AUGUST 12, 2014

INDEX

04
07

04
06

EMITTER
REMOVER

07
08
10
12
14

BOXES
BELT CONVEYOR
BELT CONVEYOR GATE
STRAIGHT SPUR CONVEYOR
CONVEYOR SCALE

16
17
18
19
20
22
24
26

ALIGNERS
WHEEL ALIGNER
BRACKET
CHUTE CONVEYOR
PIVOT ARM SORTER
POP UP WHEEL SORTER
PUSHER
STOP BLADE

16

28
30
32
34
36
38

PALLETS
ROLLER CONVEYOR
LOADING CONVEYOR
CHAIN TRANSFER
TURNTABLE
ROLLER STOP

40
42
44
46
48

CAPACITIVE SENSOR
INDUCTIVE SENSOR
DIFFUSE SENSOR
RETROREFLECTIVE SENSOR
+ REFLECTOR
LIGHT ARRAY

50
52
54
56
58

EMERGENCY STOP
PUSH BUTTON
POTENTIOMETER
LIGHT INDICATOR
EMERGENCY STOP

28
40
50

58
60
62

WARNING LIGHT
ALARM SIREN
VISUAL STATUS INDICATOR

64
67
70
72

ELEVATOR
PICK & PLACE
RACK
STACKER CRANE

76
77
78
80

PLATFORMS
STAIRS
HANDRAILS
SAFEGUARD

58
64
76

EMITTER

DESCRIPTION
Emits an item to be used in scene (e.g. cardboard box, pallet). While an item is still within the emitter
volume, no more items are emitted. It is possible to select which part(s) or base(s) to emit, the time
between emissions, the amount of items to emit and a random item position and/or orientation.
A binary value starts the emit cycle.

CHARACTERISTICS

04

Base to Emit:

Part to Emit:

The base to emit (Pallet, Square Pallet or None). If more than one option
is selected the emitter will emit randomly. If, at least, one base is selected,
None allow to randomly emit a part without a base.

The part to emit (Box (S), Box (M), Box (L) or None). If more than one option
is selected the emitter will emit randomly. If, at least, one part is selected,
None allow to randomly emit a base without a part.

Max/ Min Time:

Random Position/ Orientation:

The emission time interval. The emitter will randomly emit between the Min and Max time limits.
If Max and Min time limits are set to zero, the emitter will emit as soon as no item is within its volume.

Each emitted part will appear at random positions and/or orientations.

Up to:
The number of items to emit. If this value it set to zero, the emitter will emit up to the maximum
number of items allowed in scene (500).

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Emitter # (Emit)

Output

Bit

Start emitting

0.5

1.125

0.875

(Unit: meters)

05

REMOVER

DESCRIPTION
Removes one or more items from the scene (e.g. cardboard box, pallet) when they intersect its volume.
A binary value enables the remover.

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Remover # (Remove)

Output

Bit

Start removing

0.5

1.125
(Unit: meters)

06

0.875

BOXES

INTRODUCTION

CHARACTERISTICS

Cardboard box, used for packaging dry materials and goods. Easy to handle and commonly found in
industrial plants.

Weight: 8 Kg, 10 Kg and 15 kg

L
0.36

0.24
0.6

0.24

0.6

0.24

0.36

0.36

(Unit: meters)

07

BELT
CONVEYOR

DESCRIPTION

CHARACTERISTICS

Medium duty slider bed straight belt conveyor, suited for transportation of low load units (e.g.
cardboard boxes). The conveyor can be controlled by binary and analog values, according to the
selected configuration.

Conveying speed: 0.6 m/s (Discrete); 3 m/s (Analog)

CONTROL
Configuration

Tag

I/O

Type

Description

Discrete

Belt Conveyor (4m, 6m) #

Output

Bit

Rotate in arrows direction

Discrete (+/-)

Belt Conveyor (4m, 6m) # (+)

Belt Conveyor (4m, 6m) # (-)

Output
Output

Bit
Bit

Rotate in both directions

Analog

Belt Conveyor (4m, 6m) # (V)

Output

Float

[-10, 10]V: set the conveying speed in both direction

08

0.875

0.875

(Unit: meters)

09

BELT CONVEYOR
GATE

DESCRIPTION

CHARACTERISTICS

Powered slider bed belt conveyor gate, suited for transportation of low load units (e.g. cardboard
boxes). Specially designed to provide a passageway to personnel. Equipped with a proximity sensor
able to recognize its rest position. The conveyor can be controlled by binary and analog values,
according to the selected configuration.

