Conveyor tracking, DropWObj problem!

Olivier C

Hi,

 

I am using a IRB120 whit the Q-tracker 377B board to but bottles on a conveyor. Sometime (1 or 2 by minute), the work object is not dropped after the DropWObj command. The rapid pointer get stock to the next command WaitWObj.

 

The reason why the next work object cannot be connected is because a object is already connected! I can see the c1connected input to 1 and the c1Position increasing. The only whay i fond to get out of this situation is to use the maxtime option of the WaitWObj command to "manually" drop the work object by setting to 1 the c1DropWObj.

 

Is there semeone have a idea why a object is ramdomly not dropped??

 

I finish the move whit a FINE before the DropWObj command just like is suppose to be use.

 

The speed of the conveyor is 190mm/sec, 5300 pulses/meter to the Q-tracker and 60 object by min pass the sync switch.

 

PROC ModDrop()

CONNECT gateclosed WITH waitgate;

Begining:

flag1 := FALSE;
DropWObj wobjConv1;
ConfLOff;

ActUnit CNV1;
WaitWObj wobjConv1RelDist:=0.0MaxTime:=3.0 Timeflag:=flag1;

IF flag1=TRUE THEN
SetDO c1DropWObj, 1;
SetDO c1RemAllPObj, 1;
WaitTime 0.1;
SetDO c1DropWObj, 0;
SetDO c1RemAllPObj, 0;
GOTO Begining;
ELSE
ENDIF

MoveL Offs(PickMag,0,0,45), speed1, Z50, toolBotttlesWObj:=wobj0;
MoveL MagIntermid, speed1, Z50, toolBotttlesWObj:=wobj0;

MoveL Offs(Place,7,-15,70), speed1, Z50, toolBotttlesWObj:=wobjConv1;
TriggIO Vac, 0.05TimeDOp:=Do_5, 0;
TriggL Place, speed1, Vac, Z5,toolBotttlesWObj:=wobjConv1;

MoveL Offs(Place,7,30,40), speed1, Z50, toolBotttlesWObj:=wobjConv1;

TriggCheckIO checkgate, 0, DI_5, EQ, 1 StopMove, gateclosed;
TriggL MagIntermid, speed1, checkgate, Z50, toolBotttlesWObj:=wobj0;
MoveL PickMagOff, speed1, Z50, toolBotttlesWObj:=wobj0;
MoveLDO PickMag, speed1, FINE, toolBotttlesWObj:=wobj0,DO_5,1;

DropWObj wobjConv1;
IDelete gateclosed;
ENDPROC



Please help!! Olivier C2011-01-20 11:59:13

Olivier C

Hi,<?: prefix = o ns = "urn:schemas-microsoft-com:office:office" />

The problem is now fixed! And the robot work very well at 60 objects by minute.

When the pointer was staying for a long time at the command WaitWObj wobjConv1; it was because an object was already connected. Can someone explain me why (randomly), the DropWObj wobjConv1; command doesn?_Tt drop the object connected? The solution (temporary I guest?) I fond is replacing the DropWObj wobjConv1; command by:

 

WHILE c1Connected=1 DO

            DropWObj wobjConv1;

            SetDO c1DropWObj, 1;

            WaitTime 0.001;

            SetDO c1DropWObj, 0;

      ENDWHILE

Henrik Berlin

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