Stations

Machining Center

The Machining Center is a station used to manufacture lids and bases from raw material. First, the articulated robot waits for raw material to be placed at the entry bay. When new material is detected, it is loaded into the CNC machine, which will start manufacturing an item. Each item type takes different time to be produced (lids: 6 seconds; bases: 3 seconds) and once the operation is complete the robot places the item on the exit bay.

machining center

The production operation can be stopped at any time, restarted or reset. You can interact with the Machining Center through the electric switchboard next to th e safeguard door:

  • Emergency: triggers an emergency stop, interrupting the articulated robot and the CNC> After an emergency stop, the station can only be reset by disarming the emergency button and pressing the Reset button

  • Start: starts the station

  • Stop: stops the articulated robot and the CNC. To restart, press the Start or Reset button

  • Reset: resets the station

Two stack lights placed on top of the safeguard provide information about the current status.

  • Green light: not busy
  • Yellow light: busy
  • Red light: has error (incorrect item detected at entry bay)
PartConfigurationTagI/OTypeDescription
N/A Machining Center # (Is Busy)InputBoolIndicates whether an item is being processed.
Machining Center # (Has Error)InputBoolIndicates whether an invalid item was detected on the entry bay.
Machining Center # (Produce Lids)OutputBoolSet True to produce lids; False to produce bases.
Machining Center # (Opened)OutputBoolTrue when the door is open.
Machining Center # (Progress)InputFloatMachining progress (0-100).
Machining Center # (Start)OutputBoolStart.
Machining Center # (Stop)OutputBoolStop.

Elevator

Heavy duty chain driven elevator, used for transportation of all sorts of cargo between floors. The elevator is equipped with two retroreflective sensors, placed at each end of the platform. The elevator can be controlled by digital or analog values, according to the selected configuration.

  • Roll radius: 45 mm
  • Platform stroke: 7 m
  • Platform speed: 0.68 m/s
  • Max. conveying speed: 0.45 m/s (digital); 0.8 m/s (analog)
  • Retroreflective sensor LED: green (detecting reflector), yellow (beam not interrupted)

elevator

PartConfigurationTagI/OTypeDescription
Digital Elevator # (Up)OutputBool Move platform (both directions)
Elevator # (Down)OutputBool
Elevator # (Slow)OutputBoolSlow movement (20% of default speed).
Elevator # (+)OutputBool Roll (both directions)
Elevator # (-)OutputBool
Elevator # (Left Limit)InputBoolItem detected.
Elevator # (Right Limit)InputBoolItem detected.
Analog Elevator # Set Point (V)OutputFloat[0, 10] V: set target position.
Elevator # Position (V)InputFloat[0, 10] V: current position.
Elevator # (+)OutputBool Roll (both directions)
Elevator # (-)OutputBool
Elevator # (Left Limit)InputBoolItem detected.
Elevator # (Right Limit)InputBoolItem detected.

Pick & Place

Gantry Pick and Place station with three axes controlled by servomotors. Often used to move light lad cargo (e.g. cardboard boxes) into other conveyors or pallets.

The Pick and Place had four degrees of freedom, three corresponding to the axes linear movement and another to the gripper rotation. The gripper is enabled by suction cups and includes a proximity sensor. The Pick and Place can be controlled by digital and analog values, according to the selected configuration. When controlled with digital I/O, axis movement is performed incrementally (step by step) on each rising edge of the controlling tag value.

