Using a Beckhoff-PLC to control a 4-axis IGUSrobot using the new kinematic transformation libraries. The goal is constructing a demo pick-and-place system for an IGUS robot to be used at demo fairs. Keep in mind that this a school project that has to be finished by the end of June, so the demo is not fully functional yet. For now, the robot can pick up one item and place it in a holder. The full system will be able to pick up four items of different colours and place them in four different holders.
The Beckhoff transformation libraries are fairly new and there was no official documentation how to use the robot with it. It took a lot of effort and cooperation with Beckhoff and Wim Laporte from IGUS to get the robot working. A manual has been made for further use.
By using the Beckhoff transformation libraries every type of IGUSrobot can be controlled in a fairly analogue way. The Beckhoff transformation libraries will greatly reduce programming time for all type of robots and thus save time and money.