Hello,
I have a new installation of PM3.2 with 2 robots IRB 360 with multimove independent (IRC5), 1 camera for pick, 2 enconders to do pick and place, 1 IO board and 2 DSQC 377A boards.
My questions are:
It’s possible to connect 2 enconders to a only one DSQC377A board? and if the answer is yes, How can I do it?.
I want to control both encoders (2) with 2 robots, How many DSQC377A do I need 2 or 4?
Thanks for your help.
BR
Maria Jose
Hi,
Your setup it not totally clear to me.
I suppose you have one pick belt and one place belt, both belt running through both robots.
If this is the case you need 1 encoder per belt (totally 2).
Each robot needs one DSQC377A per belt. (totally 4)
Each encoder shall be connected to 2 DSQC377A boards, one for each robot.
/Mats
Hi, Mats,
For your post, it means that although 2 robots tracks the same conveyors ( both pick and place), they should have own DSQC 377 A for each conveyor? Hmmm… so, if I use 6 robots for tracking the pick n place conveyors, it means I need: 2 x 6 = 12 DSQC 377A ?! 
A?
But, in DSQC 377A hardware if I’m not wrong, there are 2 ports, encoder 1 A and B, and encoder 2 A and B. So, what for the 2nd encoder port?
Thanks before
You are totally right, 2 x 6 = 12. But I think there is a limitation of 6 conveyors per controller.
It doesn’t matter if it is single or multimove controller, only one robot can track the conveyor at the time. I don’t know if multimove coordinated would enable tracking the conveyor with two robots. I assume it requires that both robots are coordinated with each other then.
The second encoder port is only used for backup. You may track the same conveyor using one of two physical encoders, or you may use both ports for the same encoder. I believe the signal c1EncSelected select whether encoder A or B is used for tracking.
/Mats