POST INSPECTION [PickMaster 3]

PickMaster
1

2006-07-19_104343_post_inspection.zip

Hello,

I have some timing problems with the post inspection.

The result of the inspection arrive to late.

You can see on the picture in attach that I have 180 mm distance between the trigger of the camera and the trigger for the PLC (Sensor). When the product has past the Sensor the result should be ready for the PLC but it seems that the result arrive ~1 sec later. I am using the Queue idle to activate a trap routine (so as suggest in an other post inspection discusion).

The max speed of the cnv is 500mm/s, I have done the test with a speed of 250mm/s, the cycle time of the PLC is 30ms this will mean that I have ~330ms time (with max cnv speed) to give the signal to the PLC.

I can not find the problem, I think trap routine is the fast way to work.

I have also try to play with the enter and exit of the cnv without succes.

The baseframe distance from the camera is ~800mm in the X ditrection.

BR

Fabrice

2

Problem solved.

It seems to be that the enter and exit need to be lower values, I change the exit value from 500 to -100 and it works.

But I have still on problem at the first start. The robot goes in error due to array error at the GetItmTgt for inspection. I have the feeling that he get an interupt at the first start. when I start again the robot the problem goes away.

BR

Fabrice

3

Dear,

I did not get feedback on this problem :

“But I have still a problem at the first start. The robot goes in error due to array error at the GetItmTgt for inspection. I have the feeling that he get an interupt at the first start. when I start again the robot the problem goes away.”

Can somebody help me about this ?

BR, Fabrice

4

Hello,

It seems like Index-variable is out of bounds. Please verify the value by tracing the value (TPWrite, ErrWrite or similiar).

BR, Erik

5

Hello Erik,

Yes, the index-variable is out of bounds. The error say that the value of the index is 0 at the first start of the project.

When I start again the problem goes away.

For me it likes that the robot is executing the trap routine post inspection but there is nothing in the queue yet.

Is it possible that the signal from the Queue idle is giving a pulse at the first start?

BR, Fabrice

6

Hello,

Yes, the queue idle will go high at the start as the queue is empty at that time. Make sure to enable the trap after the setup indexes procedure is executed (otherwise will the Index-variable not be defined).

BR, Erik