A pick and Place machine is being used to perform the following sequence when the "Start" pushbutton is pressed: Extend the arm When the arm is fully extended, close the grip and grab a box When the grip is fully closed, retract the arm When the arm has completely returned, open the grip (and drop the box) The arm is extended (out) by energizing a solenoid valve; when the valve is de-energizes, the arm retracts (in).  In the same way, a second valve closes the grip (when energized) or opens the grip (when de-energized).  Four proximity sensors monitor the machine's status.  One sensor turns on when the arm is fully retracted, another when the arm is fully extended (towards the box).  Another pair of sensors indicates whether the grip is fully open or fully closed. Here's a diagram of this "machine": Imagine that the "Prx_Grip Closed" sensor got a bit too close to the action during the night shift.  The grip closed and the mechanism smashed into the proximity sensor.  It's broken.  Smashed.  Shorted out.  Now, the sensor never turns off. First thing in the morning you're called to the machine.  You press the Start button.  What would happen?

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A pick and Place machine is being used to perform the following sequence when the "Start" pushbutton is pressed:

  1. Extend the arm
  2. When the arm is fully extended, close the grip and grab a box
  3. When the grip is fully closed, retract the arm
  4. When the arm has completely returned, open the grip (and drop the box)

The arm is extended (out) by energizing a solenoid valve; when the valve is de-energizes, the arm retracts (in).  In the same way, a second valve closes the grip (when energized) or opens the grip (when de-energized).  Four proximity sensors monitor the machine's status.  One sensor turns on when the arm is fully retracted, another when the arm is fully extended (towards the box).  Another pair of sensors indicates whether the grip is fully open or fully closed.

Here's a diagram of this "machine":

Imagine that the "Prx_Grip Closed" sensor got a bit too close to the action during the night shift.  The grip closed and the mechanism smashed into the proximity sensor.  It's broken.  Smashed.  Shorted out.  Now, the sensor never turns off.

First thing in the morning you're called to the machine.  You press the Start button.  What would happen?

Grip Air Cylinder
Grip open
Grip Closed
Box
Arm Air Cylinder
Arm In
Arm Out
A Domino type control scheme is used. Here's the program:
Start by extending arm (but prev cycle must have completed)
E1/0
001
E1/11
0:2/10
PB Start Prx Grip Open
Extend Arm
When arm is out, close grip
002
E3/10
0:2/11
Prox Arm Out
Close Grip
As soon as grip is closed, retract arm.
003
13/11
0:2/10
Prx_Grip Closed
Extend Arm
When arm is back all the way, open the grip.
E1/10
004
0:2/11
Prx Arm In
Close Grip
Question (finally!)...
Imagine that the "Prx_Grip Closed" sensor got a bit too close to the action during the night shift. The grip closed and the mechanism smashed into the
proximity sensor. It's broken. Smashed. Shorted out. Now, the sensor never turns off.
First thing in the morning you're called to the machine. You press the Start button. What would happen?
Transcribed Image Text:Grip Air Cylinder Grip open Grip Closed Box Arm Air Cylinder Arm In Arm Out A Domino type control scheme is used. Here's the program: Start by extending arm (but prev cycle must have completed) E1/0 001 E1/11 0:2/10 PB Start Prx Grip Open Extend Arm When arm is out, close grip 002 E3/10 0:2/11 Prox Arm Out Close Grip As soon as grip is closed, retract arm. 003 13/11 0:2/10 Prx_Grip Closed Extend Arm When arm is back all the way, open the grip. E1/10 004 0:2/11 Prx Arm In Close Grip Question (finally!)... Imagine that the "Prx_Grip Closed" sensor got a bit too close to the action during the night shift. The grip closed and the mechanism smashed into the proximity sensor. It's broken. Smashed. Shorted out. Now, the sensor never turns off. First thing in the morning you're called to the machine. You press the Start button. What would happen?
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