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PickAndPlace Target vs Pull Control

Legend
Legend

Hi all,

 

 

I need a bit of clarification of the pickandplace target vs pull control.

I can run the same example with these 2 control types. There is no visual difference.


As far as I have understood, I used:

Target control:

As I set the "move" command and have Cyclic option in the SingleProc, the robot picks up the part.

I use the setdestination command to set the MU destination at the moment the robot picked up the part.

I don't need to set the destination in the MU itself.

 

Pull Control:

I unlock/release parts in singleprocs based on my control code.

The MU destination for the pickandplace is set in the SingleProc.

 

As I get into trouble with a more complex workcell (with n workstations and target controls code), I probably should also use the pull command.

Plant Sim allows me to combine both.

 


Regard

Marco

6 REPLIES

Re: PickAndPlace Target vs Pull Control

Phenom
Phenom

@ pullcontrol

 

you don't need to set the destination

 

in predecessor station but if you are using the

 

pull control method you might as well set the

 

destination in the robot

 

Here are 2 examples, which work that way.

 

 

The frame2 example picks and places multiple

 

parts (acc. to tab)  into a carrier.

 

 

The frame3 example places multiple

 

different parts (defined in tab)

 

in a carrier.

 

and then places the carrier from the assembly onto the line2.

 

 

Unbenannt.PNG

 

 

 

Re: PickAndPlace Target vs Pull Control

Legend
Legend

Hi,

 

thanks for these examples.

Hower this is a simpler case as you generate the part source and move in to the first workstation to pickup here.

 

In my workcell the parts are brought in by the robot and removed again.

Depending on the workstation type, the robot shall wait there until the work is complete (ex: part code scan) or leave it there and return to pick up.

In order to get this robot stop/or not ... programmed I need to add the line  "?.setDestination(objMU.destination, <Condition> );

This code is usually part of the target control code.

 

This caused trouble in the pull control code, some times the robot get stuck.

 

So I am not sure about having the target control code and pull control code at the same time.

 

Regards

Marco

 

Re: PickAndPlace Target vs Pull Control

Phenom
Phenom

@ "So I am not sure about having the target control code and pull control code at the same time."

 

I can not follow your comment as all robot destinations

 

are set in the pull control ! (s.b.)

 

In any case here's an example with a lower simplicity

 

the robot picks a prt from station 1

 

places the part on station 2

 

waits for station 2 to finish

 

picks the part from station 2

 

places the part in buffer 3

 

continues from station 1 to pick & place parts to station 2

 

When buffer 3 is full the robot unloads a part from the buffer3 to the drain

 

Please provide your robot so I can compare

 

Unbenannt.PNG

 

 

Re: PickAndPlace Target vs Pull Control

Legend
Legend

Thanks for these advise and attached example.

I am changing my model now to use this control strategy.

It will take some time as I have to setup the pull control logic to hande all possible cases.

 

 

Re: PickAndPlace Target vs Pull Control

Phenom
Phenom

How many cases do you have ?

Re: PickAndPlace Target vs Pull Control

Legend
Legend

I don't exactly as it depends on the process time of the workstations inside the workcell.

I have 7 workstations.

Some workstations have the robot maintain the part during the processing time (ex: scan ID code),

on others the part is left in and the robot has time to serve the other stations.

Some workstations are used multiple times (ex: part measurement).

The robot has 2 grippers (capacity=2)

 

I have to step through it in debug mode and continue to develop the pull code.

  

Here just impression what it looks like:

FinishingCell_Run004.png