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WAS.handling Windows – Program
5.5 Teach positions and create drive sequences
Usually you need three drive sequences for a Pick & Place application.
• Pick up the work piece,
• place the work piece and
• drive back to basic position.
By dividing this into two sequences, waiting times caused e.g. by material feeds can be monitored and
processed by the supervisory control.
The basic position drive must be carried out after the reference drive and after a malfunction. A “software
cam” will determine, whether both axes are in the basic position.
Pick Workpiece
(back)
Place Workpiece
(front)
12
3
45
6
Pos3Pos4
Pos1Pos2
Basic Position
Machine
zero pos
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