Flying saw is a PLC utilizing Zeugwerk Framewerk. This demo application showcases how to implement a flying saw using the MoveInterpolatedPositionAsync method of Zeugwerk Framework's axis interface. A python visualization provides a visual representation of real-time control.

In the demo, you can see three gears:

• In the Visualization, boxes spawn every 0.5s to 4s from the left whenever the conveyer is moving
• A sensor detects the boxes and set a digital input to true whenever it is blocked by a box
• The PLC picks up the signal and adds a 'box' object to a ringbuffer, which contains the timestamp of the boxes arrival
• The gripper will handle all boxes in the PLCs ringbuffer consecutively. It follows the boxes trajectory for 1.5s before moving to the next box in the ringbuffer

To run this application, ensure you have the following installed:

• TwinCAT >= 4024.xx
• Zeugwerk Development Kit >= 1.6
• Python 3.x (We recommend Miniconda)

To run the Visualization in Windows a python distribution has to be installed (Anaconda or Miniconda is recommended). With an installed python distribution, execute the following commands in the Visualization folder to prepare a virtual environment for python and install all requirements

pip install virtualenv
virtualenv venv
venv\Scripts\activate
pip install -r requirements.txt

Activate the PLC and run the Visualization with

python main.py

You can use the Servicepanel, which is integrated into Zeugwerk Creator to control the PLC.