Possible opening angle: 100o

Conveying speed: 0.6 m/s (Discrete); 3 m/s (Analog)

CONTROL
Configuration

Tag

I/O

Type

Description

Discrete

Belt Conveyor Gate #

Belt Conveyor Gate # (Opened)

Output
Input

Bit
Bit

Rotate in the arrows direction

Gate is open

Discrete (+/-)

Belt Conveyor Gate # (+)

Belt Conveyor Gate # (-)
Belt Conveyor Gate # (Opened)

Output
Output
Input

Bit
Bit
Bit

Analog

Belt Conveyor Gate # (V)

Belt Conveyor Gate # (Opened)

Output
Input

Float
Bit

10

Rotate in both directions

Gate is open
[-10, 10]V: set the conveying speed in both directions
Gate is open

1.125

1.375

0.125

(Unit: meters)

11

STRAIGHT SPUR
CONVEYOR

DESCRIPTION

CHARACTERISTICS

Infeed/Outfeed multi belt conveyor, commonly used for accurate merging of small load (such as
cardboard boxes) into belt conveyors. The conveyor can be controlled by binary and analog values,
according to the selected configuration.

Conveying speed: 0.8 m/s (Discrete); 3 m/s (Analog)

CONTROL
Configuration

Tag

I/O

Type

Description

Discrete (+/-)

Straight Spur Conveyor # (+)

Straight Spur Conveyor # (-)

Output
Output

Bit
Bit

Rotate belts in both direction

Analog

Straight Spur Conveyor # (V)

Output

Float

[-10, 10]V: set the conveying speed in both directions

12

1.

15

0.53

45

2.83

(Unit: meters)

13

CONVEYOR
SCALE

DESCRIPTION

CHARACTERISTICS

High speed conveyor scale, used for weight control of light load cargo (e.g. cardboard
boxes). It can have different capacities according to the selected configuration.

Conveying speed: 0.6 m/s

Capacities: 20 and 100 kg

CONTROL
Configuration

Tag

I/O

Type

20 kg Max.

Conveyor Scale # (+)

Conveyor Scale # (-)
Conveyor Scale # Weight (V)

Output
Output
Input

Bit
Bit
Float

Conveyor Scale # (+)

Conveyor Scale # (-)
Conveyor Scale # Weight (V)

Output
Output
Input

Bit
Bit
Float

100 kg Max.

14

Description
Rotate in both directions
[0, 10]V: current weight
Rotate in both directions
[0, 10]V: current weight

1.125

1.125

1.25
(Unit: meters)

15

ALIGNERS

DESCRIPTION
Thin metal structures ready to be attached to a conveyor and guide the transported cargo. They are commonly used to
align misplaced loads and prevent them from falling while transported at high speed. There are three models available
(Aligners 1, 2 and 3).

1.75

1.875

0.1
(Unit: meters)

16

3.375

WHEEL
ALIGNER

DESCRIPTION
Disk shaped aligner used when moving items between belt conveyors.

0.114

(Unit: meters)

= 0.245

17

BRACKET

DESCRIPTION
Metal structure mainly used to attach items and as a height barrier.

0.125

1.25

1.125
(Unit: meters)

18

CHUTE
CONVEYOR

DESCRIPTION
Straight chute conveyor, suitable for light load sortation. Normally used to link two handling devices
(e.g. belt conveyors), provide accumulation or to convey items between floors.
Difficult to control position of the items on the chute conveyor.

1.125

1.93
(Unit: meters)

19

PIVOT ARM
SORTER

DESCRIPTION

CHARACTERISTICS

The Pivot Arm Sorter is a 45o power face arm diverter, powered by a gearmotor. Equipped with a belt
that helps with the sortation by easing the slide of the conveyed items (mainly light load items) on to
the next conveyor. The arm can rotate left or right according to the selected configuration.

