conveyor acc dan dcc [PickMaster 3]

PickMaster
1

Hi all,

In pickmaster we can set the start-stop conveyor. The conveyor can be stopped by robot in order to finish pick the item. Can I make the conveyor don’t stop, but a little bit decrease the speed? I want to make the conveyor not intermitten (start - stop), but I want to make it faster-slower. When the item is less, so the conveyor become faster, and when there is many item, the conveyor become slower.
Thank you for the sharing.

BR,

2

Hi,

What you can do is to use the rapid function GetQueueLevel to see how many targets there are on the conveyor. By calling that routine in a timer trap and relaying the result to the PLC (using AO, GO, socket message or serial channel), who then can take the decision to tune the conveyor speed.

/Mats

3

Dear Mats,

Hi, thank you for your reply. I will try it. I can receive data from PLC, but I think PLC can’t receive data from me. We use RS232 for our RIS setting. If I use timer trap for these, does it not disturb my pickmaster program? because I think capturing picture from camera is also generated by some interrupt.

Thank you

4

If your timer trap is a non-blocking, for instance setting a group output, it won’t disturb the rest of the process. If make it blocking, like reading a serial channel, it will block the regular program, such as the motion instructions.
The capturing of the image and queue handling are handled by the baseware is not affected by the rapid modification.

/Mats

5

Hi, MAts,

I can’t implement your suggest ( because I’m very newbie in this case). Can you give me more explanantion, how to do this, please? Or maybe there are more simple way to do that?A?

Thank you very much.

BR,

6

Something like this:

Declaration in PPAEXECUTING:
VAR intnum QueueLevelInt;

New routines in PPAEXECUTING:
PROC InitQueueLevelTrap()
IDelete QueueLevelInt;
CONNECT QueueLevelInt WITH QueueLevelTrap;
ITimer 5, QueueLevelInt;
ENDPROC

TRAP QueueLevelTrap
VAR num nQueueLevel;
nQueueLevel:=GetQueueLevel(PlaceIndex{1});
SetGO goQueueLevel,nQueueLevel;
ENDTRAP

Call from PickPlace before entering the WHILE loop:
InitQueueLevelTrap;

7

Dear Matts,

Thank you for your explanation. So, the things to do is to find how many object that captured in camera using GetQueueLevel. THis method is done regularly ( using trap) – every 5 s. And the result for the GetQueueLevel is send to PLC to decide what to do.

Am I right?:neutral_face:

8

Hallo,
an other idea is to use the RIS-Signals “Rob. stopped” and " Rob running" in connection with
DO-Signal "startCNVx"in PLC.
IF Rob. running andnot startCNVx Then slow speed
If Rob. stopped andnot startCNVx Then stop the belt

Martin

9

Yes Carmila, that is correct understood.