PickMaster 3 Work Area Tune

kandanews

Good Evening;

 

I am new here and also to all things robotics.  At the plant where I work we have 4 flexpickers, 2 per machine connected together. 

 

I am having a problem with the work area tune X axis on both pick and place on only 1 of the 4 units.  we start out at somewhere around 5 to 10 mm for the x axis, and over a month or 2 time period, this starts to drift, and we have to adjust the tune so that we can place the package.  until we get up to about 70 to 80 mm.  then the manufacturer comes and reloads a controller backup, and we start the processor all over again. 

 

I would really like to comfort my robot so that he stays home.  any help on a manual, or a place to start to look to understand what is happening here would be greatly appreciated.

 

Thank you ,

 

Ken

 

p.s. I know that i am probably missing a lot of information that you all need to assist me.  be gentle!!  :)  i work second shift after going to school full time, and i am clinically brain dead for the next two years until done with me EE degree.

dhyan

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Dear Ken

        I suggest you must calibrate the Count per Meter of the conveyor.

I suspicious, why did your wrong tuning only happen on X-axis dirrection. Did the x-axis dirrection have the same dirrection to the conveyor dirrection? Am I right?

Using Flexpendant  :

1. Load Program : ppacal.prg

2. Play / Motor On (Manual Mode)

3. Choose : CNV1

4. Ready for Calibration

5. Look the distance at jogging menu, make sure the early pJog has value 0.0

6. Look qtrack1 at Control Panel, make sure early C/M has value 20000 (please record you actual C/M value first).

7. Do the Iteration for C/M by pattern :

CPM_after = ((pJog2 - pJog1) / (pAct2 - pAct1)) * CPM_before


CPM : Count Per Meter

pJog : position value (from encoder unit) that is showed by flexpendant

pAct : actual position value (by actual measurement).


I hope this will help

BR

Dhyan W

kandanews

Thank you Dhyan for your reply.  you are correct, it is in the same direction.  I have not been able to get back to this problem yet, and it is an annoyance (very annoying) problem at the moment, but not one that is stopping the process. 

I will look into this more, because it bothers me, and get back to the forum.

 

Thanks,

Ken