On IRC5 what possibilities are there to capture the actual position by a digital input, we should need an input that reacts realy fast, or
at the instant of detection of a fotocel we should need accurate capturing of the position.
High speed inputs
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SimotionD410 -
June 18, 2018 at 12:06 PM -
Thread is marked as Resolved.
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There's a few alternatives depending on what you're trying to accomplish, the standard ABB I/O's support change of state which means that it'll trigger the input immediately as opposed to polled I/O's which only updates as fast as you poll them e.g. every 50-100ms (you can bog down the controller if you have a lot of I/O's with fast refresh/poll rates).
You'll have a normal delay in the electronics of the ABB I/O (or any I/O), say ~10ms or so (don't remember the exact number) but even the photocell itself has a delay in it, so if the photocell is good enough for what you intend to do, so should the CoS I/O.
What's the application ?
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The robot has to move over an object with the photocell that will detect the object while moving.
The position of detection will be stored, so that the robot knows where to pick the object.
You mean that the standard ABB io-modules are capable of generating a trigger when an input goes from low to high (or the other way)?
Is there documentation about this? -
Well... any I/O module (ABB or other compatible unit) will read the input and then it's up to you how you handle it, a change of state I/O (ABB or other compatible unit) will be your fastest option for a discrete (24VDC) signaling sensor.
(I would also look at laser sensor v.s. photocells (unless you specifically need a photo sensor for some reason) as they're more accurate (generally speaking anyway)
If the robot is moving over the object, then it sounds like you're searching for it and in that case you can use SearchL instructions as they have a lot of built in functionality for storing the found position.
The alternative would be to use trigg instructions to fire triggers (e.g. trap routines) but now you have to write all the code to handle what happens when the input is triggered.If you're locating things on an incoming conveyor belt, then I'd look at using the encoder interface board and the conveyor tracking option.