How do i model a pick and place object with two grippers. The scenario of the pick and place object flow is as follows
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I would suggest that each 'station' is a SingleProc, there you can enter in a processing time for the station and this must be carried out before the part wants to leave that object. Use the PickAndPlace object to model your robots, so have 2 of them and connect your SingleProcs in the correct order to the correct robot to model what you want.
You then got 2 options to get the timming right on the robots, you can either set the angles and speed such that it is the correct time to deliver your parts (most visual way) or you can use a Wait command in a method instead to get the right time.
I am assuming that the 2.3s is the time for the gripper to grip the part, so this might be good to be included in both the 'Pull' and 'Exit' controls as a Wait command, so it will wait 2.3s before selecting the part and 2.3s before releasing the part. Building it into the time for the station (or the 'Exit' control for the station might be easier then as it keeps your SingleProc's processing time as the time for that station only) will be easier as the 'Pull' control might not be that easy to write.
Hope this has helped.
if you load the gripper in the first step on the pickAndPlace (then use the target control to move to the source), than you can program your cycle in the exit control of the pick and place (you can turn the p&p with setDestination, at the stopping points you can read the station with getDestination...)
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