Tracking an indexing conveyor [PickMaster 3]

PickMaster
1

Hello All,

I have read in the conveyor tracking manual that it is possible to “record” the profile of an indexing conveyor so that the robot can use this profile when picking to accurately predict the start stop of an indexing conveyor.

I have followed the few line guide in the conveyor tracking manual but have been unable to record and use a profile.

Pasted is the code I used to record the profile.

Can anyone see where I am going wrong?

PROC RecordProfile()

VAR cnvgendata IndexProfile:=[0,0,0,0,“”,“”];

CnvGenInstr CNV1,CNV_RESET_ALPROF, IndexProfile;
WaitDI DI9_CNV_Start, 1;
CnvGenInstr CNV1,CNV_START_REC, IndexProfile;
IndexProfile.Value1:=1;

! signal to indicate start of conveyor movement

! defined in the conv proc file
WaitDI DI9_CNV_Start, 0;
WaitTime 1;
CnvGenInstr CNV1,CNV_STORE_PROF, IndexProfile;
IndexProfile.string1:=“Profile.txt”;
ENDPROC

2

Hello,

Red means that the line has been removed.

Blue means that line has been added.

It’s important that when you are using the functionality to record a conveyor profile you must already have cnv tracking on a work object. E.g you have to run a WaitWobj instruction or similar instruction in PickMaster to track a work object on the conveyor. If you are not doing this there will be no positions to track.

PROC RecordProfile()

VAR cnvgendata IndexProfile:=[0,0,0,0,“”,“”];

CnvGenInstr CNV1,CNV_RESET_ALPROF, IndexProfile;

WaitDI DI9_CNV_Start, 1;

IndexProfile.Value1:=1;

CnvGenInstr CNV1,CNV_START_REC, IndexProfile;

IndexProfile.Value1:=1; / Needs to be set before CnvGenInstr!

! signal to indicate start of conveyor movement

! defined in the conv proc file

WaitDI DI9_CNV_Start, 0;

WaitTime 1;

IndexProfile.Value1:=0;

CnvGenInstr CNV1, CNV_ACTIV_REC, IndexProfile;

IndexProfile.string1:=“Profile.txt”;

CnvGenInstr CNV1,CNV_STORE_PROF, IndexProfile;

IndexProfile.string1:=“Profile.txt”; / Needs to be set before CnvGenInstr!

ENDPROC