A

Dissertation On

Robotic Pick & Place Automation for Soft Drink Tin Can

Guided By Presented by

Mrs. Deepali Bhor Raghav Puranik

MM polytechnic Thergaon, pune

2023-24
Content
1. Introduction

1.1 Company Introduction

1.2 Introduction

2. Scope of Project

3. Methodology

4. Problem Statement
 Detail of design and working process
5.

5.1 Features of Robotic Pick & Place Automation

5.2 Design of Robotic Pick & Place Automation

5.3 Robotic Pick & Place Automation Starter Controller

5.4 Sensors Used in Robotic Pick & Place Automation

5.5 Industrial Robot Used in Robotic Pick & Place Automation

5.6 Stepper Motor & Drive in Robotic Pick & Place Automation

5.7 Woking Process of Robotic Pick & Place Automation

6. Software used for programming

7. Conclusion
4 1.INTRODUCTION

1.1 Introduction Of Company

PN Automation And Solution is a Pune based Automation system & solution provider involved
in the business of building and integrating complete turnkey automation projects.

PN Automation And Solution is a trusted provider of Robotic applications such as Welding,

Handling, Machine Tending and Assembly lines by offering wide range of solutions that are fully
synced with customer’s specific requirements and goals. PN Automation And Solution have
exclusive design team for mechanical & electrical design and dedicate project management
team.

The total employee in the company is 35+ and the annual turnover of the company is 15 crore.

TATA motors, Mahindra, Adient, TM seating, Maxion wheels, Mahle, Valeo are few of
 Robotic projects
supplied to customer

Welding Application with Cutting Application with Handling Application with

OTC robot at HWASHI robot at FANUC robot at
M/s Vasant Industries,Pune M/s Western Refrigeration,Vapi M/s Maxion Wheel, KhedCity
1.2 Introduction Of Project
Robotic Pick & Place Automation to handle Soft Drink Tin
Can is electro-mechanical combination of Components like
FANUC robot , stepper motor driven Belt conveyor and a
controller (siemens PLC S7-1200)…which controls the
whole system .

The project is designed to simplify handling of soft drink tin

cane. A special gripper is design to grip and transfer the soft
drink tin cane to a storage location. Fanuc robot plays a key
roll in this project and a logical robot part program is written
to consider all interlocks and different I/Os involved.
2. SCOPE OF PROJECT

 The scope of Robotic Pick & Place Handling Automation is to build a system that is able to
handle soft drink tin cans delicately and place the product at desired / pre-defined location
repeatedly with high level of accuracy.

 It has a goal of reducing man-power involved in this activity.

 Robotic Pick & Place Handling Automation is aiming to reduce process time and improve
productivity
3. METHOLOGY
4. PROBLEM STATEMENT
 The problem statement for the Robotic Pick & Place Automation project is to design and
build a robotic system that improve safety while reducing product cycle time and
achieving high production target. The project aims to address the challenge of developing
autonomous systems that can operate in complex and dynamic environments, where
obstacles and other obstacles can pose a significant threat to the robot's safety and
functionality.

 The project aims to provide a solution to this challenge by leveraging the power of
robotics, programming flexibility of PLC and peripheral devices to enable the robot to
detect soft drink tin cans, avoid collisions, and follow a pre-defined path or line...
5. DETAIL OF DESIGN AND WORKING PROCESS
5.1 Features of Robotic Pick & Place Handling Automation
Robotic Pick & Place Automation for Soft Drink Tin Can is aimed to reduce operator fatigue, to curtail
manpower and reduce dependency and to improve overall production quantity.
It is designed using advance FANUC, Japan make 6-axis industrial robot and stepper motor driven belt
conveyor. It uses advance Siemens make S7 series 1214C (DC/DC/DC) PLC to control whole system
along with pneumatic actuators and diffuse type photoelectric sensors.
PLC program is written in very easy manner that is easy to debug in ladder fashion and a FANUC
robot part program to handle soft drink tin cans.

