ATC Problem [PickMaster 3]

PickMaster
1

Hello,

I have some problems with ATC.

My system consists of 6 robots picking objects from a belt an placing them on another belt with trays. (Each object on a tray)

Each robot has a vision camera for picking the objects (It works ok).

For placing the objects there is a sensor on the second belt that generates positions for each robot every tray (aprox. 200 mm).

I don’t want to put two objects on the same tray, so I have created an ATC group with the 6 place work areas.

The problem is that only one robot (The robot of the ATC group that generates positions) places the objects on the second belt.

The other robots pick the objects and remain waiting a place position.

I’m also getting every second the warning message 4316.

What is wrong in my ATC configuration?

Thanks in advanced,

Alex

2

Hello,

Please check the thread below, especially the first action in this list sounds as a good idea for you. Please make sure that the ATC group is wired accordingly (look in the User’s Guide appendix about Wiring).

http://forums.robotstudio.com/forum_posts.asp?T ID=670&PN=2

BR, Erik

3

Hello,

The User’s Guide Appendix about Wiring an ATC system is not clear at all.

In my application, I have two DSQC377 modules on each robot. One for the first belt (Pick with vision) and one for the second belt (Place with I/O Sensor and ATC)

I have notice, that only one robot activates the ‘doTrigVis2’ Signal, although the sensor signal (Position Generator) arrives to the 6 robots (–> ‘di2_1’).

The ‘doTrigVis2’ Signal is wired to the DSQC377, but the ‘PickMaster’ only activates the ‘doTrigVis2’ Signal in 1 of the 6 robots. In the other 5 robots the ‘doTrigVis2’ Signal is never active.

The warning message 4316 appears, because there is no signal generating objects in the DSQC377 for 5 of the 6 robots.

I have solved the problem making a ‘Cross Connection’ between the ‘di2_1’ and the ‘doTrigVis2’ Signal in order to activate the ‘doTrigVis2’ Signal and generate objects in the DSQC377.

Now the ATC works and I don’t have any warning message, but is this the correct solution ? (There’s nothing explained in the User’s Guide)

BR, Alex

4

Hello Alex,

There a few things to observe with ATC.

I) All trig signals should be connected in parallell within all robots constituting an ATC-group. As you pointed out, PickMaster will make sure that only one robot is triggering at any time. Please note that it is recommended to use a diode in the connection, for further details, please refer to the User’s Guide.

II) The strobe input (pin 9 on DSQC377) should also be connected in parallell on all robots in the ATC-group.

If you are using vision with ATC, all robots shall be able to trig the camera (but PickMaster will make sure that only one robot performs the actual trig). The strobe received from the camera shall be distributed to all DSQC377 belonging to the ATC-group.

If vision is not used the easiest approach is to directly connect the I/O sensor to all DSQC377 belonging to the ATC-group. Please note that it is important that the I/O sensor does not trig several times for the very same product.

I hope this answers your questions.

BR, Erik