adccommunitymod (AutomationDirect) asked a question.
Created Date: May 07,2019
Created By: RJL63
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Do MorePLC and SureServo drive using H2-SERIO module and cmore touchscreen. I been assigned this task and am not sure how to get started. I have to build a 3 axis gantry to pick and place a bottle from one conveyor to another. The problem is there are currently 6 different size bottles and they also want the ability to "teach " additional sizes in the future. I am not sure as to the best way to approach this. Has anyone done something similar or have a sample program that might point me in the right direction. Probably in over my head but would like to learn for future reference.
Created Date: May 07,2019
Created by: RJL63
Do MorePLC and SureServo drive using H2-SERIO module and cmore touchscreen. I been assigned this task and am not sure how to get started. I have to build a 3 axis gantry to pick and place a bottle from one conveyor to another. The problem is there are currently 6 different size bottles and they also want the ability to "teach " additional sizes in the future. I am not sure as to the best way to approach this. Has anyone done something similar or have a sample program that might point me in the right direction. Probably in over my head but would like to learn for future reference.
Created Date: May 07,2019
Created by: RogerR
I have been trying to build something similar for awhile for small rolls of plastic to be packed.
Mainly working on the delta robot style.
Performing the motion is not that hard, but performing the math for the end position of each move and making it flexible has been.
Created Date: May 07,2019
Created by: Cap
Do you have a Clue as to how you are actually going to grab the bottle, and what your 'End Effector ' is going to look like?..
Bottle Shape
Speed involved..
Distance Involved..
Vision System?
Cap
Created Date: May 07,2019
Created by: RJL63
I have a gripper on the z axis. we will be picking the bottles up by the cap since all bottles have the same cap. The bottles are feed to a hard stop with a sensor to verify a bottle is ready for unloading. The bottle will be picked up and loaded onto an indexing conveyor that is perpendicular to the unload conveyor. Velocity will be preset since speed is not an issue since we have a machine cycle of approximately 15 sec.We would like to be able to use the touchscreen and jog the different axis into place and save the position to a menu/library for later retrieval, similar to teaching a robot a new program. Once saved the operator can select the desired program and the positions would be downloaded to the main program
Created Date: May 08,2019
Created by: RJL63
just looking for some direction and or a sample program that I can review. In over my head but don't have a choice. I have been reviewing some of the online application notes and samples available
Created Date: May 08,2019
Created by: Todd Dice
When you write, "teach, " do you mean to just drag your end effector to a new position and then hit a button to store that position? Or to just insert new position values into an array with a pointer for recipe number through an HMI like a C-more? If I was tasked with this, the latter solution of a my question is how I would do it. Otherwise - and this is just from my experience - I'd have gone with a UR3, 5 or 10 robot (dependent on load and reach needed) because with it you can just drag to a place and have it "remember " the position.
Created Date: May 08,2019
Created by: RJL63
Yes teach as in hmi /cmore unit. I planned on a set up screen in which they could jog the unit into position and when located "save " the data to a menu for retrieval. The operator can then select which product they need to pick up and the plc would transfer the associated data points for that product to the respective servos for the X,Y,Z gantry
Created Date: May 09,2019
Created by: Todd Dice
Well, as far as remembering the positions of each axis for each bottle size (recipe), I'd create an array where the position points are stored, and have a recipe button point to the appropriate values. I'm not knowledgeable in how arrays are done in Do-more, but others are so here's where I'd bow out.
Created Date: May 10,2019
Created by: Alexandru
Let’s establish the axes first:
1. Indexing conveyor seems like main axis cause it gives the machine speed
2. Transfer wheel is a driven axis cause it depends on indexing conveyor.
3. Which one is the third axis?
bottles need already accumulated on the loading conveyor
fr as I can understand, you have a rotary motion driven by a linear motion.
first you set the motion of the indexing conveyor.
0. Indexing signal
1. Acceleration ramp
2. Top speed
3. Deceleration ramp
4. Idle speed
The indexing signal is a digital out from the drive. It signals that the position for a new indexing was reached. This signal will periodically come on, while the indexing conveyor moves along at predetermined speed. This signal is active as long as there is motion.
acceleration/deceleration are linear ramps, identical for simplicity.
idle speed is needed to prevent machine overload at stop and restart.
how it works:
once started, the indexing conveyor ramps up to a predefined speed. At this moment no bottle is on.
every time the indexing advances, a signal from the drive signals the rotary loader to phase in synch. This maintains the phase between rotary loader and indexing conveyor. Between two signals, the rotary loader drive will follow the speed reference of the indexing drive and compensate for the error between its own indexing and the indexing consent from the conveyor.
the rotary loader will receive the bottle from an indexing feeder screw which is mechanically tied to.bottles have to be accumulated for machine to start.
conclusions
is a complex mechanics. On the motion side, multiple axes use a servo master to monitor the speed and the phase.
Created Date: May 13,2019
Created by: RJL63
This is a bottling application. I am not controlling the conveyors just placing bottles from the bottling system to a shrink wrap system located perpendicular to the bottling conveyor. They have multiple bottle sizes in both diameter and height. The conveyors run continuous and the bottles come up against a hard stop fixed position. The x, y, and z pick up positions change based on bottle size. They only change bottle size once a day, sometimes not for multiple days. I am trying to determine the easiest way to set the system up so they can add next bottle sizes without having to "reprogram " the system just add a new item via the touchscreen by jogging it into place and saving the position, similar to how you would "teach " a robot a new path.