Functional features:
1) Controlled with advanced Siemens S7-1200 PLC
2) Robotic part/job transfer
5.2 Design Of Robotic Pick & Place Automation

The Robotic Pick & Place Automation has a only element which need to design is a belt
conveyor to transfer soft drink cans from infeed location to outfeed location. There are
components like single acting pneumatic cylinder and actuator and diffuse type photoelectric
sensors mounted on belt conveyor to stop the soft drink can at pick location and a sensor to
identify part/tin present at pick location.
5.3 ROBOTIC PICK & PLACE AUTOMATION CONTROLLER

Siemens S7-1200 PLC Controller & it’s features

 Siemens CPU 1214C - 6ES7214-1AG40-0XB0

 SIMATIC S7-1200.
 CPU 1214C.
 Compact CPU.
 DC/DC/DC.
 PROFINET port.
 Onboard I/O: 14 digital inputs 24 V DC; 10 digital outputs 24 V DC; 0.5 A; 2 analogue inputs 0-10 V.
 Power supply: 20.4-28.8 V DC.
 Program/data memory 100 kB.
5.4 ROBOTIC PICK & PLACE AUTOMATION CONTROLLER
Diffuse type optical Sensor IFM make OGT500(for part detection)
IP Rating 67
Circuit Type PNP

Operating Mode Selectable Light On/Dark On

Max. Load Current 200 mA

Power Requirement 10 to 36V DC
Sensing Method Diffuse
Max. Sensing Distance 800 mm
Power Requirement 10 to 36VDC

Type of short-circuit protection pulsed

Teach function yes

Short-circuit protection yes
Protection class II
Ambient temperature [°C] -25...80

Function principle Diffuse reflection sensor

Reverse polarity protection yes

Range adjustable yes
Current consumption [mA] 25
5.5 INDUSTRIAL ROBOT USED IN PICK & PLACE AUTOMATION
 5.6 STEPPER MOTOR & DRIVE USED IN PICK & PLACE AUTOMATION
JSS make 86HS78-6008 stepper motor
Item Value
Model Number 86HS78-6008
Type Hybrid
Phase 2
Step Angle 1.8°
Temperature Rise 80ºC Max

Ambient Temperature -20ºC Max~+50ºC

Insulation Resistance 100M ΩMin., 500VDC

Dielectric strength 500VAC for 1 minute

Shaft Radial Play 0.02Max(450-load)
Shaft Axial Play 0.08Max(450-load)
Max Radial Force 75N (20mm from the flange)
Max Axial Force 15N

86HS78-6008 is a type of 1.8 square shape hybrid stepper motor. It combines features of both permanent magnet
(PM) and variable reluctance (VR) stepper motors. The motor wire is made of pure copper. It has the
characteristics of small step angle, large output torque, good dynamic performance and low noise.
DM860H stepper motor driver
 5.7 WORKING PROCESS OF ROBOTICS PICK & PLACE
AUTOMATION
 The Robotic Pick & Place Automation project works by using sensors to detect the presence of soft drink
can and stopper cylinder, and moving robot to pick position after getting confirmation from PLC.
 The project typically uses diffuse type optical sensors to detect the presence of soft drink can on the belt
conveyor. The sensors emit light, which reflects off the surface and back to the sensor. When the sensor
detects the presence of the reflected light, it sends a signal to the PLC to indicate that a soft drink can has
been detected
 As soon as part / can is detected by sensor, a stopper cylinder will come in to picture. It is a
pneumatically operated / actuated single acting cylinder, who’s shaft will get extended/advanced to
restrict further motion of soft drink can and at the same time, stepper motor stops forward jogging.
 Once belt conveyor stops and part / soft drink can is available at pick-up location, FANUC robot will
receive a signal input to grasp / grip the soft drink can.
 After picking the soft drink can from it’s pick-up location on belt conveyor, robot call a program to place
the soft drink can at pre-defined location on table and increment the job/part counter by 01 unit.
 This cycle will gets repeated in main program by using JUMP/LBL instruction.
6. SOFTWARE USED IN PROGRAMMING
 SIEMENS TIA Portal V17 software is used for programming of S7-1200 series 1214C (DC/DC/DC)
CPU and standard KAREL language programming us used to create robot pick & place program.
7. CONCLUSION
 Robotic Pick & Place Automation is a demonstration of the integration of stepper motor driven belt
conveyor, PLC, 6-axis industrial Robot and sensors to enable a robot perform pick and place application
continuously with the great precision and efficiency. The robot is capable of performing task such as Pick
& Place, machine tending, and manipulation and can be extended to perform more complex tasks in the
future.
 This project provides a starting point for those interested in learning about robotics and Automation. The
system’s design and implementation of robot showcase the integration of various components, including
sensors, PLC controller, belt conveyor and gripper tools.
THANK YOU