IRB340 With Conveyor tracking - PLEASE HELP ME

Toranja

"Hello all



Please forgive me for some possible English mistakes that may appear on the poster shown below.



I'm a newbie on this area, and started now working with the IRB340 flexpicker.

I also have the card D377A wich allows me to use the conveyor tracking
position, but... for more than an week i've been crashing my head with
this robot 



I've already downloaded the ppt with the tutorial for an easy "Using
conveyor tracking in RobotStudio" but unfortunetly i've only have
access to the online mode (I don't know how can you use all those other
options...).



Before me there were some other guys working with this robot and i
believe that they left me with some of the configuration files missing .



Please find below the thing that i've already made



1 - Trial up Program



MODULE MainModule



    CONST robtarget p0:= ...

    CONST robtarget p10:= ...

    CONST robtarget p20:= ...

    CONST robtarget p30:= ...

    CONST robtarget p40:= ...



PERS wobjdata wobjcnv2 := [ TRUE, FALSE, "CNV2" , [ [0, 0, 0], [1, 0, 0 ,0] ], [ [0, 0, 0], [1, 0, 0 ,0] ] ];



    PROC main()

               

        ConfLOff;

       

        wobjcnv2.ufmec := "CNV2";

       

        ActUnit CNV2;

       

        MoveJ p0, v1000, fine, tool0;

       

        WaitWObj wobjcnv2;

       

        MoveL p10, v1000, z1, tool0Wobj:=wobjcnv2;

        MoveL p20, v1000, z1, tool0Wobj:=wobjcnv2;

        MoveL p30, v500, z20, tool0Wobj:=wobjcnv2;

        MoveL p40, v500, fine, tool0;

       

        DropWObj wobjcnv2;

       

        MoveL p0, v500, fine, tool0;

   

    ENDPROC

ENDMODULE





But whent the program achieves:



  ActUnit CNV2; -> It says that there is no task associated to CNV2... says to go to the configuration files



2 - In the EIO.cfg file among other things i have:



EIO_UNIT:



      -Name "Qtrack1" -UnitType "d377A" -Bus "Virtual1"



      -Name "Qtrack2" -UnitType "d377A" -Bus "DeviceNet1" -TrustLevel 2

      -DN_Address 62



      -Name "BOARD11" -UnitType "d651" -Bus "DeviceNet1" -DN_Address 11



So I believe that the Qtrack2 is correctly enabled, right?



3 - In the PROC.cfg file among other things i have:



CONVEYOR:



      -name "SSYNC1" -sensor_type "CAN" -use_sensor "CAN1" -adjustment_speed 250

      -min_dist -600 -max_dist 20000 -async_filter_window_width 1.2

      -correction_vector_ramp_length 30



      -name "CNV2" -sensor_type "CAN" -use_sensor "CAN2" -adjustment_speed 250

      -min_dist -600 -max_dist 20000 -correction_vector_ramp_length 10



CONVEYOR_CAN_SENSOR:



      -name "CAN1" -eio_unit_name "Qtrack1" -connected_signal "c1Connected"

      -position_signal "c1Position" -velocity_signal "c1Speed"

      -null_speed_signal "c1NullSpeed" -wait_wobj_signal "c1WaitWObj"

      -drop_wobj_signal "c1DropWObj" -data_timestamp "c1DTimestamp"

      -rem_all_pobj_signal "c1RemAllPObj" -rem_one_pobj_signal "c1Rem1PObj"



      -name "CAN2" -eio_unit_name "Qtrack2" -connected_signal "c2Connected"

      -position_signal "c2Position" -velocity_signal "c2Speed"

      -null_speed_signal "c2NullSpeed" -wait_wobj_signal "c2WaitWObj"

      -drop_wobj_signal "c2DropWObj" -data_timestamp "c2DTimestamp"

      -rem_all_pobj_signal "c2RemAllPObj" -rem_one_pobj_signal "c2Rem1PObj"





Can you plese tell me if there is any other configuration thing missing?

I'm still on testing mode (only trying to check if the auto tracking works correctly).



Please help because if completely freaking out since I don't know where to start for...
Can anyone help trying to correctly configure it?



Thanks in Advance for All your help

Best Regards

Nuno Ferreira

carmila

Dear Toranja,

Hi! CAn you re-check the address for the CNV 2 . I read from your post that your CNV2 address is 62. In my experiences, the address for additional hardware should be 11 or 10/12 -- this is for single cabinet. You can check it by :

Look for the power cable that attached in your DSQC 377A. There are some jumper named NA0, NA1,... NA5, 0V, etc.

Look in the jumper in NA0 - NA 5. Search for the missing / cut jumper. Calculate the address. Example the missing jumper is in NA1 and NA3 , so the address is 2^1 + 2 ^3 = 2+8 = 10.

Change the address with the correct one. Erstart and Try to execute your program. Hope it help..

Good luck!

BR,

CArmila

carmila2009-07-14 07:29:49