Dear All
Today I am setting 6 IRB140 robots (2 robots with 1 Pickmaster and 4 robots with 1 Pickmaster). I install them all as suspended installation.
For “2 robots controlled by 1 Pickmaster” case we got a problem:
OBSERVATION-1 :
Both 2 robots can pick object but can not place it
(program pointer always wait on instruction “GetItmTgt…”).
So, my conclution is…there is no problem with camera communication.
I predict that there is something wrong with “doManSync” signal.
From manual, we can see that we must check the I/O trigger & strobe to solve warning 4326 (action-1).
“One of the conveyor cards never receives any STROBE pulses.
When ATC is used only one of the workareas will send a TRIGG signal
so the strobes for both workareas in the ATC group must be connected.”
OBSERVATION-2 :
I have done an observation using 1 Robot only and of course not using ATC.
I want to prove that this problem is not caused by Using ATC.
The result is here:
- Camera can take picture and recognize object (doTrigVis1 can flash ON)
- The strobe can flash ON
- Robot does not want to pick object (program pointer always wait on instruction “GetItmTgt…”) .
- There is Warning 4328 Trigger/Strobe time mismatch
- Both of doManSync1 and doMancSync2 is always OFF (can not flash ON)
I have connected a wire between the two strobe signals.
I have connected both controller and computer to the “ground”
My questions are:
-
What is the meaning of statement “Make sure that source for 24 V are not mixed.” on troubleshooting action-2 ?
Because if we see wiring diagram for 2 robots, every boards and camera is supplied by the same 24 V. -
Do you have any idea for solve this problem? Please share to us.
Here are the Pickmaster setting which I have done
webwiz/2712/2Robots.zip
Thanks a lot for your respond