  • Y-axis stroke: 1.25 m
  • X-axis stroke: 2.125 m
  • Z-axis stroke: 0.5m
  • Step: 0.125 m
  • Beam speed: 1.5 m/s
  • Gripper angular speed: 4.6 rad/s

pick and place

PartConfigurationTagI/OTypeDescription
Digital Pick & Place # X(+)OutputBool Take a step along X-axis.
Pick & Place # X(-)OutputBool
Pick & Place # Y(+)OutputBool Take a step along Y-axis.
Pick & Place # Y(-)OutputBool
Pick & Place # Z(+)OutputBool Take a step along Z-axis.
Pick & Place # Z(-)OutputBool
Pick & Place # C(+)OutputBoolRotate gripper.
Pick & Place # (Grab)OutputBoolActivate suction cups.
Pick & Place # (Moving Z)InputBoolMoving along Z-axis.
Pick & Place # (Moving XY)InputBoolMoving along XY-plane.
Pick & Place # (Box Detected)InputBoolDetecting an item.
Pick & Place # (C Limit)InputBoolGripper at angular limit.
Analog Pick & Place # X Set Point (V)OutputFloat[0, 10] V: set target position along X-axis.
Pick & Place # Y Set Point (V)OutputFloat[0, 10] V: set target position along Y-axis.
Pick & Place # Z Set Point (V)OutputFloat[0, 10] V: set target position along Z-axis.
Pick & Place # C(+)OutputBoolRotate gripper.
Pick & Place # (Grab)OutputBoolActivate suction cups.
Pick & Place # X Position (V)InputFloat[0, 10] V: current position along X-axis.
Pick & Place # Y Position (V)InputFloat[0, 10] V: current position along Y-axis.
Pick & Place # Z Position (V)InputFloat[0, 10] V: current position along Z-axis.
Pick & Place # (Box Detected)InputBoolDetecting an item.
Pick & Place # (C Limit)InputBoolGripper at angular limit.
Digital & Analog Pick & Place # X Set Point (V)OutputFloat[0, 10] V: set target position along X-axis.
Pick & Place # Y Set Point (V)OutputFloat[0, 10] V: set target position along Y-axis.
Pick & Place # Z Set Point (V)OutputFloat[0, 10] V: set target position along Z-axis.
Pick & Place # C(+)OutputBoolRotate gripper.
Pick & Place # (Grab)OutputBoolActivate suction cups.
Pick & Place # X Position (V)InputFloat[0, 10] V: current position along X-axis.
Pick & Place # Y Position (V)InputFloat[0, 10] V: current position along Y-axis.
Pick & Place # Z Position (V)InputFloat[0, 10] V: current position along Z-axis.
Pick & Place # (Moving Z)InputBoolMoving along Z-axis.
Pick & Place # (Moving XY)InputBoolMoving along XY-plane.
Pick & Place # (Box Detected)InputBoolDetecting an item.
Pick & Place # (C Limit)InputBoolGripper at angular limit.

Stacker Crane and Rack

Rail mounted stacker crane used to stock heavy cargo. Includes a cart, a vertical platform and two forks which may slide to both sides.

Two laser rangefinders placed on the cart and the platform measure the horizontal and vertical position of the platform. Racks are upright steel frames connected by horizontal steel beams with the purpose to store loads. The available rack is single-deep rack type, also known as selective rack, which only allows loads to be stored one pallet deep. Loads can be stored from both sides of the rack.

Each rack mus be aligned with one of the rail ends, making the stacker crane stop at the correct position. The stacker crane can be controlled by Digital, Numerical and Analog values, according to the selected configuration.

  • Forks stroke: 1.2 m
  • Cart stroke: 10.5 m
  • Platform stroke: 6.625 m
  • Cart speed: 1.4 m/s
  • Forks speed: 0.5 m/s
  • Platform speed: 1.7 m/s
  • Number of cells: 18

stacker crane and rack

  • Numerical: the target cell can be defined by an integer value between 1 and 54. If this value is set to zero, the stacker crane stops at the current position. However, if it is higher than 54, it will move to the rest position (55).

  • Analog: the target/current position for each axis can be set/measured with analog values.

