描述

DSQC377B 基于網(wǎng)絡的傳送帶跟蹤模塊

配置說明

?安裝DSQC377A（B）模塊
?安裝編碼器
?安裝觸發(fā)開關
?安裝機器人校準探針
?安裝輸送線上的校準針
?連接編碼器線纜到DSQC377A（B）模塊
?連接觸發(fā)開關線纜到DSQC377A（B）模塊

DSQC377B
ü選擇輸送鏈跟蹤時，須配置編碼器的連接模塊。
ü該模塊把工件的位置反饋給機器人。
ü該模塊通過CAN bus（控制區(qū)域總線）連接。

?安裝要求：?保證輸送鏈每運行1米時，編碼器輸出的脈沖數(shù)量在1250-2500之間，控制器同時采集A相，B相上升沿和下降沿個數(shù)，一個周期內(nèi)采集4個信號，控制器采集的計算信號在5000-10000之間。少于5000即會影響到機器人跟蹤精度，多于10000也不會提升機器人跟蹤精度，輸送鏈運行*低速度為4mm/s,*高速度為2000mm/s。

電壓
10-30V
電流
50-100mA
相位
AB相，相位差90度
類型
增量型
輸出
PNP

輸送線CNV1-BaseFrame校準

?打開程序，單步運行一下指令
?ActUnit CNV1;
?WaitWObj wobjcnv1;
?啟動輸送線到觸發(fā)開關，機器人上顯示位置超過0，停止輸送線。
?打開校準－CNV1－Base Frame－四點
?A：移動機器人探針到輸送線校準針，修改**點位置，
?運行輸送線一段距離并停止，重復步驟A，到四點修改完成
?確定，并查看校準誤差，如誤差過大則重新定義

ü運轉(zhuǎn)輸送鏈,確認輸送線運轉(zhuǎn)時機器人顯示的位置為正方向,否則交換編碼器A/B相;
ü在輸送線上找一參照點,并在固定邊做標記一,記錄機器人上顯示的位置數(shù)據(jù)一;
ü運行輸送線一段距離后停止,重復步驟2,得到標記二,記錄位置數(shù)據(jù)2。
?工件在超出*小和*大距離的區(qū)域時，會自動斷開連接。
-工件在輸送線上被跟蹤的有效距離。

輸送鏈跟蹤編程的總結

?定義輸送鏈坐標系–WorkObject–Change “UFMEC” and “UFPROG”
?進行編程：–ActUnit? CNV1–WaitWobj? wobjcnv1–Program the coordinated? movements/robtargets–DropWobj? wobjcnv1
?Remember to change to the correct work object before programming therobtargets.在定義機器人位置點前總是檢查并更改到正確的工件坐標系。
?Also finish your coordinated motion with a “Fine” zoneor a stationary work object before dropping the conveyor coordinated workobject.結束同步跟蹤運動，斷開輸送鏈上連接的工件前，改用“Fine”點和使用固定工件坐標系。

DSQC377B 基于網(wǎng)絡的傳送帶跟蹤模塊

Configuration description

? Install the DSQC377A (B) module
? Install encoder
? Install trigger switches
? Install robotic calibration probes
? Install the calibration needle on the conveyor line
? Connect encoder cable to DSQC377A (B) module
? Connect the trigger switch cable to the DSQC377A (B) module

DSQC377B
u When selecting conveyor chain tracking, the encoder’s connection module must be configured.
The module feedbacks the position of the workpiece to the robot.
u The module is connected via CAN bus (Control Area Bus).

? Ensure that the number of pulses output by the encoder is between 1250-2500 when the conveyor chain runs 1 meter, the controller simultaneously collects the number of A phase, B phase rising edge and falling edge, collects 4 signals in one cycle, and the calculation signal collected by the controller is between 5000-10000. Less than 5000 will affect the tracking accuracy of the robot, more than 10000 will not improve the tracking accuracy of the robot, the conveyor chain running at the lowest speed of 4mm/s, the highest speed of 2000mm/s.

voltage
10-30V
Electric current
50-100mA
phase
Phase AB, 90 degrees out of phase
type
Incremental type
exportation
PNP

Transmission line CNV1-BaseFrame calibration

? Open the program and step through the instructions
?ActUnit CNV1;
?WaitWObj wobjcnv1;
? Start the conveyor line to the trigger switch, the position displayed on the robot exceeds 0, stop the conveyor line.
? Open Calibration -CNV1-Base Frame- four points
?A: Move the robot probe to the conveyor line calibration needle, modify the ** point position,
? Run the conveyor line for A distance and stop, repeat step A until four o ‘clock the modification is complete
? Identify and review calibration errors and redefine if they are too large

u Run the conveyor chain, and confirm that the position displayed by the robot when the conveyor line is running is in the positive direction, otherwise exchange the encoder A/B phase;
u Find a reference point on the conveyor line, mark the fixed edge 1, and record the position data displayed on the robot 1;
u Stop after running the conveyor line for a distance and repeat step 2 to obtain mark 2 and record position data 2.
? The workpiece is automatically disconnected when it exceeds the minimum and maximum distance area.
– Effective distance at which the workpiece is tracked along the conveyor line.

Summary of conveyor chain tracking programming

Define the conveyor chain coordinate system -WorkObject – Change “UFMEC” and “UFPROG”
? Programming: – ActUnit CNV1 – WaitWobj wobjcnv1 – Program the coordinated movements/robtargets – DropWobj wobjcnv1
?Remember to change to the correct work object before programming therobtargets. Always check and change to the correct workpiece coordinate system before defining the robot position point.
?Also finish your coordinated motion with a “Fine” zoneor a stationary work object before dropping the conveyor coordinated workobject. Switch to the “Fine” point and use a fixed workpiece coordinate system before ending synchronous tracking motion and disconnecting the workpiece connected on the conveyor chain.

 

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Company Introduction:
Chengdu Sunshine Xihe Co., Ltd. specializes in one-stop procurement consulting for imported industrial spare parts, offering original equipment and professional discontinued parts services. We are committed to providing efficient and reliable automation solutions for our customers. Customer support fast responseThe network of partners spans all continentsGlobal partner networkAlways achieve more delivery, be it parts, service or speed



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