The filling workshop is composed of a Cartesian robot on axis X only, a filler (with a magnetic valve) attached to the Cartesian robot and a conveyor belt (see manufacturer’s documentation). It is able to fill containers on-the-fly while containers move towards the next workshop via the conveyor. To do that, the Cartesian robot is set to have the same speed as the conveyor belt. The process is triggered as soon as a container is detected under the filler: 1) the filler’s valve opens and the Cartesian robot starts moving, 2) when a certain volume has finished pouring, the valve closes and the robot returns to its initial X coordinate at maximum speed while the container keeps moving towards the end of the conveyor. An optical sensor placed at the head of the conveyor belt indicates that a container has reached the end of the workshop, ready to be passed on to the next workshop. The reference name of the filling workshop is DX10.

• TD of the conveying workshop: https://ci.mines-stetienne.fr/simu/fillingWorkshop (user/pass: simu<number>/simu<number> where number is your group number: {1,2,3,4,5,6,7,8,9})

Schematic view of the process executed by the workshop (UML state diagram):

Physical characteristics of the workshop:

• filler tank flow rate and volume

• Cartesian robot maximum speed on X axis

• minimum and maximum position of the filler on X axis

• conveyor length

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