PICK AND PLACE

UTILITY

The Pick and Place is used to pick cardboxes, rotate and move them around the X, Y and Z axis using its claw.


CLAW INPUTS AND OUTPUTS

  • Body Detection: Input to detect whether there is a Cardbox underneath the Claw.

  • Body Contacted: Input to detect whether the Claw is fully touching the Cardbox.

  • Body Trapped: Input to detect whether the Claw has successfully trapped the Cardbox.

  • Suction On: Output to turn the Claw's suction on.

pick claw.mp4


POSITION FEEDBACK INPUTS

  • Axis Z Bottom Position: Input to detect whether the Claw is in the axis Z bottom position.

  • Axis Z Top Position: Input to detect whether the Claw is in the axis Z top position.

  • Claw 0 Position: Input to detect if the Claw is rotated at the 0 degree angle position.

  • Claw 90 Position: Input to detect if the Claw is rotated at the 90 degrees angle position.

  • Claw 180 Position: Input to detect if the Claw is rotated at the 180 degrees angle position.

  • Claw 270 Position: Input to detect if the Claw is rotated at the 270 degrees angle position.

  • Current X Axis Position: Analog Input to detect the Claw's current X axis position.

  • Current Y Axis Position: Analog Input to detect the Claw's current Y axis position.

  • Current Z Axis Position: Analog Input to detect the Claw's current Z axis position.

  • Current Claw Position: Analog Input to detect the Claw's current rotation.

pick sensors.mp4


MOVEMENT OUTPUTS

  • Move Axis X Forward: Output to move the Claw forward in the X axis.

  • Move Axis X Backward: Output to move the Claw backward in the X axis.

  • Move Axis Y Forward: Output to move the Claw forward in the Y axis.

  • Move Axis Y Backward: Output to move the Claw backward in the Y axis.

  • Move Axis Z Up: Output to move the Claw up in the Z axis.

  • Move Axis Z Down: Output to move the Claw down in the Z axis.

  • Direct Claw Rotation: Output to directly rotate the Claw.

  • Reverse Claw Rotation: Output to reversely rotate the Claw.

pick movement_Trim.mp4