Robot Pick-and-Place Sequence SFC

Robot pick-and-place sequence SFC

This SFC expresses a basic pick-and-place cycle as a sequence of active steps. The robot begins at home, moves to the pick position, closes the gripper, moves to place, and releases the part. Position and gripper feedback signals form the transition conditions. The layout is useful for explaining PLC-to-robot coordination, while a production cell also needs the safety, fault recovery, and handshake details required by its equipment. Before using the layout in a build or document, compare every label with the source requirements and update the drawing when parts, conditions, or materials change. The example is deliberately small so the essential relationships remain readable, easy to review with collaborators, and ready to extend with the details required for the actual project.

類型 循序功能圖標準 IEC 61131-3:2013 §6.5引擎 schematex-sfc更新時間 2026/9/24

需求

“Create an SFC for a robot pick-and-place cycle: home, move to pick, grip when at pick, move to place, release when at place, then return home after the part is released.”

接著試試Add a part-present check before the gripper closes.Add a fault step when the robot does not reach pick position.

這張圖裡有什麼

看懂背後的決策。

01Steps

Each physical motion or grip phase is a separate state.

02Feedback

Position and gripper signals control progression.

03Pulse action

The gripper-open command is issued once on release.

Use for a simple cell sequence before adding guarding, faults, and robot-controller handshakes.

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常見問題

Why use a step for each motion?

Separate steps make the active phase and its completion feedback clear.

What does P mean on an action?

It marks a one-scan pulse action.

Can faults be added?

Yes. A fault step and transitions can model recovery paths.