MULTITASKING and CYCLE TIME

dhyan

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Hello my friend,

          
Today I get a new project in programming IRB6620 for Pick and Place System. The
task of robot is picking bottles from bottle conveyor and then placing them to
case conveyor (see my attachment file).

     I would like to get a sharring from you about :

1. Must I use Multitasking or I can handle just with using some Rapid
manipulation or with  some electric wiring manipulation may be?

    (My problem : Multitasking is more expensive than using PLC.
I must have a strong reason that I give to my boss for buying Multitasking
module)

2. In my Cycle Time Calculation, is it valid? Or have you an other idea?

3. What is the main difference between the structure of  Multitasking Program and non-multitasking
program?

     Thank you very much for your share. Iwill appreciate.

 

Best regards,

    Dhyan

Surabaya - Indonesia

toABBForum.zip

Klaus

Hi

I can't open your zip file

 

BR KLaus

dhyan

< ="-" ="text/; =utf-8">< name="ProgId" ="Word.">< name="Generator" ="Microsoft Word 11">< name="Originator" ="Microsoft Word 11">

webwiz/2712/multitasking.zip

Dear Mr Klaus,

     I?_Tm sorry, I have
tried to attach my zip file to ABB Forum, but 
last 4 days It?_Ts very difficult.

     I need multitasking by the
reason below :

1. To control the actual condition of bottle conveyor (full or
empty of bottles) every time.

    If bottle conveyor is full, robot will pick bottles and
activate the conveyor

    If bottle conveyor is empty, robot will wait until conveyor
become full.

    Problem : Robot can not check that condition every
time, but robot only checks the condition once every cycle. If robot has
not reached the check position yet, then Bottle conveyor is still ON although
sensor become OFF over the limit time we set.

 

2. To control the condition of carton conveyor

    If  3 cartons are ready in carton conveyor (3 sensors
is ON), robot will place the bottles and activate centering.

    If  3 cartons are not ready in carton conveyor (3
sensors is OFF), robot will wait until they are ready.

    After robot placed bottles, robot will move to pick
bottles in the next cycle and doesn't care whatever condition
of  that 3 carton sensors.

    Problem : in the same time, robot must wait until
3 carton sensors become OFF to activate stopper2 and disactivate stopper1



 3. To control the alarm system. Robot will send signal to Red and Green
lamp in different conditions.

    Problem : the lamp flicker (ON/OFF the lamp) needs
"loop". If robot's pointer is trapped in this loop, robot
can't do the other jobs.



4. We have a plan to use "tool change" too (to change the gripper),
but I have not finished this program yet. Do this  need Multitasking too?



Thank you very much for your advice, GBU



Dhyan