1 Overview 1-5 System Configuration for Dynamic Pick-and-place Equipment This section describes the system configuration for the dynamic pick-and-place equipment to build in this guide. In this guide, an equipment that picks up a workpiece being moved on the conveyor and places it at the specified position is called a dynamic pick-and-place equipment. The pickup position is automati- cally determined from the position detected by the camera and encoder. "XUSR" in the following figure is a wiring to the safety circuits. Design the safety circuits required for the actual equipments. The Y-adapter cable in the figure below is a cable to connect with the encoders.
Since there is only one encoder used in this equipment, connect the encoder extension cable to one side only. No encod- er is connected to the other side. (B) (A) (D) (F) (H) (J) (L) (K) 100 to 240 VAC (G) (C) (E) (I) (M) (R) (O) (N) (P) (Q) (AL) (S) (T) (U) (V) 85 to 264 VCA, 6A (W) (X) (Z) XMCP (Y) (AA) (AK) XFP (AB) 85 to 264 VAC, 6.5A (AC) XUSR *1 (AJ) DB15m (AE) (AD) (AF) Force/EXPIO RS-232C Single-phase, 200 to 240 (AI) (AH) (AG) Connect an encoder for another conveyor to this side. The parts that are used in the system configuration are given below. 1-8 NJ-series Robot Integrated System Startup Guide (O049)