RAPID - GetQueueLevel [PickMaster 3]

PickMaster
1

Hello

Just a question on the rapid instruction GetQueueLevel

Using the GetQueueLevel on the pick queue, the pick queue is a moving conveyor with product on the conveyor. The product is detected with a vision camera, and their are three IRB340 all picking product from the same conveyor.

When I use the GetQueueLevel is the number I get back for the queue the number of items in the queue for the one robot or all three robots?

When does an item enter the queue, is it as soon as it has been inspected and accepted by the vision system?

When does the item leave the queue is when it is picked or when it is placed?

Many Thanks

Mark

2

Mark,

  • GetQueueLevel will always reflect the number of items, in a queue, that are available for picking/placing.
  • The items will be sent to the queue as soon as they are inspected and accepted by the vision system.
  • An item is removed from the queue when it is picked/placed.

If ATC is used and all three robots are used the following is true:

  • The first robot (closest to the camera) will return a GetQueueLevel value that reflects all items between the camera and the robot.
  • The second robot will will return a GetQueueLevel value that reflects all items between the camera and the robot, i.e. it will include the same information as in the first robot plus the items between the first and the second robot (the third robot will include all targets between the third robot and the camera).
  • If the first robot picks/places an item, that item will be removed in the queue of robot two and three and the GetQueueLevel value will reflect that on all three robots.

If Load Balancing is used and the distribution is set to 1/3 for each robot the following is true.

  • The first robot will return a GetQueueLevel value that is 33% of the items between the camera and the first robot.
  • The second robot will return a GetQueueLevel value that corresponds to 33% of the items between the camera and the first robot plus 50% of the items between the first and second robot (none of the items in the queue will be the same as in the queue on the first robot).
  • The third robot will return a GetQueueLevel value that is the sum of all items between the second and third robot, 50% of the items between the first and second robot and 33% of the items between the camera and the first robot.

I hope this answers your questions.

BR,

Erik

3

Erik

Thank you for the reply, to clarify this command.

In your reply you mention

‘An item is removed from the queue when it is picked/placed’.

Is it possible to be more specific, is the item removed from QueueLevel when the the item is picked but before it is placed.

Or is it not removed from the Queue untill it is finally placed

Regards

Mark

4

Hello,

An item is removed from the queue when the acknowledge trigg (Ack) is executed during the up-stroke after a pick/place. That is, it is removed from the pick queue during the up-stroke in the pick operation.

This is performed by the following line (in this example the place routine):

TriggL RelTool(PlaceTarget.RobTgt,0,0,-ItmSrcData{Index}.OffsZ),LowSpeed,ItmSrcData{Index}.Ack,z20,GripperWObj:=WObjPlace;

For specifics where on the path this trigg will be executed, please refer to the RAPID documentation.

BR,

Erik