CONVEYOR TRACKING

Robot Controller
1

Hello,

I have one problem, I have robot irb 6400 s4c+, and I want to integrate circular conveyor on this robot. I allready have encoder, the dsqc 354 encoder interface unit. I have 48780 pulses for one radian, and now i want do in one task that the robot set up one digital output when I have 3 pulses, another digital output when I have 159 pulses, another digital output when i have 37850 pulses…

Thanks for the answer,

2

Hi.

What about using c1Position?

c1Position > 3/48780 → First signal
c1Position > 780/48780 → Second signal
…

You can do a polling task, or -better - use an ISignalAI instruction.
I did something similar in a project to trig a camera each DeltaX on a linear conveyor.

Best Regards
Claudio