AMSMARTINS

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About AMSMARTINS

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  • Country United Kingdom
  1. Sheet alignment with FH vision

    Thanks for your response. I'm sorry if I was not very clear with my explanation. The zero origin for the camera is in the top left corner. The idea or what we are doing at the moment is : 1- Move the sheet to the LH and RH camera FOV. 2- Both cameras take a picture and measure the Y position of an abject (circle or square ...) 3- PLC calculates the distance the servo has to travel to move the sheet to the reference position ( Reference position is a constant value defined from the 0 or origin of the camera, in my application is 20) For the LH servo: Ex:  The Servo stops on the FOV of the camera and takes a picture and the Y=15mm, so the servo has to move 18mm(camera ref.) - 15mm = 3mm the same applies to the RH servo. LH servo: Ex:  The Servo stops on the FOV of the camera and takes a picture and the Y=16mm, so the servo has to move 18mm(camera ref.) - 16mm = 2mm the same applies to the RH servo. So the idea is to take a picture and then calculate the distance the servo has to travel to the camera reference to make the sheet square. The problem is: If I just take one picture or one correction the accuracy is out and with two as well. Looks ok when we take 4 pictures and 4 corrections. This is probably because when the LH servo moves (servos start the move to reference at the same time ) to the reference position and reaches that position first then the RH and then after the RH finishes the move to reference will make the LH sheet to pivoting on the opposite direction. 4 Pictures  + 4 corrections slow down the machine. My questions are: - I was looking into the FH manual and there is a "calc axis move" tool that looks like it can calculate the servo offset automatically. Has anyone used this tool before? - The calibration was done using the Omron pattern available on Sysmac,  but in this situation should the calibration be done using a "PLC Master Calibration" This processing item is specialized for calibration between the camera coordinate system and the control equipment coordinate system. - 1 picture should be enough to square the sheet up but is not working. Maybe I should correct the LH servo to the correct distance to make it square but not pivoting on the RH side. But the problem is to know how to know or calculate that distance.? Thanks    
  2. Hi all. I have a new project on hand and some help will be appreciated. The idea is to square or align a plastic sheet using two clamping grippers controlled by servo motors. The sheet is being gripped from two points left hand gripper and right hand gripper. We got it pretty much working but to achieve that I have to take 3 or 4 pictures and execute the correction after each picture. The way we are doing it is to take a picture and get the Y positions looking for a target that can be a square or a circle etc.. and then move the gripper to the reference position ( origin on the vision ). to match the Y position of the circle or square shape whit the camera reference position. And with only 1 or 2 pictures the accuracy is not very good. I think the reason why this is happening is because when the servo moves the left-hand gripper to the reference position the other side (right-hand ) goes out of position. The vision system we are using is the  FH . Has anyone done something similar before?. If yes how do you do to move the right distance, to get the sheet square?. Please see the pictures. Thanks
  3. Hi Don't know if you can use it in your application , but did you consider the option to use  a remote TCP port from the built-in EtherNet/IP? Using Sysmac functions : SktTCPConnect SktTCPSend SktTCPRcv
  4. Omron DM

    Hi. You are right , the DM can retain their contents. Some words in the DM Area can be saved to the built-in EEPROM backup memory using Auxiliary Area bits. These words are specifically referred to as the backed up words in the DM Area Some words in the DM Area can be saved to the built-in EEPROM backup memory using Auxiliary Area bits. These words are specifically referred to as the backed up words in the DM Area. Please , look to the manual bellow ,page 83 https://assets.omron.eu/downloads/manual/en/v4/w480_cp1e_users_manual_en.pdf  
  5. Thanks for your replay. With subindex=0 and  IsCompleteAccess = TRUE  and with some extra bytes it works. Thanks for your help .  
  6. Hi. Thanks for your reply Yes, I tried that but no success so far. I tried as well with the sub index Read_Struc.Subindex:=USINT#16#16; "For ADOs which consist of several values (array), where only one individual value is accessed, the subindex “0” is the size of the array (read-only). The subindexes 1...N correspond to the values 0...N-1 of the corresponding ADO" Any Ideas ? Thanks again
  7. Hi all. I'm trying to read and write some data from a ultrasonic generator via Ethercat. Reading single variables it works , but if I try to read an array with 22 elements (show all the values in this array) it doesn't work . Please see the image attached. The idea was to read all the values in the ARRAY[0..21] OF UINT at the same time, is that possible or I have to do 1 by one ? Speaking with technical support of the welding generators they can do this with TIA Portal. I added to attached files an exemple from backhoff as well. Reading the manual for the Weld Generator from Telsonic the index, and Subindex should be Read_Struc.Index:=UINT#16#2013; Read_Struc.Subindex:=UsINT#16#16; Read_Struc.IsCompleteAccess:=FALSE; Buts as I said above I can only read the first element of the array or Read_data[0] Thanks    
  8.  Hi all. I have a question about how to set up the motor in rotary mode. My application will be a basic rotary table driven by a servo motor without gearbox between. So, in my servo drive axis settings, I select the motor as a rotary mode. then I defined the maximum position setting value for 360 degrees, and minimum to 0. So far so good. But the problem comes when I want to make an absolute move using the mc_moveAbsolute to move 360 degrees. Whit this settings the error "target position settings out of range " will come up. So, what is the solution to rotate 360 degrees without generating this error? if I set up the maximum value to 361 degrees and then if I rotate 360 the error will not occur and the motor will rotate 360 degrees as I aspected, but it's this correct ? or there is another way to do it? Thanks