Belt speed: 2 m/s

Arm angular speed: 5 rad/s

CONTROL
Configuration

Tag

I/O

Type

Description

Pivot Arm Sorter # (Turn)

Pivot Arm Sorter # Belt (+)
Pivot Arm Sorter # Belt (-)

Output
Output
Output

Bit
Bit
Bit

Turn left

Turn Left

Output
Output
Output

Bit
Bit
Bit

Turn right

Turn Right

Pivot Arm Sorter # (Turn)

Pivot Arm Sorter # Belt (+)
Pivot Arm Sorter # Belt (-)

20

Rotate belt in both directions

Rotate belt in both directions

0.625

45

0.125
1.375
(Unit: meters)

21

POP UP WHEEL
SORTER

DESCRIPTION

CHARACTERISTICS

The 45O double-sided pop up wheel sorter is used to divert material that should maintain its travel
direction, via pivoted rollers. It is pneumatically actuated and its wheels are driven by urethane belts.

Wheel radius: 50 mm
Conveying speed: 2.5 m/s
Normally centered
Wheels stroke: 3 mm

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Pop Up Wheel Sorter # (Up)

Pop Up Wheel Sorter # (Left)
Pop Up Wheel Sorter # (Right)

Output
Output
Output

Bit
Bit
Bit

Rise and rotate in arrows direction

Turn left. Otherwise return to center
Turn right. Otherwise return to center

22

0.375

0.875

0.436

(Unit: meters)

23

PUSHER

DESCRIPTION

CHARACTERISTICS

Pneumatic driven pusher sorter, often used for sortation of light weight cargo (e.g.
cardboard boxes). Equipped with two reed sensors, indicating the front and back
limits, and an incorporated LVDT which measures the rod position.
The pusher can be controlled by binary and analog values, according to the selected
configuration. When the Analog configuration is selected the pusher speed can be
set and the rod position measured.

Default speed: 1 m/s

Fast speed: 4 m/s
Stroke: 0.9 m

CONTROL
Configuration

Tag

I/O

Type

Description

Monostable

Pusher #
Pusher # (Front Limit)
Pusher # (Back Limit)

Output
Input
Input

Bit
Bit
Bit

Move forward
At front limit
At back limit

Monostable (Fast)

Pusher #
Pusher # (Front Limit)
Pusher # (Back Limit)

Output
Input
Input

Bit
Bit
Bit

Move forward
At front limit
At back limit

24

Configuration
Bistable

Analog

Tag

I/O

Type

Description

Pusher # (+)
Pusher # (-)
Pusher # (Front Limit)
Pusher # (Back Limit)

Output
Output
Input
Input

Bit
Bit
Bit
Bit

Move forward
Move backward
At front limit
At back limit

Pusher # Set Point (V)

Pusher # Position (V)

Output
Input

Float
Float

[-10, 10]V: set target speed

[0, 10]V: rod position

0.375

0.5

1.125
(Unit: meters)

25

STOP
BLADE

DESCRIPTION

CHARACTERISTICS

The stop blade is a pneumatically actuated device, rised in order to stop or accumulate material.
Mostly used with light cargo (e.g. cardboard boxes), stops are often used in conjunction with
conveying components such as transfers and pushers for aligning products or policing processes.

Normally down
Stroke: 120 mm

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Stop Blade #

Output

Bit

Rise stopper

26

0.12

0.16

0.24

0.83

(Unit: meters)

27

PALLETS

DESCRIPTION

CHARACTERISTICS

Double sided lightweight pallet. Reinforced to withstand heavy weights.

Used for stacking and transporting all sorts of cargo.

Weight: 10 kg (pallet); 8 kg (square pallet)

Color: black and amber

0.775

0.12
1
(Unit: meters)

28

0.775

(This page has been intentionaly left blank).

29

ROLLER
CONVEYOR

DESCRIPTION

CHARACTERISTICS

Heavy duty roller conveyor, normally used for heavy cargo transportation (e.g. pallets). The conveyor
can be controlled by binary and analog values, according to the selected configuration.

