I have a problem with Start/Stop sequence in PickMaster program.
Machine has got two IRB360 robots and each of them has it's own conveyor for picking.
I use Start/Stop bits in PickMaster to start or stop conveyors - send bits via Profinet to PLC.
I have to use small pick areas, because there is a risk of collision between robots, so their areas are limited.
Below i described my problem:
If there is too much items on the conveyor pick area for robot, then PickMaster reset start bit and stop the conveyor. The problem is, that sometimes conveyor stops and starts few times in short time by PickMaster. This cause, that robots can't pick the item - miss pick position (error +/- in conveyor X-axis). Robots starts make good picks after missed 3-5 items (probably number of items in it's last queue/area) only if conveyor doesn't stop again in short time.
How can I solve this problem? Should I write some additional functions in RAPID program or this problem is not possible to resolve? If not, the only way is to not stops conveyors, but slow them down?
Thank you for answers.