Retrieval; Sequence Description - Festo MPS 8082795 Notice D'utilisation

11.3 Retrieval

During the retrieval procedure, a workpiece selected beforehand in the web service can be issued in the web
service or if requested by the next station. The workpiece is gripped by the pneumatic gripper, removed
from the corresponding storage slot and placed on the conveyor. The conveyor transports the workpiece to
the end of the station and, if free, directly to the next station.

12 Sequence description

Start-up prerequisites for placement into storage
•
No workpiece is located on the conveyor.
•
The station is homed.
•
At least one place for the corresponding workpiece type is free in the storage area.
Initial position
•
Planar surface gantry and the gripper's linear axis in start position.
•
The station is homed.
Storage procedure
A workpiece is detected at the start of the conveyor and transported to the transfer point. In doing so it
passes by the Detection module. The color is detected there and communicated by the external control
system to storage control. Once the workpiece has arrived at the transfer point, the external controller emits
a start signal.
1. The planar surface gantry and if necessary the linear axis move to pick up position on the conveyor.
2. The gripper is closed.
3. Depending on the type of workpiece detected, the workpiece is conveyed to an empty location on the
assigned storage level.
4. The gripper is opened.
5. The planar surface gantry and the linear axis return to their start position.
© Festo Didactic 8083287
Storing/Conveyor station
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