  • Digital: each cell number is encoded by five digital values (see the following table)

Position Actuators
Bit0Bit1Bit2Bit3Bit4Bit5
Locked000000
1100000
2010000
3110000
.....................
55 (rest)111011
PartConfigurationTagI/OTypeDescription

Numerical Stacker Crane # (Target Position)OutputIntegerMove to the desired cell.
Stacker Crane # (Left)OutputBoolMove forks left.
Stacker Crane # (Right)OutputBoolMove forks right.
Stacker Crane # (Lift)OutputBoolSlightly raises the platform for loading/unloading operations.
Stacker Crane # (Moving-X)InputBoolMoving along X-axis.
Stacker Crane # (Moving-Z)InputBoolMoving along Z-axis.
Stacker Crane # (Left Limit)InputBoolForks at left limit.
Stacker Crane # (Middle Limit)InputBoolForks at middle.
Stacker Crane # (Right Limit)InputBoolForks at right limit.
Analog Stacker Crane # X Set Point (V)OutputFloat[0, 10] V: set target position along X-axis.
Stacker Crane # Z Set Point (V)OutputFloat[0, 10] V: set target position along Z-axis.
Stacker Crane # (Left)OutputBoolMove forks left.
Stacker Crane # (Right)OutputBoolMove forks right.
Stacker Crane # X Position (V)InputFloat[0, 10] V: current position along X-axis.
Stacker Crane # Z Position (V)InputFloat[0, 10] V: current position along Z-axis.
Stacker Crane # (Left Limit)InputBoolForks at left limit.
Stacker Crane # (Middle Limit)InputBoolForks at middle.
Stacker Crane # (Right Limit)InputBoolForks at right limit.
Digital Stacker Crane # (Target Position Bit0)OutputBoolTarget position encoding bit (least significant).
Stacker Crane # (Target Position Bit1)OutputBoolTarget position encoding bit.
Stacker Crane # (Target Position Bit2)OutputBoolTarget position encoding bit.
Stacker Crane # (Target Position Bit3)OutputBoolTarget position encoding bit.
Stacker Crane # (Target Position Bit4)OutputBoolTarget position encoding bit.
Stacker Crane # (Target Position Bit5)OutputBoolTarget position encoding bit.
Stacker Crane # (Left)OutputBoolMove forks left.
Stacker Crane # (Right)OutputBoolMove forks right.
Stacker Crane # (Lift)OutputBoolSlightly raises the platform for loading/unloading operations.
Stacker Crane # (Moving-X)InputBoolMoving along X-axis.
Stacker Crane # (Moving-Z)InputBoolMoving along Z-axis.
Stacker Crane # (Left Limit)InputBoolForks at left limit.
Stacker Crane # (Middle Limit)InputBoolForks at middle.
Stacker Crane # (Right Limit)InputBoolForks at right limit.
Digital & Analog Stacker Crane # X Set Point (V)OutputFloat[0, 10] V: set target position along X-axis.
Stacker Crane # Z Set Point (V)OutputFloat[0, 10] V: set target position along Z-axis.
Stacker Crane # (Left)OutputBoolMove forks left.
Stacker Crane # (Right)OutputBoolMove forks right.
Stacker Crane # X Position (V)InputFloat[0, 10] V: current position along X-axis.
Stacker Crane # Z Position (V)InputFloat[0, 10] V: current position along Z-axis.
Stacker Crane # (Moving-X)InputBoolMoving along X-axis.
Stacker Crane # (Moving-Z)InputBoolMoving along Z-axis.
Stacker Crane # (Left Limit)InputBoolForks at left limit.
Stacker Crane # (Middle Limit)InputBoolForks at middle.
Stacker Crane # (Right Limit)InputBoolForks at right limit.

Palletizer

High-level palletizer used to stack cardboard boxes (Palletizing Box) on pallets.

