PICK_PLACE_CYCLE
Vacuum pick-and-place cycle with proven grip, proven release, in-transit part-loss detection and a per-cycle verdict.
When to use it
Use PICK_PLACE_CYCLE when a vacuum or suction head transfers a part between two fixed positions and the machine has to know, per cycle, whether the part was actually gripped, actually carried and actually released.
Interface
The published port signature. This is the whole of what the block exposes to your program — the implementation body is not shown here and ships with the download.
Inputs
| Port | Type |
|---|---|
| ENABLE | BOOL |
| CYCLE_REQ | BOOL |
| PART_PRESENT | BOOL |
| VAC_OK | BOOL |
| Z_AT_POS | BOOL |
| TRAV_AT_POS | BOOL |
| SENS_OK | BOOL |
| VAC_TMO | TIME |
| REL_TMO | TIME |
| MOVE_TMO | TIME |
| ACK | BOOL |
Outputs
| Port | Type | Unit |
|---|---|---|
| PLACED | BOOL | — |
| CYCLES | UDINT | — |
| MISPICKS | UDINT | — |
| VERDICT | USINT | — |
| VAC_CMD | BOOL | — |
| BLOW_CMD | BOOL | — |
| Z_EXTEND | BOOL | — |
| TRAVERSE_PLACE | BOOL | — |
| HOLDING | BOOL | — |
| BUSY | BOOL | — |
| NO_PART | BOOL | — |
| CYCLE_S | REAL | s |
| ALM_VAC_FAIL | BOOL | — |
| ALM_DROPPED | BOOL | — |
| ALM_RELEASE_FAIL | BOOL | — |
| ALM_MOVE_TMO | BOOL | — |
| ALM_ABORTED | BOOL | — |
| ALM_SENS_FAULT | BOOL | — |
| ALM_CFG_ERR | BOOL | — |
IEC 61499 event interface
EI INIT, REQ·EO INITO, CNF
Supervised control write
PICK_PLACE_CYCLE commands a real actuator. It is written to sit underneath your own interlock, permissive and protection logic — not to replace it. Commission it as you would any control block you wrote yourself.
Validation evidence
- Tests
- 10
- Simulated scans
- 160
- Simulator
- v0.1.0
Complete IEC 61131-3 implementation with a published test suite that runs on the vplant simulator. The counts above are that suite, executed on this build.
- Conforms to IEC 61131-3
- Conforms to IEC 61499
Download PICK_PLACE_CYCLE — free
Create a free Ri Tech account to download the block. You get the Structured Text body, the Rockwell Add-On Instruction (.L5X), the Schneider Control Expert DFB (.XDB), PLCopen XML, the IEC 61499 function block type (.fbt) and the datasheet.
Every block in the catalogue is free to download, in every format, with no purchase and no card. Browsing needs no account at all; downloading needs a signed-in one, so the block lands in your library and re-downloads whenever you need it.
Source is never published on this page. The implementation is released to a signed-in Ri Tech account — free of charge, but never anonymously.