1 Overview 1-6 Operations of Dynamic Pick-and- place Equipment This section describes the operating specifications and procedures for the dynamic pick-and-place equipment. 1-6-1 Operating Specifications This equipment picks up a workpiece that is moving on the conveyor A after a camera detects it, and places it to the specified position on the conveyor B. Camera Encoder Encoder Conveyor B Workpiece Workpiece Conveyor A The following figure shows a specific operation for a robot. Robot wait position (1) Workpiece pick-up approach point (P2) *2 *2 *1 *1 (7) Workpiece place approach point (P4) (2) (3) (5) (6) (4) Workpiece pick-up position (P3) Workpiece place position (P5) *1.
When there is no workpiece to pick up on the conveyor and no item is detected by the camera, the robot once moves from the workpiece pick-up approach point (P2) or workpiece pick-up position (P3) to the robot wait position (P1). While the camera is detecting the workpiece, operation from (2) to (7) is repeatedly performed. *2. In above operation digram, both of the transit points of the robot in approaching to the workpiece and departing from the workpiece are called "workpiece pick-up approach point (P2)". The function of the Pack Manager allows you to set the transit positions in approaching to the workpiece and moving away from the workpiece to different locations.
Similarly, you can set different locations for "workpiece place approach point (P4)". 1-10 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 linear interpo- lation operation.