Roll radius: 46 mm
Conveying speed: 0.45 m/s (Discrete); 0.8 m/s (Analog)

The spacing between rolls grants the possibility to attach other parts (e.g. stoppers, sensors) for better
cargo flow control.
CONTROL
Configuration

Tag

I/O

Type

Description

Discrete

Roller Conveyor (2m, 4m, 6m) #

Output

Bit

Roll in the arrows direction

Discrete (+/-)

Roller Conveyor (2m, 4m, 6m) # (+)

Roller Conveyor (2m, 4m, 6m) # (-)

Output
Output

Bit
Bit

Roll in both directions

Analog

Roller Conveyor (2m, 4m, 6m) # (V)

Output

Float

[-10, 10]V: set the conveying speed in both directions

30

0.625

1.125

(Unit: meters)

31

LOADING
CONVEYOR

DESCRIPTION

CHARACTERISTICS

Heavy duty roller conveyor, normally used to load/unload heavy cargo (e.g. pallets). Specially designed
to ease the stacker crane forks passage. The conveyor can be controlled by binary and analog values,
according to the selected configuration.

Roll radius: 46 mm
Conveying speed: 0.45 m/s (Discrete); 0.8 m/s (Analog)

CONTROL
Configuration

Tag

I/O

Type

Description

Discrete

Loading Conveyor #

Output

Bit

Roll in the arrows direction

Discrete (+/-)

Loading Conveyor # (+)

Loading Conveyor # (-)

Output
Output

Bit
Bit

Roll in both directions

Analog

Loading Conveyor # (V)

Output

Float

[-10, 10]V: set the conveying speed in both directions

32

1.125

0.625

1.375

0.625

(Unit: meters)

33

CHAIN
TRANSFER

DESCRIPTION

CHARACTERISTICS

Used to transfer products 90o on to an adjacent conveyor. Ideal for pallets sortation.
It is composed by a heavy duty welded construction, rolls and three pneumatic actuated
chain tracks with a conveying chain each.

Chain track stroke: 40 mm

Conveying speed: 0.45 m/s
Belt speed: 0.45 m/s

CONTROL
Configuration

Tag

I/O

Type

Default

Chain Transfer # (+)

Chain Transfer # (-)
Chain Transfer # (Left)
Chain Transfer # (Right)

Output
Output
Output
Output

Bit
Bit
Bit
Bit

34

Description
Roll in both directions
Rise platform and rotate chain left
Rise platform and rotate chain right

0.875

0.625

1.25
(Unit: meters)

35

TURNTABLE

DESCRIPTION

CHARACTERISTICS

Powered heavy duty turntable, normally used for heavy cargo sortation (e.g. pallets).
Equipped with free spin periphery rolls and pre-installed sensors (table rotation limits
and item position). The turning direction can be reversed, according to the selected
configuration.

Roll radius: 45 mm
Conveying speed: 0.45 m/s
Table turning speed: 0.7 rad/s
Capacitive sensors range: 0 - 100 mm

CONTROL
Configuration

Tag

I/O

Type

Monostable

Turntable # Roll (+)

Turntable # Roll (-)
Turntable # Turn
Turntable # (Front Limit)
Turntable # (Back Limit)
Turntable # (Limit 0)
Turntable # (Limit 90)

Output
Output
Output
Input
Input
Input
Input

Bit
Bit
Bit
Bit
Bit
Bit
Bit

36

Description
Roll in both directions
Turn in the arrows direction
Detecting
Detecting
Table at minimum limit
Table at maximum limit

Configuration

Tag

I/O

Type

Bistable

Turntable # Roll (+)

Turntable # Roll (-)
Turntable # (+)
Turntable # (-)
Turntable # (Front Limit)
Turntable # (Back Limit)
Turntable # (Limit 0)
Turntable # (Limit 90)

Output
Output
Output
Output
Input
Input
Input
Input

Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit

Description
Roll in both directions
Turn in both directions
Detecting
Detecting
Table at minimum limit
Table at maximum limit

0.625

1.875

1.875
(Unit: meters)

37

ROLLER
STOP

DESCRIPTION

CHARACTERISTICS

The roller stop is a pneumatically actuated device, rised in order to stop or accumulate material,
mostly used with heavy cargo (e.g. pallets). Stops are often used in conjunction with conveying
components such as transfers to prevent collisions between parts. Its small width allows it to be
attached to a roller conveyor in between rolls.

Normally down
Stroke: 100 mm

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Roller Stop #

Output

Bit

Rise stopper

38

0.12

0.1

0.35

0.873

(Unit: meters)

39

CAPACITIVE
SENSOR

DESCRIPTION

CHARACTERISTICS

Proximity sensor used for close detection of any material. It is equipped with a LED which indicates
the presence of an object within range. The output value can be of the binary or analog type,
according to the selected configuration.

