1 Overview 1-4 Operations of Static Pick-and-place Equipment This section describes the operating specifications and procedures for the static pick-and-place equip- ment. 1-4-1 Operating Specifications This equipment picks up a workpiece that is not moving on the conveyor A and transfers it to the specified position on the conveyor B. Conveyor B: static state Workpiece Conveyor A: static state The following figure shows a specific operation for a robot.
Robot wait position (P1) (1) (7) Workpiece pick-up approach point (P2) Workpiece place approach point (P4) (2) (3) (5) (6) (4) Workpiece pick-up position (P3) Workpiece place position (P5) 1-6 NJ-series Robot Integrated System Startup Guide (O049) Number Description of operation (1) Move from the robot wait position (P1) to the workpiece pick-up approach point (P2) in joint interpola- tion operation. (2) Move from the workpiece pick-up approach point (P2) to the workpiece pick-up position (P3) in linear interpolation operation. (3) Move from the workpiece pick-up position (P3) to workpiece pick-up approach point (P2) in linear in- terpolation operation.
(4) Move from the workpiece pick-up approach point (P2) to the workpiece place approach point (P4) in joint interpolation operation. (5) Move from the workpiece place approach point (P4) to the workpiece place position (P5) in linear in- terpolation operation. (6) Move from the workpiece place position (P5) to the workpiece place approach point (P4) in linear in- terpolation operation. (7) Move from the workpiece place approach point (P4) to the robot wait position (P1) in joint interpola- tion operation.