ABB PickMaster Twin - PowerPac, Руководство по применению

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6.5.8 Example: Indexed work area with predefined position
Description of example
In this example we use an indexed work area with predefined positions.
When using predefined positions with the indexed work area, we must modify the
configuration, that is the EIO.cfg file. We will cross connect the trigger and strobe
signals because with predefined positions there is no system generating the strobe
signal. Without the predefined positions, the trigger signal is sent to the vision
system to acquire an image. The strobe is then sent back from the vision system
to acknowledge that the image has been acquired.
This is an example setup for a line that is triggered externally by an I/O signal and
the position source is a predefined positions type. We recommend defining unique
signal names for all new signals when setting up a system that is much different
from the standard system.
Two new signals are used in this line:
• The trigger signal,
doTrigSignal
.
• The strobe signal,
diStrobeSignal
.
Modify the signal configurations by adding the two signals.
EIO_SIGNAL:
-Name "doTrigSignal" -SignalType "DO" -Unit "PPASIM" -UnitMap "6"
-Access "ALL"
-Name "diStrobeSignal" - SignalType "DI" -Unit "PPASIM" -UnitMap
"6" -Access "ALL"
The trigger and strobe signals are cross connected since there is no vision system
that can send back a strobe signal.
EIO_CROSS
-Res "diStrobeSignal" -Act1 "doTrigSignal"
The Position generator signal in this case is
di1_1
, which is connection 1 on the
DSQC 328A:X3 board, see Circuit diagram - PickMaster Twin , 3HAC024480-020 .
When the
di1_1
goes high (by an external I/O signal) the trigger signal is pulsed.
Since the trigger and strobe signals are cross connected, the strobe will be received
immediately. An event will then be sent from the controller to the computer, which
it is ready for new item positions and the predefined positions will then be sent to
the controller. If a pattern is used, several positions are sent for every signal.
In this example the robot execution signal is not used and was therefore removed.
418 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
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6 RAPID reference
6.5.8 Example: Indexed work area with predefined position