LED: green (detecting)

Detectable materials: all
Sensing range: 0 - 100 mm

CONTROL
Configuration

Tag

I/O

Type

Description

Discrete

Capacitive Sensor #

Input

Bit

Detecting

Analog

Capacitive Sensor # (V)

Input

Float

[0, 10]V: distance between sensor and detected object

40

0.095

0.115

0.085
(Unit: meters)

41

INDUCTIVE
SENSOR

DESCRIPTION

CHARACTERISTICS

Proximity sensor used for close detection of conductive materials. It is equipped with a LED which
indicates the presence of an object within range. The output value can be of the binary or analog
type, according to the selected configuration.

LED: red (detecting)

Detectable materials: conductive
Sensing range: 0 - 100 mm

CONTROL
Configuration

Tag

I/O

Type

Description

Discrete

Inductive Sensor #

Input

Bit

Detecting

Analog

Inductive Sensor # (V)

Input

Float

[0, 10]V: distance between sensor and detected object

42

0.09

0.115

0.07
(Unit: meters)

43

DIFFUSE
SENSOR

DESCRIPTION

CHARACTERISTICS

Diffuse photoelectric sensor. Due to its long range can be used in many applications. It can detect all
sorts of objects. It is equipped with a LED which indicates an object within range.

LED: red (detecting)

Detectable materials: all
Sensing range: 0 - 0.8 m

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Diffuse Sensor #

Input

Bit

Detecting

44

0.06

0.03

0.075

0.08

0.093
(Unit: meters)

45

RETROREFLECTIVE
SENSOR + REFLECTOR

DESCRIPTION

CHARACTERISTICS

Retroreflective photoelectric sensor. Unlike other sensors, requires a reflector.

It must be properly aligned and facing the reflector. It is equipped with two LEDs
which indicate the correct alignment with the reflector (green) and the detection
status (yellow). An object is detected when it interrupts the light beam.

Green LED: aligned with reflector

Yellow LED: light beam not interrupted
Detectable materials: all
Sensing range: 0 - 6 m

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Retroreflective Sensor #

Input

Bit

Light beam interrupted

46

0.06

0.035

0.042

0.05

0.1
0.085

0.1

0.093

(Unit: meters)

47

LIGHT
ARRAY

DESCRIPTION

CHARACTERISTICS

A set of light beams arranged in parallel that can detect the presence of objects.
It is composed by an emitter and a receiver. To ensure the synchronism between the two
devices, both must be properly aligned and facing each other.
Once this alignment is guaranteed (indicated by a green LED) all beams can be interrupted
without breaking the synchronism between the emitter and receiver. The light array detection
values are provided in the form of binary, numerical or analog values, according to the selected
configuration.

Number of beams: 8
Range: 1.5 m
Analog value = ( 10 / number of beams ) * number of interrupted beams

CONTROL
Configuration

Tag

I/O

Type

Description

Numerical

Light Array # (Value)

Input

Integer

Interrupted Beams

Discrete

Light Array # (Beam 1)

Light Array # (Beam 2)
Light Array # (Beam 3)
Light Array # (Beam 4)
Light Array # (Beam 5)
Light Array # (Beam 6)
Light Array # (Beam 7)
Light Array # (Beam 8)

Input
Input
Input
Input
Input
Input
Input
Input

Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit

Detecting
Detecting
Detecting
Detecting
Detecting
Detecting
Detecting
Detecting

48

Configuration

Tag

I/O

Type

Description

Analog

Light Array # (V)

Output

Float

[0, 10] V: number of interrupted beams

1.25

0.07

0.05

(Unit: meters)

49

EMERGENCY
STOP

DESCRIPTION

CHARACTERISTICS

Two position red trigger action, twist-to-release and non-illuminated push button.
Mushroom head. Usually used in emergency events.

Normally closed contact type

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Emergency Stop #

Input

Bit

Emergency stop was activated

50

0.125

0.125

0.125
(Unit: meters)

51

PUSH
BUTTON

DESCRIPTION

CHARACTERISTICS

Illuminated push button. Three different types available (Start, Reset and Stop). The
push button can be used as momentary or alternate action, according to the selected
configuration.

