[PP2] [EDUPlus] Component warehouse with a 5-axis manipulator
This workstation was made using Simultus EDU Plus version.
Download
- project file: pp2_Simultus_EDUPlus
- sample control program file: pp2_WinProladder
Workstation description – it consists of:
- 5-axis manipulator
- two object containers
The manipulator allows you to pick up and move objects between containers or put them outside the warehouse.
Description of the project operation (attached control program)
An exemplary control program is designed to pick up objects from a container one by one and arrange them in a non-warehouse space in a domino-like shape. After arranging all the objects, the manipulator pushes one of the marginal ones, causing the entire domino to fall over.
Control
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The project offers two control modes: - manual mode in which we control with sliders and bistable button located in the 'Panel' area of Simultus - automatic mode - starting the control program embedded in the PLC using the 'Fatek START' button (of course, starting the program with this button must be implemented within the control program) |
Description of the PLC inputs / outputs
Y0 - switching the control mode (0 - manual - Simultus, 1 - automatic - Fatek)
Y1 - grapple opening
X0 - START button
X1 - bridge in the X axis set position
X2 - grapple in the Z axis set position
X3 - grapple extended
X4 - bridge has been turned
X5 - grapple has been turned
X6 - grapple closed
X7 – grapple open
X8 - all axes in the set position
Description of PLC registers
Position setting
R1 - bridge left / right movement
R2 - grapple up / down movement
R3 - grapple extension forward / backward
R4 - bridge rotation
R5 - grapple rotation
Reading the current positions
R20 - bridge left / right movement
R21 - grapple up / down movement
R22 - grapple forward / backward extension
R23 - bridge rotation
R24 - grapple rotation
Description of the inputs / outputs can also be found on the project diagram in the place marked below.
Movement ranges
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X - left-right bridge movement, 0..2780mm Y - grapple up-down movement, 0..1500mm Z - grapple forward-backward movement, 0..600mm β - grapple rotation, 0..180 ° γ - bridge rotation, 0..225˚ G - grapple opening / closing, discrete control |