Festo MPS - Page 76

5. Design and function
76
© Festo Didactic 655633
Sequence
1. The lifting cylinder advances if a workpiece is detected in the receptacle and the
Start pushbutton is pressed.
2. The gripper is closed. The colour identification “workpiece black” or “workpiece
non black” is executed.
3. The lifting cylinder is retracted.
Workpiece black, deposit on inner slide
4. The linear axis approaches the position “slide 1”.
5. The lifting cylinder advances.
6. The gripper is opened and the workpiece is deposited on the slide.
7. The lifting cylinder retracts.
8. The linear axis moves into the “upstream station” position.
Workpiece red/silver, deposit on outer slide
9. The linear axis approaches the position “slide 2”.
10. The lifting cylinder advances.
11. The gripper is opened and the workpiece deposited on the slide.
12. The lifting cylinder retracts.
13. The linear axis moves into the “upstream station” position.