X33 is optional interface that gives you fast measure inputs. they are like standard inputs but much faster.
Posts by panic mode
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that cannot be right
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there are several options available but... you need to know what you are getting into.
Adding modules to Beckhoff I/O requires knowledge of power budget (current limits) and distribution. This means careful interpretation of the datasheets and calculations (If you have TwinCat, perhaps tools exist to assist with this).
Simpler option (and cheaper and easier to get) is to just use common DIN rail terminals. Power terminals can be grouped and shorted using jumpers (center jumper for example). Best of all this is flexible and expandable and - much higher currents are possible than I/O can handle. This is important to keep in mind when powering I/O from same source.
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[size=2]sorry, [/size]
[size=2]in my description sensor order was different. S1 and S2 were both on the same side (long side) of the sheet, S3 was on the short side.[/size]
[size=2]i was not pressed for time but still wanted to do a decent timing... this is why i moved broad side towards both sensors - without knowing which one would be tripped first...[/size]
[size=2]actually in this case there was total of six sensors (three per side) due wide range of products (some 40 products, lengths from 0.9 ... 5.8m) and client wanted that first edge to be aligned was what they called "the good edge" (not necessarily the long one). [/size]
[size=2]as SkyeFire mentioned rotation was the slow part but this was due physical setup being less than optimal - integrator mounted lasers only about an inch (25mm) from a hardstop which meant that stopping distance had to be very short. if there was more room, robot could use higher speed and finish alignment sooner. i was given tons of time (they were ok for up to 55 sec.) but despite low speed and huge distances, entire alignment took about 10-12 sec. [/size]
[size=small]also in this case precision of alignment was the highest priority. this is why after each edge was detected i moved sheet back to the interrupt position before scanning for the next edge. it was nice to see that fine point laser beam is just hitting the edge and... it STAYS on it during further operations (rotation and linear scan).[/size]
[/size][size=2]when speed is important, i would consider using X33 interface (high speed measure) or use two speed edge detection. this means you can use high search speed to detect edge first time. this means detection is quick but the accuracy is not great. however now we got close to the sensor and we can search in reverse at low speed (only short distance traveled by low speed since now we are close).[/size][size=2]i would do some comparison measurements to see if this is really justified, in many cases slow back search may not be really needed. [/size][size=small]
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i did exact same job few years ago.
my approach was to make TCP at each sensor and base lined up with sensors S1,S2,S3.then:
1. move panel towards S1/S2
2. when either S1 or S2 are sensed (by interrupt), save status which sensor was tripped and move panel back to position where interrupt occurred
3. rotate about TCP that was tripped (S1 for example) until other sensor is triggered (by interrupt)
4. rotate back to position where interrupt occurred. now panel is lined up with S1/S2.
5. move in base until S3 is triggered, then move back to position of interrupt. now panel is completely aligned.advantage of this is that one does not need to do any math on their own.
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Easy HMI for KRC4
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I thought that the power was connected from the side of the module. I looked up Beckhoff's specs for the modules and that is what I understood.it depends on installed option and application. In general goal is to provide flexibility so that client can decide between using internal or external power.
External power is needed when interfacing to circuit powered from separate source (galvanic isolation).
Internal power is ok for cases where isolation is not needed. -
that would be question for RoboDK but... are you sure you installed it correctly and with all prerequisites. QT is a library just like DotNET etc. your RoboDK is unable to find it...
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here is an example ladder code using type1 PGNO and reflection (parity check is in this case turned off).
reason parity is off (signal set to 0) is that reflection is superior - parity check can only detect corruption of a single PGNO bit, while reflection checks all PGNO bits. as a bonus, this saves you some programming effort - no need to figure out how to calculate parity in PLC any more. this would require counting set bits somehow (using loops or series of XORs for example). -
Hello,
There are three types of PGNO, all are well docummented.
For few programs type 3 may be simpler (specially if using wired signals between PLC and KRC). Note that control sequence is a bit different though...
things to watch for is signal type - Some signals are EDGE-SENSITIVE, while others are LEVEL-SENSITIVE. this is a very important distinction. edge sensitive signals in this case are rising-edge sensitive. this means that if the signal is already true (or is not low long enough) edge may not be sensed.
for edge sensitive signals one must ensure correct timing. i would recommend 20ms as minimum duration for on and off states...
crude but simple workaround is to simply use symmetrical and low frequency clock (10Hz for example) in PLC logic on all PLC outputs that are driving KRC edge sensitive inputs. but like anything, doing things without understanding is ... not very good.
CELL is used as a standard, documented and flexible way to start user programs using external controller. of course one can create own logic too and modify or replace CELL completely but i would suggest being careful. in my experience it is usually those who are least qualified to make such workarounds that try hardest to make something on their own... somehow they think they can make "better" programs when in reality they are literally killing resources or causing all kind of problems - some that may not be immediately observable (then they blame problems on robot).
they are also the ones annoyed by BCO and just "want it gone...". this can have a very bad consequences and i see it as a red flag. when i think about it, i have never heard trained programmer complain about BCO.
BCO check in CELL is configurable and can be removed if needed (there is no BCO in EXT mode) but - there is no need to delete any code. CELL is already created to be flexible, it is enough to toggle variable CHECK_HOME. this can be done from single variable monitor.
and to answer the last question...
if you have ever seen annoying popup windows showing up faster than you can can close them - your pseudo code is basically doing sort of the same thing with submit interpreter. reason is that CWRITE commands are asynchronous and may take relatively long time to execute. Submit is running in "bursts" so one scenario is that same line of code may be processed many times. this means that slow async instructions like CWRITE will "stutter" or run multiple instances in parallel. i hope this illustrates how something that looked like a good idea can turn out to be something different. this can still work as long as KSS garbage collector can keep up and clean the mess without running out of resources. chances are it will work well enough to look ok (at least for the time you are there). reality is that would be just an illusion that everything is fine.better way is add some code and use strategy to avoid problems. that includes using one-shots, checking for instruction completion etc.
my recommendation is to take a formal training or buddy up (get help from someone experienced when doing first project).
hope this helps.
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just came back and checking my documents... you are correct.
Camera has two connectors. male connector is IO and female connector is PoE. In manual for VisionTech 3.0 they are shown reversed. Manual for VisionTech 3.1 is corrected.
And those two cables are supposed to be the same except for length...
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Estop is a manual function and it requires manual reset. In EXT mode you can use IO signals to restore drives power, acknowledge messages and start program.
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It is not one... there is a handful of variables that need to be adapted.
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use RSI example server to talk to RSI running on KRC.
then use WkireShark to see and capture telegrams...do the same when you use your application instead of RSI example server and compare captured telegrams.
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CAL 8...? that is way waaaay WAAAAY too low.
use
CAL 32767lower values will reduce resolution (which is what you are seeing)
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your EK1100 is not wired completely.
top two terminals that have wires connected right now (as per our photo) are only for module on the left (EK1100 itself).
you need to supply 24VDC for terminals below to have power to IO modules on the right... -
Article numbers?
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As I recall monitoring on KRC1 was done in MFC. You could try swapping MFC or entire PC or cable FE2xx to MFC.
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Hello from Montreal MMTS/STFM
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You need newer version of WorkVisual. 4.0.27 and higher support Win10.