Today I want to converse Conveyor Tracking Option (by my own RAPID) with Pickmaster 3.
A? My Conveyor has pitch 114.3 mm (converted from inch), so It becomes a problem when I use Predefined Position, cause predefined position only accept order by 114 (can not 114.3). My Flexpicker can not track the conveyor in the same place.A?
A? My question is…Does ABB robot (specially Pickmaster 3 parameter) work only in the “Metric System”, ex: millimeter, can it work in America Standart (ex. : inch). My mechanical designer can not find the Chain (conveyor) by Metric standart.
A? A? Yes, you’re absolutely right. I need enter to Trigger Distance Parameter with Non-Integer Value, because this value is converted from inch. So if Pickmaster can be change to America Standart (inch) then we don’t need to enter with Non-Integer Value.
A? A? If it’s impossible. so I must work with alternative solution (I use sensor with "Predefined Position - Triger Type : I/O). But I’m sure that Trigger Distance is more accurate than I/O Trigger Type.
A? A? Matts, thank you very much for your answer. Success for everything you work:sleeping:
For Pick Conveyor we use belt, it’s no problem cause we use Camera. For Place Conveyor we use chain.A?
We use Flexpicker for Bottle Feeder application. I set 2Pick - 1Place. The bottle pitch is 114.3 To do it, i need to have exactly 114.3.
If i enter 114 (not 114.3) to the trigger distance parameter, so robot will track the conveyor at wrong distance (0.3 mm for each cycle). Thus, we see that robot will track 3mm lagging the conveyor for 10 cycles, A?3cm for 100 cycles and so on. The accumulation of little bit error becomes a big trouble.
A? A?Thank you for your advice, I will try to use sensor. When I tried the program on my Flexpicker I found that using Trigger Distance is more practice, simple and precise. On my application with Conveyor Tracking (Rapid) in the past I used sensor too. I thought that using Trigger Distance will give me advantage. Now I know that I am wrong at all.
So the trigger type has the same type with my application on the past. The different thing is on the way of counting : Pickmaster use Pulse counting, Conveyor Tracking use Distance counting (Sync Separation). But I’m sure that Pickmaster was born from the development of Conveyor Tracking Option.
I have modified the followtime (stoppoint data), I use " Finepoint Programming" as ex. : MoveL…MaxSpeed, z0Inpos:=diving_time , Gripper… I want to adjust the time of tracking for each position. If I use the default program I can not adjust the followtime for each movement. Is it OK ?
To get the very best accuracy, you can tie the sensor directly in to pin 9 on the encoder board and leave Trigger and Position Generator empty in the workarea configuration. Set the sync separation in the EIO.cfg to an appropriate value, to filter out any possible double triggers from the sensor.
The PickMaster utilizes the encoder counting too (ScalingFactor), to generate accurate distance triggers, but the calculation is performed behind the scene.
You are free to change/add the followtime if your application require. PickMaster just offers an easy way to set and tune the pick and place time directly from the PC, which covers 99% of all applications.
Dear Mats
You explain clearly to me. Now I see your idea is using (wiring) jumper, connecting directly between sensor to the encoder board. So we don’t use doManSync (via I/Oboard) anymore.
To set sync separation, you mean I must change sync separation value via (Control Panel => Configuration => Fieldbus command => qtrack1 …) , is it right? I assume that fieldbus command is in the EIO.cfg