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La máquina de pick and place
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Introduction
A little history
Lesson 1. A servo: an angle by number
1.1. Idea: the angle is the pulse length
1.2. Idea: cut time into windows
1.3. Idea: “number + 4”
1.4. Build
1.5. Check
Lesson 1 paste (Cmd+I)
Lesson 2. The arm: two servos and a base
2.1. Idea: the second servo almost for free
2.2. Idea: an arm of two links
2.3. Idea: the scene comes by paste
2.4. Build
2.5. Find the poses
2.6. Check
Lesson 2 paste (Cmd+I)
Lesson 3. The pose memory
3.1. Idea: a pose is a byte
3.2. Idea: memory as a table
3.3. Build
3.4. Check
Lesson 3 paste (Cmd+I)
Lesson 4. The conveyor
4.1. Idea: how the arm takes an item
4.2. Idea: one sensor — two answers
4.3. Idea: where to put it
4.4. Build
4.5. Check
Lesson 4 paste (Cmd+I)
Lesson 5. The brain on chips
5.1. Idea: the work is steps
5.2. Idea: wait at step 0 — INH
5.3. Idea: remember the colour — CD4013
5.4. Idea: counting cells and the pose address
5.5. Idea: the next item — at step 2
5.6. Build
5.7. Check
Lesson 5 paste (Cmd+I)
Lesson 6. The brain in one GAL22V10
6.1. Idea: a GAL is “AND-OR” plus flip-flops
6.2. Idea: the outputs are the steps
6.3. Idea: each output is one rule
6.4. Idea: a tick of their own for the counters
6.5. Build
6.6. Check
Lesson 6 paste (Cmd+I)
Summary
All the parts
Instructions in pictures
Lesson 1 in pictures
← Back to the lesson: Lesson 1. A servo: an angle by number
1
The servo
the angle is the pulse length
kh
RB-02
1
A3
0
A2
0
A1
0
A0
90°
VCC
1×
GND
1×
Hz
1×
Q
Q
1×
0
4×
CD4029B
2×
CD4069UB
1×
CD4070B
1×
CD4081B
1×
CD4585B
2×
1×
∞
© 2026 Daniil Khanin · khanin.info · RB-02
4
CANVAS
1
library → import → arm-chips.json: an Arm folder, ten chips
2
VCC
1×
GND
1×
2×
VCC
VCC
GND
GND
3
Hz
1×
Q
Q
1×
2×
8kHz
CK
RESET
4
8kHz
CK
1Hz
2Hz
10Hz
60Hz
4kHz
8kHz
16kHz
…
MAX
5
0
4×
4×
0
A0
0
A1
0
A2
0
A3
© 2026 Daniil Khanin · khanin.info · RB-02
5
CANVAS …
6
the chips are ready: pin names as in the TI datasheet; labels — double-click a pin
7
CD4029B
1×
14×
CD4029B
BD
VCC
PE
RESET
CI
GND
UD
VCC
CLOCK
CK
J1
GND
J2
GND
J3
GND
J4
GND
CO
CY
Q1
C0
Q2
C1
Q3
C2
Q4
C3
8
CD4029B
1×
13×
CD4029B
BD
VCC
PE
RESET
CI
CY
UD
VCC
CLOCK
CK
J1
GND
J2
GND
J3
GND
J4
GND
CO
Q1
C4
Q2
C5
Q3
C6
Q4
C7
9
CD4069UB
1×
7×
CD4069UB
A
A2
B
GND
C
GND
D
GND
E
GND
F
GND
G
W2
H
I
J
K
L
© 2026 Daniil Khanin · khanin.info · RB-02
6
CANVAS …
10
CD4070B
1×
9×
CD4070B
A
A3
B
A2
C
GND
D
GND
E
GND
F
GND
G
GND
H
GND
J
W3
K
L
M
11
CD4081B
1×
9×
CD4081B
A
A3
B
A2
C
GND
D
GND
E
GND
F
GND
G
GND
H
GND
J
W4
K
L
M
12
CD4585B
1×
13×
CD4585B
A0
C0
A1
C1
A2
C2
A3
C3
B0
A0
B1
A1
B2
W2
B3
W3
LTIN
GND
EQIN
VCC
GTIN
VCC
LT
LL
EQ
LE
GT
© 2026 Daniil Khanin · khanin.info · RB-02
7
CANVAS …
13
CD4585B
1×
12×
CD4585B
A0
C4
A1
C5
A2
C6
A3
C7
B0
W4
B1
GND
B2
GND
B3
GND
LTIN
LL
EQIN
LE
GTIN
VCC
LT
PWM1
EQ
GT
14
Mechanics → Servo; the label — double-click the PWM pin
15
1×
1×
PWM1
PWM
© 2026 Daniil Khanin · khanin.info · RB-02
8
CANVAS …
16
Fast
Fast mode: the servo measures its pulse on every 8 kHz tick
[object Object]
0
A3
0
A2
0
A1
0
A0
0°
1
A3
0
A2
0
A1
0
A0
90°
1
A3
1
A2
1
A1
1
A0
169°
© 2026 Daniil Khanin · khanin.info · RB-02
9
← Back to the lesson
Lesson 1. A servo: an angle by number