Motion Control: Pick & Place (2 axis interpolation)

One of the most typical applications once you have some interpolation device in your hands is Pick & Place.
The objectie of the application is move some object from one point to another one, and you can´t find one single company that didn´t need in some way one variable of this application.

Of course application have multiple variables, and the most easy one is with linear movements.
Simple movements Pick & Place

But later engineers think how to save time with that process to make their machines faster.
And the easy way is to interpolate both axis following a semicircle as below.
Two axis interpolation

Because of the popularity of Pick & Place, in Delta we have several devices able to work like that. Further more our ASDA-A2 servodrive is able to do it by his own, with no extra PLC or motion controller.

But today I would like to share how to do that application with one of our standard CPU´s and ASDA-B servodrive controlled trough Step & Direction.
So in this case you can use the same program to control Servo systems, Steppers or even inverters.
The CPU´s able to interpolate two axis nowadays in Delta are: DVP-SA2, DVP-SX2 and DVP-SV.

Regarding the application, you can found how to connect the hardware in the following old post
Motion Control: HMI – PLC – B series Servo (1 axis movements)

And Regarding the Software, the keypoint is the DCIMA instruction.
check the following program
Pick & Place Example

And If you are still not fully convinced to use our PLC´s for Pick & Place.
Here is some video example of our system working!
Is not exactly a pick & place application, but uses the same instruction.

And don´t hesitate to Let us know about your experiences with Pick & Place