MULTITASKING and CYCLE TIME

Robot Controller
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Hello my friend,

Today I get a new project in programming IRB6620 for Pick and Place System. The task of robot is picking bottles from bottle conveyor and then placing them to case conveyor (see my attachment file).
I would like to get a sharring from you about :

  1. Must I use Multitasking or I can handle just with using some Rapid manipulation or with some electric wiring manipulation may be?
    (My problem : Multitasking is more expensive than using PLC. I must have a strong reason that I give to my boss for buying Multitasking module)

  2. In my Cycle Time Calculation, is it valid? Or have you an other idea?

  3. What is the main difference between the structure of Multitasking Program and non-multitasking program?
    Thank you very much for your share. Iwill appreciate.

Best regards,

Dhyan
Surabaya -

toABBForum.zip

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Hi
I can’t open your zip file

BR KLaus

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webwiz/2712/multitasking.zip

Dear Mr Klaus,

I?_Tm sorry, I have tried to attach my zip file to ABB Forum, but last 4 days It?_Ts very difficult.

I need multitasking by the reason below :

  1. To control the actual condition of bottle conveyor (full or empty of bottles) every time.
    If bottle conveyor is full, robot will pick bottles and activate the conveyor
    If bottle conveyor is empty, robot will wait until conveyor become full.
    Problem : Robot can not check that condition every time, but robot only checks the condition once every cycle. If robot has not reached the check position yet, then Bottle conveyor is still ON although sensor become OFF over the limit time we set.

  2. To control the condition of carton conveyor
    If 3 cartons are ready in carton conveyor (3 sensors is ON), robot will place the bottles and activate centering.
    If 3 cartons are not ready in carton conveyor (3 sensors is OFF), robot will wait until they are ready.
    After robot placed bottles, robot will move to pick bottles in the next cycle and doesn’t care whatever condition of that 3 carton sensors.
    Problem : in the same time, robot must wait until 3 carton sensors become OFF to activate stopper2 and disactivate stopper1

  3. To control the alarm system. Robot will send signal to Red and Green lamp in different conditions.
    Problem : the lamp flicker (ON/OFF the lamp) needs “loop”. If robot’s pointer is trapped in this loop, robot can’t do the other jobs.

  4. We have a plan to use “tool change” too (to change the gripper), but I have not finished this program yet. Do this need Multitasking too?

Thank you very much for your advice, GBU

Dhyan