We have equipped the machine with a lift which lifts the disc from the snare drum and puts it in the entry position to the next step in the chain. Before the perfectly marked disc leaves the Flyroller, the marker checks its positioning thanks to two vision systems. Once lifted, the piece is framed by the first camera from above: if the position is not the one set, this is automatically corrected by rotating the disk.
The second camera instead works differently: there is a balance notch on the disc that is identified by the vision system, when this happens the rotation stops automatically and the piece is transported out of the marker.
The safety of the machine is managed entirely in Profisafe, that is a communication protocol between PLCs to manage the safety system avoiding the wiring with external components.