In my application I have to move vertically down to product to pick it. But I don't know exactly at what Z-position the product will be at.
So I will detect the position with fotocel (digital contact) while moving down to pick it, at that time I will capture robotposition and calculate the position of the product. But I don't want to loose too much time, so I want to move down fast. I should want a capture of the robotposition in a cycle of 1 millisecond or less (preferably even 250µs). With that update cycle I suppose it is important that the digital input is captured fast (1 ms or less) and the robotposition is updated fast (1 ms or less).
Is this possible with a standard configuration of IRC5, or do I need special hardware or software options?
Capture position at high speed
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Plc_User -
February 11, 2017 at 5:20 PM -
Thread is marked as Resolved.
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Hi Plc_user,
What I know is that 10ms is maximum. But the current robotposition at a certain point when the robot is moving is difficult. I had pretty much the same issue, and i was at a maximum speed of 250mm/s. This problem is caused by the motion planner of the robot. As the motion planner is way ahead of the current position, you always get a difference in real position.
I found my way to start at a certain speed, trigger the currentposition request, and look at the difference/offset. This offset is in millimeters pretty much the same all the time.
What kind of speed are you looking at?
Regards,
Jeroen
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The speed I should want is 1000 mm/sec.