6 Applications
6.4.5 Gripping of the object/position set 1
When the object reaches the light barrier, the gripper must move with the same speed
V
sync
as the conveyor belt. In addition, it must position itself precisely above the object.
Consequently, P1 results from the position of the light barrier minus half of the width of the
object. Since the starting position P0 is known, the positioning process can be performed
in a relative or absolute manner.
The option Synchronised must be selected in the position set. As a result, the
synchronisation will be activated when the positioning process begins. The offset, which
is due to the controlled acceleration up to the speed of the conveyor belt, will be
compensated in a controlled manner. The speed of movement, which is used for this
purpose, corresponds to the speed of the master plus the speed of movement that is
specified in the position set.
Figure 64: Gripping of the object and synchronous movement
When the gripper has reached the object and is located precisely above it, it signals to the
system that it has reached its target. For example, the PLC can be informed via a digital
output that the object can now be picked up. Alternatively, another process can be
initiated by way of a motion program.
It is also possible to perform positioning processes relative to the conveyor belt. In all of
the cases, the option Synchronised must be activated in the corresponding position sets.
It is possible, for example, to move the objects on the conveyor belt to another location on
the conveyor belt.
Product manual BL 4000-C Page 112 of 298
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