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COPLC programming an assembly station in the simulator today. This is a super common use case you will see in the real world this could be putting a cap on a Coca Cola bottle pickle jar this kind of motion is in many factories. So the way I have this setup is two conveyors one having the base part the other the lid. We have a 2 degree of freedom arm that pneumatically picks the lid and places it in the base. These parts are clamped in place to ensure alignment and then pneumatically lifted in the z axis to let the finished product pass down. So the program for this is following a state based approach with some timing logic mixed in. Now if you see the location of the sensors there is a lot of space where the part is in no mans land. So as controls engineers we need to account for that. There’s a few techniques for this but I chose to put in a 500 ms delay so that I can assert the part is fully in the clamp before going to the next state. Now to be clear of the span of control here every single movement you see is controlled by the logic at the bottom of the screen. If you like this kind of stuff and want to learn more check out CodePLC.
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