Normally closed contact type for the Stop button

CONTROL
Configuration

Tag

I/O

Type

Description

Momentary Action

(Start, Reset or Stop) Button #

(Start, Reset or Stop) Button # (Light)

Input
Output

Bit
Bit

Push button is down

Light button

Alternate Action

(Start, Reset or Stop) Button #

(Start, Reset or Stop) Button # (Light)

Input
Output

Bit
Bit

Push button is down

Light button

52

0.125

0.125

0.125
(Unit: meters)

53

POTENTIOMETER

DESCRIPTION
Used to generate an analog value proportional to the potentiometer knob rotation.
The value range can be defined by the selected configuration.

CONTROL
Configuration

Tag

I/O

Type

Description

[0, 10] V

Potentiometer # (V)

Input

Float

Current value

[-10, 10] V

Potentiometer # (V)

Input

Float

Current value

[-5, 5] V

Potentiometer # (V)

Input

Float

Current value

54

0.125

0.125

0.125
(Unit: meters)

55

LIGHT
INDICATOR

DESCRIPTION

CHARACTERISTICS

Panel mount light indicator. Commonly used on instrument panels, for safety
applications or status indication.

Four colors available (blue, red, green and yellow)

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Light Indicator (Blue, Red, Green or Yellow) #

Output

Bit

Light lamp

56

0.125

0.125

0.125
(Unit: meters)

57

WARNING
LIGHT

DESCRIPTION
Rotating lamp. Mainly used for areas where caution should be exercised, such as process control,
start-up, overhead door movement, or where action or movement requires attention.

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Warning Light #

Output

Bit

Light and rotate lamp

58

0.25

0.125

0.125

(Unit: meters)

59

ALARM
SIREN

DESCRIPTION

CHARACTERISTICS

Audible alarm. The alarm siren is used as alarm, warning or signalling device. Due to the high volume
and penetrating wail of the siren, the signal is also audible in noisy surroundings. On the back, a LED
indicates whether the siren is active.

LED: red (activated)

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Alarm Siren #

Output

Bit

Activate siren

60

0.188

0.188

(Unit: meters)

0.219

61

VISUAL STATUS
INDICATOR

DESCRIPTION
Signalling tower comprising three lamps. It can be used in almost all fields where clear identification
of, for example, machine statuses is vital.

CONTROL
Configuration

Tag

I/O

Type

Description

Default

Visual Status Indicator # (Red)

Visual Status Indicator # (Yellow)
Visual Status Indicator # (Green)

Output
Output
Output

Bit
Bit
Bit

Light red lamp

Light yellow lamp
Light green lamp

62

1.75

0.085

(Unit: meters)

63

ELEVATOR

DESCRIPTION

CHARACTERISTICS

Heavy duty chain driven elevator, used for transportation of all sorts of cargo between floors.
Equipped with two retroreflective sensors, placed at the ends of the conveyor. Sensors may be
attached to the elevator structure to detect the platform height. The elevator can be controlled by
binary and analog values, according to the selected configuration.

Roll radius: 45 mm
Platform stroke: 7 m
Platform speed: 0.68 m/s
Conveying speed: 0.45 m/s (Discrete); 0.8 m/s (Analog)
Retroreflective sensor LED: green (detecting reflector), yellow (beam not interrupted)

CONTROL
Configuration

Tag

I/O

Type

Discrete

Elevator # (Up)
Elevator # (Down)
Elevator # (Slow)
Elevator # (+)
Elevator # (-)
Elevator # (Left Limit)
Elevator # (Right Limit)

Output
Output
Output
Output
Output
Input
Input

Bit
Bit
Bit
Bit
Bit
Bit
Bit

64

Description
Move platform in both direction
Slow platform (20% of default speed)
Roll in both directions
Item detected
Item detected

Configuration

Tag

I/O

Type

Description

Analog

Elevator # Set Point (V)

Elevator # Roll (V)
Elevator # (Position)
Elevator # (Left Limit)
Elevator # (Right Limit)

Output
Output
Input
Input
Input

Float
Float
Float
Bit
Bit

[0, 10]V: set the target position

[-10, 10]V: set the conveying speed in both directions
[0, 10]V: current position
Item detected
Item detected

65

1.875

3.125
8.375

3.125

(Unit: meters)

