Delay in double pick [PickMaster 3]

PickMaster
1

Hello,

I am setting up a double pick application and I have noticed that the robot pauses for about 100ms between the two picks. Is there any way to get rid of this delay?

Thank you,

Erik

2

Hello,

To achieve a high pick rate in a double pick application (pick/pick/place) you need to modify the Rapid code as follows.

1, Add the utility module to your rapid program. The utility.mod is attached to this reply.utility.zip

  1. Add the instruction ‘ReadCnv’ to the main routine;

PROC main()
ReadCnv;
InCoordRout:=FALSE;
InitSafeStop;
InitSpeed;
WHILE TRUE DO
SetDO ppaExe,0;
WaitForExeOrder:=TRUE;
IF RemoteIPNode<>“” THEN
SCWriteToNode:=RemoteIPNode,WaitForExeOrder;
ENDIF
WaitDO ppaExe,1;
%RoutineName%;
ENDWHILE
ERROR (PPA_JUMP_MOVE)
IF ERRNO = PPA_JUMP_MOVE THEN
ClearPath;
GotoRestartPos;
RETRY;
ELSEIF ERRNO=ERR_SC_WRITE THEN
TRYNEXT;
ENDIF
ENDPROC

3, Modify the pick routine like this,

PROC Pick(num Index)
InCoordRout:=TRUE;
WObjPick:=ItmSrcData{Index}.Wobj;
GetItmTgt ItmSrcData{Index}.ItemSource,PickTarget;
TriggLConc,RelTool(PickTarget.RobTgt,0,0,-ItmSrcData{Index} .OffsZ),MaxSpeed,ItmSrcData{Index}.VacuumAct1,z20,GripperWO bj:=WObjPick;
MoveLConc,PickTarget.RobTgt,LowSpeed,z5Inpos:=ItmSrcData{I ndex}.TrackPoint,GripperWObj:=WObjPick;
GripLoad ItemLoad;
IF QuickAck(Index,PickTarget)=FALSE THEN
TriggL RelTool(PickTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),LowS peed,ItmSrcData{Index}.Ack,z20,GripperWObj:=WObjPick;
ELSE
MoveL RelTool(PickTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),LowS peed,z20,GripperWObj:=WObjPick;
ENDIF
InCoordRout:=FALSE;
ENDPROC

4, Change the PickPlaceSeq routine to run a pick/pick/place operation,

PROC PickPlaceSeq()
Pick PickIndex1;
Pick PickIndex1**;**
Place PlaceIndex1;
! Place PlaceIndex2;
ENDPROC

That should do it,

Roger.

3

Thanks! Works correctly and we did cut down cycle time, by about 100ms.