  • Pusher stroke: 0.88 m
  • Elevator stroke: 1.75 m
  • Elevator speed: 2 m/s

palletizer

PartConfigurationTagI/OTypeDescription
N/A Palletizer # (Clamp)OutputBoolMove clamper.
Palletizer # (Open Plate)OutputBoolOpen stripper plate.
Palletizer # (Push)OutputBoolMove pusher.
Palletizer # Belt (+)OutputBool Rotate (both directions).
Palletizer # Belt (+)OutputBool
Palletizer # (Turn)OutputBoolTurn flipper (used to rotate boxes by 90º).
Palletizer # Elevator (Up)OutputBool Step up/down.
Palletizer # Elevator (Down)OutputBool
Palletizer # Elevator (Move to Limit)OutputBool Set the elevator to move to the top/bottom limit.
Note: To move the elevator to a limit. Switch On the Move to Limit tag and the Up or Down, according to the limit you want to reach.
Palletizer # Chain (+)OutputBool Roll (both directions).
Palletizer # Chain (-)OutputBool

Two-Axis Pick & Place

This part can be used to assemble Lids on Bases or pick and place items from one place to another. To guarantee a correct fit, bases and lids should be properly aligned by Positioning Bars.

  • X-axis stroke: 1.125 m
  • Z-axis stroke: 0.625 m
  • Arm and picker speed: 2 m/s

two-axis pick and place

PartConfigurationTagI/OTypeDescription
Digital Two-Axis Pick & Place # Z (-)OutputBoolMove along Z-axis.
Two-Axis Pick & Place # X (+)OutputBoolMove along X-axis.
Two-Axis Pick & Place # (Grab)OutputBoolActivate suction cup.
Two-Axis Pick & Place # (Moving X)InputBoolMoving along X-axis.
Two-Axis Pick & Place # (Moving Z)InputBoolMoving along Z-axis.
Two-Axis Pick & Place # (Item Detected)InputBoolDetecting an item.
Analog Two-Axis Pick & Place # X Set Point (V)OutputFloat[0, 10] V: set target position along X-axis.
Two-Axis Pick & Place # Z Set Point (V)OutputFloat[0, 10] V: set target position along Z-axis.
Two-Axis Pick & Place # (Grab)OutputBoolActivate suction cup.
Two-Axis Pick & Place # X Position (V)InputFloat[0, 10] V: current position along X-axis.
Two-Axis Pick & Place # Z Position (V)InputFloat[0, 10] V: current position along Z-axis.
Two-Axis Pick & Place # (Item Detected)InputBoolDetecting an item.
Digital & Analog Two-Axis Pick & Place # X Set Point (V)OutputFloat[0, 10] V: set target position along X-axis.
Two-Axis Pick & Place # Z Set Point (V)OutputFloat[0, 10] V: set target position along Z-axis.
Two-Axis Pick & Place # (Grab)OutputBoolActivate suction cup.
Two-Axis Pick & Place # X Position (V)InputFloat[0, 10] V: current position along X-axis.
Two-Axis Pick & Place # Z Position (V)InputFloat[0, 10] V: current position along Z-axis.
Two-Axis Pick & Place # (Moving X)InputBoolMoving along X-axis.
Two-Axis Pick & Place # (Moving Z)InputBoolMoving along Z-axis.
Two-Axis Pick & Place # (Item Detected)InputBoolDetecting an item.

Tank

Liquid tank including two control valves and a capacitive level sensor which can be used to control the flow of liquid in and out of the tank. Control valves are controlled by pneumatic actuators that can be positioned with signals between 0 and 10 V. Note that capacitive sensors can also be used to detect liquid levels. The liquid tank is primarily intended to be used for level and flow control using a PID.

  • Height: 3 m
  • Diameter: 2 m
  • Discharge pipe radius: 0.125 m
  • Max. input flow: 0.25 m³/s
  • Max. output flow: 0.3543 m³/s
  • Capacitive sensors can detect liquid

tank

PartConfigurationTagI/OTypeDescription
Digital Tank (Fill Valve)OutputBoolOpen fill valve.
Tank (Discharge Valve)OutputBoolOpen discharge valve.
Analog Tank # (Fill Valve)OutputFloat[0, 10] V: fill valve positioning.
Tank # (Discharge Valve)OutputFloat[0, 10] V: discharge valve positioning.
Tank # (Level Meter)InputFloat[0, 10] V: level meter value.
Tank # (Flow Meter)InputFloat[0, 10] V: flow meter value (10 V = 0.3543 m³/).