DSQC377B 基于网络的传送带跟踪模块

描述

DSQC377B 基于网络的传送带跟踪模块

配置说明

•安装DSQC377A（B）模块
•安装编码器
•安装触发开关
•安装机器人校准探针
•安装输送线上的校准针
•连接编码器线缆到DSQC377A（B）模块
•连接触发开关线缆到DSQC377A（B）模块

DSQC377B
ü选择输送链跟踪时，须配置编码器的连接模块。
ü该模块把工件的位置反馈给机器人。
ü该模块通过CAN bus（控制区域总线）连接。

Ø安装要求：•保证输送链每运行1米时，编码器输出的脉冲数量在1250-2500之间，控制器同时采集A相，B相上升沿和下降沿个数，一个周期内采集4个信号，控制器采集的计算信号在5000-10000之间。少于5000即会影响到机器人跟踪精度，多于10000也不会提升机器人跟踪精度，输送链运行*低速度为4mm/s,*高速度为2000mm/s。

电压
10-30V
电流
50-100mA
相位
AB相，相位差90度
类型
增量型
输出
PNP

输送线CNV1-BaseFrame校准

•打开程序，单步运行一下指令
•ActUnit CNV1;
•WaitWObj wobjcnv1;
•启动输送线到触发开关，机器人上显示位置超过0，停止输送线。
•打开校准－CNV1－Base Frame－四点
•A：移动机器人探针到输送线校准针，修改**点位置，
•运行输送线一段距离并停止，重复步骤A，到四点修改完成
•确定，并查看校准误差，如误差过大则重新定义

ü运转输送链,确认输送线运转时机器人显示的位置为正方向,否则交换编码器A/B相;
ü在输送线上找一参照点,并在固定边做标记一,记录机器人上显示的位置数据一;
ü运行输送线一段距离后停止,重复步骤2,得到标记二,记录位置数据2。
•工件在超出*小和*大距离的区域时，会自动断开连接。
-工件在输送线上被跟踪的有效距离。

输送链跟踪编程的总结

•定义输送链坐标系–WorkObject–Change “UFMEC” and “UFPROG”
•进行编程：–ActUnit  CNV1–WaitWobj  wobjcnv1–Program the coordinated  movements/robtargets–DropWobj  wobjcnv1
•Remember to change to the correct work object before programming therobtargets.在定义机器人位置点前总是检查并更改到正确的工件坐标系。
•Also finish your coordinated motion with a “Fine” zoneor a stationary work object before dropping the conveyor coordinated workobject.结束同步跟踪运动，断开输送链上连接的工件前，改用“Fine”点和使用固定工件坐标系。

DSQC377B

DSQC377B 基于网络的传送带跟踪模块

Configuration description

• Install the DSQC377A (B) module
• Install encoder
• Install trigger switches
• Install robotic calibration probes
• Install the calibration needle on the conveyor line
• Connect encoder cable to DSQC377A (B) module
• Connect the trigger switch cable to the DSQC377A (B) module

DSQC377B
u When selecting conveyor chain tracking, the encoder’s connection module must be configured.
The module feedbacks the position of the workpiece to the robot.
u The module is connected via CAN bus (Control Area Bus).

• Ensure that the number of pulses output by the encoder is between 1250-2500 when the conveyor chain runs 1 meter, the controller simultaneously collects the number of A phase, B phase rising edge and falling edge, collects 4 signals in one cycle, and the calculation signal collected by the controller is between 5000-10000. Less than 5000 will affect the tracking accuracy of the robot, more than 10000 will not improve the tracking accuracy of the robot, the conveyor chain running at the lowest speed of 4mm/s, the highest speed of 2000mm/s.

voltage
10-30V
Electric current
50-100mA
phase
Phase AB, 90 degrees out of phase
type
Incremental type
exportation
PNP

Transmission line CNV1-BaseFrame calibration

• Open the program and step through the instructions
•ActUnit CNV1;
•WaitWObj wobjcnv1;
• Start the conveyor line to the trigger switch, the position displayed on the robot exceeds 0, stop the conveyor line.
• Open Calibration -CNV1-Base Frame- four points
•A: Move the robot probe to the conveyor line calibration needle, modify the ** point position,
• Run the conveyor line for A distance and stop, repeat step A until four o ‘clock the modification is complete
• Identify and review calibration errors and redefine if they are too large

u Run the conveyor chain, and confirm that the position displayed by the robot when the conveyor line is running is in the positive direction, otherwise exchange the encoder A/B phase;
u Find a reference point on the conveyor line, mark the fixed edge 1, and record the position data displayed on the robot 1;
u Stop after running the conveyor line for a distance and repeat step 2 to obtain mark 2 and record position data 2.
• The workpiece is automatically disconnected when it exceeds the minimum and maximum distance area.
– Effective distance at which the workpiece is tracked along the conveyor line.

Summary of conveyor chain tracking programming

Define the conveyor chain coordinate system -WorkObject – Change “UFMEC” and “UFPROG”
• Programming: – ActUnit CNV1 – WaitWobj wobjcnv1 – Program the coordinated movements/robtargets – DropWobj wobjcnv1
•Remember to change to the correct work object before programming therobtargets. Always check and change to the correct workpiece coordinate system before defining the robot position point.
•Also finish your coordinated motion with a “Fine” zoneor a stationary work object before dropping the conveyor coordinated workobject. Switch to the “Fine” point and use a fixed workpiece coordinate system before ending synchronous tracking motion and disconnecting the workpiece connected on the conveyor chain.