PM 3 conveyor off-sync [PickMaster 5]

PickMaster
1

Hi,

I’m using PickMaster 3.x with FlexPicker and single conveyor at school. Last week I had the line configured, calibrated, everything was OK and working fine.
Today, conveyor seems to be not-synchronized.
Camera recognizes the item, but the item rides-by the robot and the robot reacts e.g. 10 seconds later. It “picks” where the item should be, but it thinks, that the distance between camera and robot itself is e.g. 2 m longer.

-I tried to restore a fine-working backup, did a new calibration (checkerboard → camera cal., cnv wobj cal.) - both with no change.
-Encoder counts per meter are set properly and the encoder seems to rotate ok (no slip).

The only hint: earlier today, I had to do some quick show-off, so I replaced the program in controller with a new one, where I on-line made some basic MoveL instructions.
Nothing else (for example system modules) was changed, but still, could it do something wrong? Again, I restored a backup after this.

So, is there some way to quickly test, if the cnv is syncronized and the speed is read fine by encoder?
Cnv is not as ext. axis, it’s controlled by I/O unit.
Can there be some quick RAPID code written to “catch” the cnv and follow it (from where the robot currently is), if the cnv pos/speed is only read, but not controlled as an ext. axis?
Or any other suggestions, where should I look for a fault?

Thank you very much.

Jakub Mzik, VSB-TUO

2

Another hint: I tried to stay on pick for about 3 seconds (parameter in pickmaster).

  • robot still misses the item about 1 m
  • robot giggles around the pick pos - goes for the item (although its not there), then stays still, then moves in cnv direction (to catch the item on cnv again), they stays still again etc… So it doesn’t follow the conveyor real-time, but in intervals (about 0,3 seconds).

Would this infomation be useful?

Thanks again. JM

3

Problem solved - some encoder signal connection was wrong. Found through I/O connection view - AI c1Speed wasn’t read right (that’s why the robot was “giggling”).

Bye!