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Pick and Place douple,changing gripper

Creator
Creator

Hi everybody,

 

I have a question about the gripper in the Peak and Place tool.

For example:

 

The Peak and Place (P&P) tool should grip a new part bring it to a station which already machined a part. Now the P&P tool changes the parts, it should take the ready part from the sation and lay in the new part.

 

My question is, is it possible to do something like that?

 

 

kind regards

4 REPLIES 4

Re: Pick and Place douple,changing gripper

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

The P&P-robot can load more than one part, but the behavior is diffent to what you need. The P&P-waits, until his capacity is filled and then he moves (e.g. if you set a capacity of two, then the P&P loads two parts before he starts moving).

 

There are at least two approaches possible to create your behavior: you expand the capacity of the P&P for loading temporary from one to two (unload the machine, load the machine) and after loading back from two to one, a lot of programming and not stable, because it is difficult to detect the stopping of the P&P. Much easier is to expand (temporary) the capacity on the machine-site. You can realize that using a additional object (e.g. a buffer) or you use a ParallelProc instead a SingleProc.

 

The attached example uses a ParallelProc with the following logic: If a part arrives, the entrance will be locked (EntranceControl, to prevent an additional loading). If the processing is finished, the entrance will be unlocked (exitControl). So the P&P can first unload the part and than load the part from the machine. The behavior is near the same (process of P&P) what you need. To prevent calls between the loading-process you should wait for new calls of the P&P, until the loading-processes are finished (waituntil station.numMu<2).

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: Pick and Place douple,changing gripper

Creator
Creator

Thanks for your prompt reply and your example!

 

I tryed to do it in my own simulation but now there is a error at the ParallelProc which looks like that :

 

is
do
    waituntil self.~.numMu=1 prio 1;
    wait(1);
    self.~.entranceLocked:=true;
end;

 

do you have a idea where my mistake could be?

 

kind regards

Re: Pick and Place douple,changing gripper

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

I need the error-message from the debugger.

This code works only, if this method is an internal method (user defined method attribute) of the ParallelProc. For an external method try this:

 

is
do
    waituntil ?.numMu=1 prio 1;
    wait(1);
    ?.entranceLocked:=true;
end;

 

 

Steffen Bangsow
freelance simulation specialist  
web: www.bangsow.eu
mail: steffen@bangsow.net

Re: Pick and Place douple,changing gripper

Creator
Creator

Perfect, now it is working!

 

Thank you very much for your help!!

 

kind regards