... detection unit, heavy manipulator unit, sorting unit etc, and integrates PLC technology, pneumatic system, stepper control system, rotating encoder feedback system ... .System configuration1Siemens systemSiemens 200 series PLC, the network2Mitsubishi systemMitsubishi FX series PLC, the network3OMRON systemOMRON CP1L series PLC, the network4Panasonic systemPanasonic AFPX series ...