Incorrect Trigger Distance [PickMaster 3]

PickMaster
1

2 IRB360’s on compact controllers. PM 3.40. The system was running fine. Then, we started to miss targets. I went online to look at the images, and the camera was triggering slowly - roughly every 400mm. The trigger distance is set to 100mm. The camera search time is quick -10 to 50 ms. The TrigVis output was pulsing slowly, so the camera was just matching the trigger. After several Pickmaster PC restarts, and then 1 warm start of both controllers, one of the cameras started triggering at the correct quicker rate. Another warm start of the slow triggering system seemed to correct the second system. Now today we are seeing the two warm start controller back to its slow triggering self. 3 warm starts and it is still at a slow trigger rate. Robot 1 triggers correctly. Both are set at 100mm trigger distance.

Anyone see anything like this?

2

UPDATE:
C1_Speed (analog Input) on the controller reads .48.
The conveyor is hand tach’d at same - .48 m/s.
Did a counts per meter check. Measured conveyor movement at 488mm. FPU Jog screen reads 1487mm.

Somehow the speed that the controller reads the encoder is different than the jog screen distance.

3

UPDATE 2

Running targets through the system, the place is right on - when the target gets picked up by the camera. (THe pick is from a static location - robtarget).

So the Jog Screen does not register distance correctly. THis is causing the TrigVis output to not trigger at the correct distance/frequency, causing the system to miss targets on the conveyor.
The actual conveyor tracking of targets is working correctly.

SUMMARY: Somehow, the Trigger Distance parameter from the Pickmaster position source is NOT getting transferred into the robot controller.

4

Hi,

Have you tried putting the correct counts per meter into the controller system parameter manually?

5

When the system is picking correctly, our CPM number of 9997 works correctly. When the system goes into this ‘slow trigger mode’, the CPM number of 9997 is not correct. THe encoder signal looks the same for both modes. There is no encoder issue, because C1 Speed reads the correct conveyor speed, even though the triggers are slow.