Hi,
I have an application where I believe I have a yaskawa DX200 Robot that is doing a line tracking application.
Essentially 2 parts are coming down the conveyor side by side until a first sensor is blocked. A photo is taken using a keyence camera. and the parts are tracked all the way until the parts block another sensor down the conveyor. The robot then tracks the conveyor and is able to pick both parts using the position data collected by the camera. This is currently working.
It was originally set up to two 2 parts a time side by side like this, but we are now having to change it to allow the system to pick single parts at a time if it comes in this way.
Using the camera I can determine if it's a single part coming in, and I've set up a bit to transfer that information to the robot when it goes into this line tracking pick job. I then just skip over the second pick and jump straight to where the:
SYEND CV#(1)
CVQUE CV#(1)
are executed and let job continue.
The issue I'm having is, ever since I made this change the robot is now picking up every other set of parts (regardless if it's a single or two parts together) and I have no clue why.
I'll be the first to say I'm not a Yaskawa expert, and I've been racking my brain over this for a few days now. Does anyone have any ideas to what might be causing this to happen?
Any input would be useful.
~CONTINUED~
Trying to dig further into the code.
I have something along the lines of:
*TOP
GETCVSFT CV#(1) QUENO =1 WKKIND I000 WKEXIST I001 RESULT B010
JUMP *TOP IF B010 <> 0
JUMP * END IF I001=0
SYSSTART CV#(1) STP=1000.00 CL=100.0
GET B000 $B008
JUMP *SYEND IF B000=0
<chunk of code that does the 1st pick>
<chunk of code that does the 2nd pick>
*SYEND
SYEND CV#(1)
*END
CVQUE CV#(1)
This is working, but when I skipped around the code to do the second pick, I find the next time this job is executed, and the next part/set of parts comes in to be picked, B010 remains some value that is not 0, and I end up waiting for the following set of parts after before it goes back to 0 again.
Thanks you!
