[PP5] [EDU] 2-axis manipulator

Download
- project file: pp5_Simultus_EDU
- sample control program file: pp5_WinProladder

Workstation description
Workstation consists of a two-axis Cartesian manipulator used to transfer an object between three positions.



Description of the project operation (attached control program)
- opening the grapple (Y4) when starting the program and moving to the right (Y1) to the X1 limit switch
- lowering the grapple (Y3) to the X3 limit switch
- waiting 5s and closing the grapple
- lifting the grapple (Y2) to the X2 limit switch
- move left (Y0) to the X0 limit switch
- lowering the grapple (Y3) to the X3 limit switch
- opening the grapple and waiting 5s
- lifting the grapple (Y2) to the X2 limit switch and moving to the starting step
 
Control

[START] - starting the control program [HOME] - homing the manipulator [movement speed] - defining the manipulator movement speed

Description of PLC inputs / outputs

X0 – limit switch MIN_horizontal axis limit
X1 - limit switch MAX_ horizontal axis limit
X2 - limit switch MIN_ vertical axis limit
X3 - limit switch MAX_ vertical axis limit

Y0 - conveyor movement in the negative direction horizontally
Y1 - conveyor movement in the positive direction horizontal
Y2 - conveyor movement upward
Y3 - conveyor movement downward
Y4 - closing the grapple