Analog Sync (Machine Sync) sim in Robot Studio

jacekbranka

Hi there,

I have a project where im using Machine Sync Option and Machine Sync Application Layer. I didnt get robot and analog sensor yet so i want to create such a system in RobotStudio.

- First i have to create mechanism called SSYNC1  and system including Machine sync

- Next, when you create station, RS will ask you to select SSYNC1 mechanism (this mechanism will simulate IMM)

- Then i have loaded all parameters that i need for Analog sensor config.

- In System configuration also appears "Process" tab where i can find "can interface" "Conveyor Internal" and "Sensor Systems"

- I tried already many parameters and configurations but i cant succeed with connecting my mechanism with analog input in VC.

THe problem is that i cannot simulate this program cause analog input doesnt change when i move mechanism. Somebody has some idea how to do it?

Henrik Berlin

You can create a "Smart IMM" using the Smart Component feature. Proceeds as follow

1. New station
2. Import your IMM Mechanism Library
3. Create empty smart component (Modeling tab). Rename to "SmartIMM"
4. Drag and Drop the mech lib to the SmartIMM
5. Right-click smartIMM in layout browser and select "Edit Component" from context menu.
6. Add "Converter" and "JointReader" from the "Add component" list
7. Define JointReader to read the joint value of the IMM mech lib. (Properties)
8. In "Signals and Connections" add analogue output signals named "aoIMMValue".
9. In "Properties and Bindings", add binding between "JointReader:J1" and "Converter:AnalogProperty"
10. In "Signals and Connections", add connection between "Converter:AnalogOutput" and "SmartIMM:aoIMMValue"
11. Save the SmartIMM as library.
12. Testrun the component by starting the simulation and jog the IMM axis. The analog signal output of the SmartIMM will be updated accordingly.

Now, the SmartIMM can be used as your external axis library, with the additional feature that its analog output can be fed back to the VC. You need to create a connection using the "Station Logic"