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Pick and Place working parallel

Creator
Creator

Hi everybody,

 

My plant in Tecnomatix looks like this:

 

a1.png

 

My Problem is that the Pick and Place ( P&P) tool works round robin, for example the parts starts at the entry (Quelle) and goes to the PCM station the P&P tool brings the part to the next station CutMaterial than to the station AS, to the station SketchMachine and the last staion is the Puffer.

But the Pick and Place tool should work parallel to the PCM station, for example the part should come from the PCM station than the P&P tool brings the part to the CutMaterial station here the P&P is waiting till the part is ready than it goes to the AS station here the P&P also is waiting till the part is ready than it goes to the SketchMachine station, so and while the part is machining in the SketchMachine the P&P should go to the PCM station brings the part to the CutMaterial station, than to the next AS station now the P&P is NOT waiting for the part, now the P&P tools goes to the SketchMachine and brings the waiting part to the Puffer than the P&P tool goes back to the AS station grips the waiting part and brings it to the SketchMachine. While the part is now machining in the SketchMachine the P&P tool is doing the same process than befor. From the PCM to the CutMaterial to AS only put it in, to SketchMachine grips the part and brings it to the Puffer, than to AS grips the part in brings it to the SketchMachine.

 

My problem is how to tell the Pick and Place tool to work prallel, i hope you can help me out!!

 


I know my english is not so good, so please excuse me!

 

kind regards

13 REPLIES 13

Re: Pick and Place working parallel

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

First: use exit-controls for waiting until the successor in your process is empty and operational, if you connect the exits of the objects with the pick and place, then the pick and place will grip the part, if the object has finished his work. Then you can use the target-control of the robot to set the target of the robot depend on the part and the progress in the operation plan, the target of the pick and place will be set with the method <path>.setDestination(destinationSmiley Surprisedbject, keepThere:boolean) --> help.

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

Re: Pick and Place working parallel

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

sorry:

 method <path>.setDestination(destination : object, keepThere:boolean)

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

Re: Pick and Place working parallel

Creator
Creator

Hi thanks for your help,

 

could you please do an step by step plan so I now exactly what I have to do!?

My problem is also I don´t know the "method speech" or "programm language", so it would be great if you can tell an easy understanding plan, what I have to do to solve my problem!

 

kind regards

Re: Pick and Place working parallel

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

first: for not knowing the programming language (SimTalk) you use a lot of methods!

 

just another formatting of your process description:

 

PCM waits until AS and cutmaterial is not occupied

cutmaterial waits until AS is not occupied

AS waits until Sketchmachine is not occupied

before calling @.move 

 

each machine sets the destination attribute of the part to the successor

 

the target control of the p&p reads the destination attribute of the part and sets the destination of the p&p to this station

 

 

 

 

 

 

 

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

Re: Pick and Place working parallel

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

This model uses the exit strategy of the PickAndPlace for routing (user defined attribute). The values of the attribute are set in the exit controls of the stations.

 

If you wait in the exit control of PCM:

 

waituntil AS.occupied=false and cutmaterial.occupied=false and PickAndPlace.occupied=false prio 1;

 

then you get the right behavior.

 

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

Re: Pick and Place working parallel

Creator
Creator

There are 2 different processes

 

The first is to fill the machines with parts so that the following process can work parallel.

 

First process:

PCM is machining a part the P&P tool grips the finished part. After the P&P tool has griped the part, the PCM station is machining the next part. To machining a part it takes a long time!


 In this long time of the PCM station the P&P tool brings the part to the CutMaterial satation, this sation is a quick one so the P&P tool should wait while the station is occupied. When the station is ready the waiting P&P tool grips the part and brings it to the AS station. In this first process the P&P tool is waiting while the AS is occupied.

 

Then the P&P tool grips the part out of the AS und brings it to the SketchMachine. This station needs a long maching time so the P&P tool is not waiting while the SketchMachine is occupied. The robot moves on the PCM machine and here starts the second and always running process.

 

2 process, always running:

 

The P&P tool grips the new part ( in this time only the SketchMachine is occupied with maching a part) . The P&P tools brings the part to the CutMaterial station and is waiting till the part is ready.

 

Then the P&P tool brings the part to the AS sation. In this case the P&P tool is not waiting while the AS station is occupied.

 

The P&P tool moves on to the SketchMachine grips now the part and brings it to the Puffer.


After this the P&P tool moves to the AS sation grips the now ready part and brings it to the Sketchmachine. And while this station is accupied the robot starts to do this 2 process again.

 

 

Thanks for the example my problem is there is no discription for it.

You are right I use a lot of methods but this is only what I learned from the examples from Tecnomatix.

 

Waht I see is, I have to tell the P&P tool in the exit control BE-Attribut and then do a list, here I don´t know what to put in.

And I have to tell the PCM station in the section controls I few things.

 

Can you please explain what does your set stands for:

AS.occupied=false and cutmaterial.occupied=false and PickAndPlace.occupied=false prio 1;

 

 

kind regards

 

Re: Pick and Place working parallel

Creator
Creator

Here is my try in tecnomatix, I think the fastest way to understand this issue is if you could finish my example.

I really would appreciate it!

 

kind regards

 

Re: Pick and Place working parallel

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

The PickAndPlace works by request. If there is a part to transport (exit of the predecessor) the P & P turns und grips the part. The destination of the transport is primary set by the exit strategy of the P & P. If you want to control the P & P than you have to control two things: the requests of the predecessors and the destination of the transports. The requests you can control by waiting on the right condition for the transport (at least the successor has to be empty). The destination of the transport you can control with the exit strategy of the P & P or the target-control. One easy way is to use a user defined attribute, that contains the successor-number of the P&P as destination (see the sample file). For this you have to define a user defined attribute in the Entity. And you have to set the value in each station (successor-number of the P&P), e.g. in the exit control. The necessary setting in the P&P you find also in the sample-file.

 

"Can you please explain what does your set stands for:

AS.occupied=false and cutmaterial.occupied=false and PickAndPlace.occupied=false prio 1;"

 

--> look for waituntil in the help

in German:

 

waituntil AS.belegt=false and cutmaterial.belegt=false and PickAndPlace.belegt=false prio 1;

@.umlagern; 

 

This should be part of the exit-control of PCM. So you can influence the order of the steps of P&P. First AS and cutmaterial have to be empty to transport the next part. The P&P has then finished the loading of SketchMachine.

 

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

Re: Pick and Place working parallel

Gears Esteemed Contributor Gears Esteemed Contributor
Gears Esteemed Contributor

I cannot edit your model, I'm working with the professional license.

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