Pick and place sequence

[lazar_velinov22]

Hello,

I have the following case (uploaded a picture). The pick and place robot should pick 3 parts from the 3 sources and to place them on the assembly station, where a JIG is expecting them. The sources have a availability of 90%. The question is how to program the robot to wait positioned on some of the sources if the source is failed.

Thanks in advance! 

[Steffen_B]

to run the sequence you can use an exit control in the sources. Increment a global variable to select the right source. If a source is failed, the exit control will not be triggered and the sequence is stopped automatically.

[AlexD_SimPlan]

You mentioned

---

lazar_velinov22 schrieb:

The question is how to program the robot to wait positioned on some of the sources if the source is failed.

---

So I guess that you have to keep a certain sequence, like Steffen suggested, but your Robot will already move to the next target source, even if it is failed (and thus its part may not yet have registered at the PickAndPlace).
So I would use the StandardPosition of the PickAndPlace for this; you could update it with every MU that is picked up in an EntranceControl, so that the new StandardPosition is the one of the next Source in the sequence, see my example.

Note that the PickAndPlace will always use the same time for rotating to its StandardPosition, even if the angle is changed (you could of course also update the TimesTable, but I think that's irrelevant, because in the cases where it rotates to a failed Source, it will have to wait there anyway).

Hope this helps
Alex

[lazar_velinov22]

Thank you for your effort to help me. That looks close to what I need, but in my case, the robot should pick the 3 parts at once (to have capacity 3) and here is where the problem is coming from.

[Steffen_B · Accepted solution]

I guess in this case you dont need to program, you can use the FlowControl with the entrance strategy: cyclical (blocking). This will call the parts in the right order and wait, if one of the sources is failed. Just place one SingleProc without ProcTime after the FlowControl to have one loading position for all three sources.