In this ladder flowchart there are

In this ladder flowchart there are 7th states S0.0, S0.1, S0.2, S0.3, S0.4, S0.5 and S0.7. The S0.0 it will be active when the program start running and then the system will read the Part detector, Box detector, Arm robots movement detector and Magnetic gripper detector to active S0.1 which guide the robots move to zero position (picking area) after pick apart then the program will active S0.2 which allow the robots move to placing area and place the first part into first cell of the box again the program will active S0.1 to pick the 2nd part and then the S0.3 will be active to allow the robots place the 2nd part into 2nd cell The program will repeat same sequence for other parts. 7. Result After we download the program into the PLC-200 and finish the connection of the sensors, actuator, drivers, inverters, power supply converter, encoders, the EM 253 Position Module and then test the system we did some modification for the ladder after that the system was working stably figure (8), (9) and (10) show some connection of the final model of the system. 8. Conclusions The whole system has good compatibility and compact structure. It is easy to install, and the line running is stable in the actual production. The labor intensity is greatly reduced for workers, so it has a high degree of automation. On the basis of ensuring the quality, it improves product efficiency, and brings great economic benefits to the production side.