Pick & Place — 3D Gantry Cell

Briefing

A 2-axis (X/Z) vacuum pick-and-place unit. Starting at the home position, the sequence waits for a part, descends to pick height, activates the vacuum gripper, ascends, traverses to the drop zone, descends to drop height, releases vacuum, ascends, and returns home. VACUUM_OK confirms grip before the upward travel begins.

Objectives

• Z descends when PART_AT_PICK is detected and the system is at HOME
• VACUUM activates at PICK_LS and VACUUM_OK must confirm before Z rises
• X_ACTUATOR traverses after ascending to HOME_LS
• Z descends to DROP_LS, VACUUM de-activates, Z ascends and X returns home
• CYCLE_COMPLETE_LAMP pulses for one scan at end of cycle

I/O Table

Your program will be tested against:

All test cases run automatically when you submit. Assertions are hidden until you pass.

1. #1Z descends on PART_AT_PICK when running at HOME

   Pressing START then presenting a part triggers Z descent

2. #2VACUUM activates at PICK_LS

   When Z reaches PICK_LS the vacuum turns on

3. #3Physics drives a complete pick-and-place cycle

   Physics simulates all limit switches; CYCLE_COMPLETE_LAMP asserts at end