LB & ATC doubts [PickMaster 3]

PickMaster
1

Hello,

I have a PickMaster application as follows:

There are 3 robots picking up items from a conveyor and placing them on another conveyor.

The first conveyor (pick) and the second conveyor (place) run on the same direction.

There are 3 vision systems on the first conveyor (one per robot) and one sensor on the second conveyor generating positions every .

On the first conveyor I’m using Load Balancing. The first robot picks up the 33%, the second one picks up the 50% and the third one picks up the 100%.

On the second conveyor I have made an ATC group with the 3 robots. I need to fill up all the positions on the second conveyor.

The system is working, but I have some questions:

1 - Is it possible to change the percentage of the LB without stopping the project? If not, is there any chance of doing it via RAPID?

2 - Is it possible to pick up only the items with an Y-Coordinate value less than a fixed value?

3 - Is it possible to make that the first robot of the ATC group completes only the 50% of the place positions?

4 - I don’t understand the meaning of the third argument of the “AckItmTgt” instruction (Acknowledge → TRUE / FALSE)?

Thanks in advance,

Alex

2

Hi Alex

Here are some answers:

1: No it’s not possible to tune the loadbalancing during production. The RAPID code can not changed the loadbalancing either.
2: Yes, use the selection data for the GetItmTgt instruction to setup your conditions.
3: Yes, you can combine a LB-group with two ATC groups, like:

4: TRUE means that the item is consumed, FALSE puts the item back into the queue and the item is considered as not consumed.

Regards
Mats.