COMMISSIONING AND OPERATION
5
8024534 / 16UW / 2020-02-26
Operating Instructions | InspectorP Rack Fine Positioning
29
Subject to change without notice
5.3.10
Additional parameters
Other parameters for fine adjustment of the device are available in the
Maintenance
user level. These additional parameters are not relevant for most applications,
however. A table listing and explanation of all parameters can be found in the
appendix,
see 7.1 Parameter, page 39
5.3.11
Completing configuration
After completing configuration, deactivating image output is recommended to achieve
the maximum computing power of the device. This achieves the highest speed in the
positioning process, and the throughput of the system is at its highest.
After successful parameterization using the SICK AppManager, we recommend
creating a backup of the parameterization and saving the backup on the computer is
recommended. Alternatively, the parameterization can be saved on a microSD memory
card in the device via parameter cloning,
see 4.1.3 Saving parameter set, page 15
5.4
Specification of the interface and interaction with the controller
5.4.1
Communication process
After switching on the supply voltage, the
Continuous measurement
parameter in the
device is activated by default. The device immediately goes into measurement mode.
As long as continuous measurement is switched on, the device continuously records
images and evaluates them. The measurement results are transferred to the controller
cyclically. In doing so, the device sends offset values of the center point of the
positioning mark relative to the origin of the coordinate system to the controller. The
offset values are transmitted in micrometers. Determining the average value of the
transmitted offset values in the controller and positioning the automated storage and
retrieval system according to this average value is recommended. Once the automated
storage and retrieval system has completed the put away or retrieval process and has
moved away from the target region, and the positioning mark is outside the field of
view, the
Continuous measurement
parameter is deactivated by the controller. This
will stop image recording.
In order to switch between Single and Double deep modes, the controller must report
which rack depth is to be approached by means of a command.
If the position of the device and the defined target region do not agree with the
positioning mark on a rack in individual cases, this deviation needs to be taken into
consideration on the controller side. Do not reparameterize the device for this
purpose.
5.4.2
Interfaces
The device offers an Ethernet interface with various communication protocols
(PROFINET, TCP/IP, UDP). The communication protocol used can be set using the
SOPASair operating software,
see 5.3.9 Setting up Ethernet interface, page 28
In addition, the digital inputs and digital outputs can be used for communication with
the controller.
PROFINET
If the PROFINET communication protocol is used, communication is done in
Handshake mode via the 32 input bytes and 32 output bytes. The control bytes
(Ctrl bits) of the PROFINET interface are not used.
