Pick & Place Sketch

1. Sketch the system

The two-dimensional pick and place mechanism shown below uses two reversible motors to move a workpiece along x- and y-axes between a conveyor and a worktable.

The workpiece is loaded onto the end of the x-axis arm from the conveyor by an electromagnet, which is turned off to unload the workpiece at the worktable.
The presence of the workpiece at the end of the conveyor is detected by the PRESENT sensor.
The presence of the workpiece on the activated electromagnet is detected by the LOADED sensor.
The x-axis motor can drive the x-axis arm in the FWD direction from the position at the HOMEx sensor (0% displacement) to the position at the ENDx sensor (100% displacement), or in the REV direction toward the HOMEx sensor.
Similarly, the y-axis motor can move the mechanism in the FWD direction from the position at the HOMEy sensor (0% displacement) to the position at the ENDy sensor (100% displacement), or in the REV direction toward the HOMEy sensor.
The x- and y-axis motors contain overcurrent sensors. If either sensor detects a fault condition, it immediately cuts off current to both motors and raises a FAULT signal. When this happens, both manual and automatic control actions should be suspended. Once the fault is cleared, the controller should return to MANUAL operating mode so the operator can remedy the fault condition and return the control system to AUTO mode.