Pick and Place Processing

The following describes the programming process used for pick and place processing.

A PF_Robot callback function must be created (added). Other callback functions are used based on user system specification requirements.

PF_Robot callback Function
In the PF_Robot callback function, you describe the operations by which the robot picks and places the parts. This function executes the following steps. (Steps 1 through 7 are repeated in a loop.)

1. Retrieve the coordinates of parts on the platform from the parts coordinates queue.
   Use "PF_QueGet".
2. Move the robot to the part position.
   Use Jump or similar commands. (For SCARA robots)
3. Turn suction on, or grip the part using some other method.
4. Move the robot to the position where the part will be placed.
   Use Jump or similar commands. (For SCARA robots)
5. Turn suction off, or release the part using some other method.
6. Delete one data entry in the parts coordinates queue.
   Use "PF_QueRemove".
7. Check whether a stop command has been issued. If it is issued, leave the loop.
   Use "PF_IsStopRequested".
   For more programming examples, refer to the following examples.

• Create the PF_Robot Callback Function
• Application Programming Examples

Supply parts to the feeder (PF_Control) Optional
Program commands to use a hopper to supply parts to the feeder. Use the PF_Control callback function (PartFeeding.prg).
Program details are provided below.

1. Write the hopper command (supply parts) when no parts are on the platform.
   When doing so, the Control parameter for the PF_Control callback function is PFCONTROLSUPPLY.
2. Write the hopper command (supply parts) to add parts to the platform.
   When doing so, the Control parameter for the PF_Control callback function is PFCONTROLSUPPLY.
   For more programming examples, refer to the following examples.
   Create the PF_Robot Callback Function

Control a user lighting (PF_Control) Optional
Program commands to use a user lighting.
Use the PF_Control callback function (PartFeeding.prg).
Program details are provided below.

1. Write a command to turn on the user lighting.
   When doing so, the Control parameter for the PF_Control callback function is PFCONTROLSUPPLY.
2. Write a command to turn off the user lighting.
   When doing so, the Control parameter for the PF_Control callback function is PFCONTROLSUPPLY.
   For more programming examples, refer to the following examples.
   Create the PF_Robot Callback Function

KEY POINTS

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Write both commands to turn the user lighting on and off. When only the turn on command is added, the vision system may have difficulty recognizing parts, resulting in errors.