66

1.875

PICK & PLACE

DESCRIPTION

CHARACTERISTICS

Gantry Pick & Place station with three axes controlled by servomotors. Often used to
move light load cargo (e.g. cardboard boxes) on to other conveyors or pallets, or even
for palletizing purposes. The Pick & Place has four degrees of freedom, three
corresponding to the linear beams movement and one to the angular grabbing device
rotation. The grabbing device (gripper) is enabled by suction cups and includes a
proximity sensor.
The Pick & Place can be controlled by binary and analog values, according to the
selected configuration. If ruled by the Discrete configuration the Pick & Place beams
move step by step. Each binary rising edge makes the desired beam move a step in
the selected direction.
When the selected configuration is Analog, each axis can be controlled by setting
the target position.

Y-axis stroke: 1.25 m

X-axis stroke: 2.125 m
Z-axis stroke: 0.5 m
Step: 0.125 m
Beams speed: 1.5 m/s
Gripper angular speed: 4.6 rad/s

67

CONTROL
Configuration

Tag

I/O

Type

Discrete

Pick & Place # X(+)

Pick & Place # X(-)
Pick & Place # Y(+)
Pick & Place # Y(-)
Pick & Place # Z(+)
Pick & Place # Z(-)
Pick & Place # C(+)
Pick & Place # Grab
Pick & Place # (Mozing-Z)
Pick & Place # (Moving-XY)
Pick & Place # (Box Detected)
Pick & Place # (C Limit)

Output
Output
Output
Output
Output
Output
Output
Output
Input
Input
Input
Input

Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit

Analog

Pick & Place # X Set Point (V)

Pick & Place # Y Set Point (V)
Pick & Place # Z Set Point (V)
Pick & Place # C (+)
Pick & Place # Grab (+)
Pick & Place # X Position (V)
Pick & Place # Y Position (V)
Pick & Place # Z Position (V)
Pick & Place # (Box Detected)
Pick & Place # (C Limit)

Output
Output
Output
Output
Output
Input
Input
Input
Input
Input

Float
Float
Float
Bit
Bit
Float
Float
Float
Bit
Bit

68

Description
Take a step along X-axis
Take a step along Y-axis
Take a step along Z-axis
Rotate gripper
Supply air to suction cups
Moving along Z-axis
Moving along XY-plane
Detecting
Gripper at angular limit
[0, 10]V: set the target position along X-axis
[0, 10]V: set the target position along Y-axis
[0, 10]V: set the target position along Z-axis
Rotate gripper
Supply air to suction cups
[0, 10]V: current position along X-axis
[0, 10]V: current position along Y-axis
[0, 10]V: current position along Z-axis
Detecting
Gripper at angular limit

2.125

3.625

2.375

3.625
(Unit: meters)

69

RACK

DESCRIPTION

CHARACTERISTICS

Upright steel frames connected by horizontal steel beams with the only purpose to
store loads, usually heavy loads such as pallets.

Number of cells: 18

The available rack is single-deep rack type, also known as selective rack, it only allows
loads to be stored one pallet deep.
Pallets can be stored from both sides of the rack.

70

1.125

1.25

7.625

1.125

0.875
3.375
(Unit: meters)

71

STACKER
CRANE

DESCRIPTION

CHARACTERISTICS

Rail mounted stacker crane, normally used to stock heavy cargo (e.g. pallets).
Composed by a cart, a platform that moves vertically and two forks that can slide to
both sides.

Forks stroke: 1.2 m

Cart stroke: 10.5 m
Platform stroke: 6.625 m
Cart speed: 1.4 m/s
Forks speed: 0.5 m/s
Platform speed: 1.7 m/s

Two laser rangefinders, placed on the cart and platform, measure the horizontal and
vertical position of the platform. Two guide rails indicate the correct positioning of
racks. Each rack must be aligned with one of the rail ends, thus they will be correctly
placed allowing the stacker crane to stop at the correct cell position. The stacker
crane can be controlled by binary, byte and analog values, according to the selected
configuration.
Each stacker crane can have a maximum of 54 cells. If the Numerical
configuration is selected, the target cell can be defined by an integer value between 1
and 54. When that value is zero, the stacker crane is locked, however if it
is greater than 54, the stacker crane will move to its rest position. If the
Analog configuration is selected, the target position along the desired axis is set,
and the current position of each axis measured. When Discrete configuration is
selected, each cell number is encoded by five binary values (see the following table).

