Hello everyone. I need some advice in connection with the following problem:
We're building an inspection equipment that uses 3D imaging. We are using a Cognex 3D Line Scanner camera
what is mounted to a KUKA Agilus robot. When a new workipece arrived on the conveyor, the
controller PLC set the proper robot program (via EtherCAT) on the controller (KRC4), and the robot
(with the camera) run through on the programmed path.
Our main problem, how could we achive the following: when the robot move a specified distance (0.1 mm or even less)
to any direction, we need to trigger the camera to take a slice of the whole 3D image.
The camera has a trigger input (Tr+,Tr-) and an encoder input (A+,A-,B+,B-).
The current implementation (what is working): Now we supposing that the robot run through on
the given path with known velocity. We trigger the camera on preterminated points
(via the trigger line, KRC4 has 16+16 line IO card), and the camera take programmed number of
photos/slices according to the current part of the path.
But we would like to make this process velocity independent.
Can we generate encoder or trigger signals somehow according to the robot displacement?