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andr99
andr99
in Robot Controller

Hello,

I have one problem, I have robot irb 6400 s4c+, and I want to integrate circular conveyor on this robot. I allready have encoder, the dsqc 354 encoder interface unit. I have 48780 pulses for one radian, and now i want do in one task that the robot set up one digital output when I have 3 pulses, another digital output when I have 159 pulses, another digital output when i have 37850 pulses.....

Thanks for the answer,

 

 

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  • claudio
    claudio ✭
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    Hi.

    What about using c1Position?

    c1Position > 3/48780 -> First signal
    c1Position > 780/48780 -> Second signal
    ...

    You can do a polling task, or -better - use an ISignalAI instruction.
    I did something similar in a project to trig a camera each DeltaX on a linear conveyor.

    Best Regards
    Claudio

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