{"id":4355,"date":"2017-04-09T17:28:45","date_gmt":"2017-04-09T16:28:45","guid":{"rendered":"http:\/\/pthat.com\/?post_type=project&p=4355"},"modified":"2026-03-24T15:25:50","modified_gmt":"2026-03-24T15:25:50","slug":"pthat-example-pick-and-place","status":"publish","type":"project","link":"https:\/\/pthat.com\/index.php\/project\/pthat-example-pick-and-place\/","title":{"rendered":"PTHAT Pick and Place Example using Buffered and Instant Commands"},"content":{"rendered":"

[et_pb_section fb_built=”1″ fullwidth=”on” custom_padding_last_edited=”on|desktop” admin_label=”Section” _builder_version=”4.16″ background_color=”#27323a” custom_padding_tablet=”50px|0|50px|0″ transparent_background=”off” padding_mobile=”off” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” global_colors_info=”{}” custom_padding_phone=”50px|0|50px|0″][et_pb_fullwidth_header title=”PTHAT Pick and Place Example using Buffered and Instant Commands on CNC Machine” text_orientation=”center” content_max_width=”none” title_font_color=”#ffffff” admin_label=”Fullwidth Header” _builder_version=”4.16″ title_text_color=”#ffffff” title_font_size=”60″ background_color=”rgba(255, 255, 255, 0)” button_one_letter_spacing_hover=”0″ button_two_letter_spacing_hover=”0″ global_colors_info=”{}” button_one_text_size__hover_enabled=”off” button_two_text_size__hover_enabled=”off” button_one_text_color__hover_enabled=”off” button_two_text_color__hover_enabled=”off” button_one_border_width__hover_enabled=”off” button_two_border_width__hover_enabled=”off” button_one_border_color__hover_enabled=”off” button_two_border_color__hover_enabled=”off” button_one_border_radius__hover_enabled=”off” button_two_border_radius__hover_enabled=”off” button_one_letter_spacing__hover_enabled=”on” button_one_letter_spacing__hover=”0″ button_two_letter_spacing__hover_enabled=”on” button_two_letter_spacing__hover=”0″ button_one_bg_color__hover_enabled=”off” button_two_bg_color__hover_enabled=”off”][\/et_pb_fullwidth_header][\/et_pb_section][et_pb_section fb_built=”1″ custom_padding_last_edited=”on|desktop” admin_label=”section” _builder_version=”4.16″ background_color=”#313f55″ custom_padding_tablet=”50px|0|50px|0″ transparent_background=”off” padding_mobile=”off” make_fullwidth=”off” use_custom_width=”off” width_unit=”on” global_colors_info=”{}” custom_padding_phone=”50px|0|50px|0″][et_pb_row admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}” column_structure=”1_2,1_2″][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Text” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” background_layout=”dark” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]With this example, we show how to use the PTHAT being used to learn commands for Pick and Place applications.<\/span><\/p>\n

We have connected the PTHAT to our CNC 800mm x 800mm\u00a0machine at work as a test.<\/span><\/p>\n

Within the software you can alter the settings to suit your own CNC machine, such as Pulses per mm on each Axis and speeds.<\/span><\/p>\n

\u00a0<\/span>
\n[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/pthat.com\/wp-content\/uploads\/2017\/04\/feature.png” align_tablet=”center” align_last_edited=”on|desktop” admin_label=”Image” _builder_version=”4.16″ animation_style=”slide” animation_direction=”left” animation_duration=”500ms” animation_intensity_slide=”10%” use_border_color=”off” border_color=”#ffffff” border_style=”solid” animation=”left” sticky=”off” always_center_on_mobile=”on” global_colors_info=”{}” align_phone=”center”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}” column_structure=”1_2,1_2″][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Text” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” background_layout=”dark” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]Within the application you first connect to your Raspberry Pi serial port by clicking the Connect button.<\/span><\/p>\n

You have a choice of manually adding commands that will be buffered and executed one after the other, or you can jog the machine to the position you require and click the store button to add the command.
\nFor manually adding commands, both Incremental and Absolute modes are supported.<\/span><\/p>\n

After storing the commands, you can then play them back.<\/span>
\n[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/pthat.com\/wp-content\/uploads\/2017\/04\/PickandPlacescreenshot.jpg” show_in_lightbox=”on” align_tablet=”center” align_last_edited=”on|desktop” admin_label=”Image” _builder_version=”4.16″ animation_style=”slide” animation_direction=”left” animation_duration=”500ms” animation_intensity_slide=”10%” use_border_color=”off” border_color=”#ffffff” border_style=”solid” animation=”left” sticky=”off” always_center_on_mobile=”on” global_colors_info=”{}” align_phone=”center”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}” column_structure=”1_2,1_2″][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Text” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” background_layout=”dark” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]Instant Commands used in this example are:<\/span><\/p>\nSet Axis Command
\n<\/span>
\n<\/span>\nStart Axis Command
\n<\/span>
\n<\/span>\nStop Axis Command
\n<\/span>
\n<\/span>\nRequest Current Pulse Count Command
\n<\/span>
\n<\/span>\nSet Aux Output Command
\n<\/span>
\n<\/span>\nSet Wait Delay between commands
\n<\/span>
\n<\/span>\nToggle Motor Enable Line
\n<\/span>
\n<\/span>\nRequest Firmware Version
\n<\/span>
\n<\/span>\nReset PTHAT
\n<\/span>
\n<\/span>\n

 <\/p>\n

Buffer Commands used in this example are:<\/span><\/p>\nH Initiate the buffer
\n<\/span>
\n<\/span>\n

Z Buffer Start Command
\n<\/span>
\n<\/span>
\n[\/et_pb_text][\/et_pb_column][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_image src=”https:\/\/pthat.com\/wp-content\/uploads\/2017\/04\/Regulator-Set-up.jpg” align_tablet=”center” align_last_edited=”on|desktop” admin_label=”Image” _builder_version=”4.16″ animation_style=”slide” animation_direction=”left” animation_duration=”500ms” animation_intensity_slide=”10%” use_border_color=”off” border_color=”#ffffff” border_style=”solid” animation=”left” sticky=”off” always_center_on_mobile=”on” global_colors_info=”{}” align_phone=”center”][\/et_pb_image][\/et_pb_column][\/et_pb_row][et_pb_row admin_label=”Row” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” global_colors_info=”{}” column_structure=”1_2,1_2″][et_pb_column type=”1_2″ _builder_version=”4.16″ custom_padding=”|||” global_colors_info=”{}” custom_padding__hover=”|||”][et_pb_text admin_label=”Video” _builder_version=”4.16″ background_size=”initial” background_position=”top_left” background_repeat=”repeat” use_border_color=”off” border_color=”#ffffff” border_style=”solid” global_colors_info=”{}”]