PC-based pick-and-place robot running TwinCAT PLC software
DeltaBot: the PC-based pick-and-place robot
There are three- and four-axis models of these ultra high-speed robots. They are capable of over 120 pick-and-place cycles per minute and
have proven to be highly effective for high-speed assembly, automatic inspection
and packaging applications

PC platform with scalable performance:
the DeltaBot line
is equipped with a Beckhoff control platform consisting of a CX1010 Embedded
PC, TwinCAT PLC automation software, EtherCAT I/O terminals as well as
AX5000 Servo Drives with an aim to boosting control performance while reducing cost. The basic
DeltaBot configuration features the CX1010, however we can also easily
scale up in performance using the CX1020 or CX1030. There is also option for integrated vision.

Embedded PC replaces two PC controllers:
The Embedded PC from Beckhoff replaced an architecture that included
two PCs:- the one that generated the robotâ„¢s path and the other that served as the real-time robot controller.

Improved positioning and repeat accuracy:
the DeltaBot position controller can be run at 2 kHz increasing the DeltaBotâ„¢s positioning
precision as well as the repeatability at the same robot speed.

for details refer this pdf:
http://pc-controlpdf/022009/pcc_0209_aemk_systems_e.pdf
http://freepatentsonline7552527.html
http://hemelectroniquesPLC%20trainers.pdf