72

Position

Actuators
Bit0

Bit1

Bit2

Bit3

Bit4

Bit5

...

...

...

...

...

...

Locked
1
2
3
...
55 (Rest)

CONTROL
Configuration

Tag

I/O

Type

Description

Numerical

Stacker Crane # (Target Position)

Stacker Crane # (Left)
Stacker Crane # (Right)
Stacker Crane # (Lift)
Stacker Crane # (Mozing-X)
Stacker Crane # (Moving-Z)
Stacker Crane # (Left Limit)
Stacker Crane # (Middle Limit)
Stacker Crane # (Right Limit)

Output
Output
Output
Output
Input
Input
Input
Input
Input

Integer
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit

[1, 54]: Move to desired cell

Move forks left
Move forks right
Slightly rise platform to assist in load/unload
Moving along X-axis
Moving along Z-axis
Forks at left limit
Forks at middle
Forks at right limit

Analog

Stacker Crane # X Set Point (V)

Stacker Crane # Z Set Point (V)
Stacker Crane # (Left)
Stacker Crane # (Right)
Stacker Crane # X Position (V)
Stacker Crane # Z Position (V)
Stacker Crane # (Left Limit)
Stacker Crane # (Middle Limit)
Stacker Crane # (Right Limit)

Output
Output
Output
Output
Input
Input
Input
Input
Input

Float
Float
Bit
Bit
Float
Float
Bit
Bit
Bit

[0, 10]V: set the target position along Z-axis

[0, 10]V: set the target position along Z-axis
Move forks left
Move forks right
[0, 10]V: current position along X-axis
[0, 10]V: current position along Z-axis
Forks at left limit
Forks at middle
Forks at right limit

Discrete

Stacker Crane # (Target Position Bit0)

Stacker Crane # (Target Position Bit1)
Stacker Crane # (Target Position Bit2)
Stacker Crane # (Target Position Bit3)
Stacker Crane # (Target Position Bit4)
Stacker Crane # (Target Position Bit5)
Stacker Crane # (Left)
Stacker Crane # (Right)
Stacker Crane # (Lift)
Stacker Crane # (Moving-X)
Stacker Crane # (Movintg-Z)
Stacker Crane # (Left Limit)
Stacker Crane # (Middle Limit)
Stacker Crane # (Right Limit)

Output
Output
Output
Output
Output
Output
Output
Output
Output
Input
Input
Input
Input
Input

Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit
Bit

Target position encoding bit (least significant)

Target position encoding bit
Target position encoding bit
Target position encoding bit
Target position encoding bit
Target position encoding bit (most significant)
Move forks left
Move forks right
Slightly rise platform to assist in load/unload
Moving along X - axis
Moving along Z - axis
Forks at left limit
Forks at middle
Forks at right limit

73

1.375

8.25

14.625
(Unit: meters)

74

46

47

48

49

50

51

52

53

54

37

38

39

40

41

42

43

44

45

28

29

30

31

32

33

34

35

36

19

20

21

22

23

24

25

26

27

10

11

12

13

14

15

16

17

18

55

75

PLATFORMS

DESCRIPTION
Metal structures used to create floors at the desired height. This feature allows to build systems in a vertical way,
saving shop floor space. There are three models available (Small, Medium and Large sizes).

L
0.25

3.5

1.125
1.125
(Unit: meters)

76

3.5

STAIRS

DESCRIPTION
Metal structures available to provide operators access to higher floors.

2.5

1.625

2.25

1.125

77

HANDRAILS

DESCRIPTION
Metal tube structures used to provide safety to operators in a industrial plant.
They can define danger perimeters and isolate caution zones or guarantee safe paths in higher floors.
There are four models available (Small, Medium, Large lengths and Corner Handrail designed to define
corner fits).

78

1.125

CORNER HANDRAIL

M
1.125
2
0.05

1.125

0.875

3.5

(Unit: meters)

79

SAFEGUARD

DESCRIPTION
Grid metal structures commonly used to define danger perimeters arround machines or working
areas. Its main purpose is to provide safety to operators of an industrial plant.

80

0.125

1.5

(Unit: meters)

81