitomizes the transformative impact
of this technology, paving the way for a future where the convergence of the rotary gripper
and linear conveyor sets new standards in efficiency and precision.
REFERENCES

 Programmable Logic Controllers (Sequence Function Chart) – En Muffili Bin Mahadi

 PSV (Testing Station) – En Muffili Bin Mahadi
 Lab Practical Work 4
 https://www.destaco.com/gripping/pneumatic-automation-grippers/angular-
grippers.html
 https://www.automation.com/en-us/articles/2011-1/gripper-101-what-is-a-gripper
 Linear Conveyor module - industrial robots. Yamaha Motor Co., Ltd. (n.d.).
https://global.yamaha-motor.com/business/robot/lineup/lcm/
 Conveyor and linear motion systems. mkNorthAmerica. (n.d.).
https://www.mknorthamerica.com/Blog/conveyors-and-linear-motion/