PT WORKCELL


PT WORKCELL

Table 1. PT Workcell Items

ITEM DESCRIPTION

Name

This is a 21 character name.

Hostname of the configuration controller on which setup is being done. You cannot change this item..

IP Address

IP Address format: xxx.xxx.xxx.xxx

The Ring IP address of the controller in the RIPE ring (typically, port 2 on an R-30iA controller, Port 1 on an R-30iA Mate controller). You cannot change this item.

Config Controller

Range: YES/NO

If yes, then the teach pendant connected to this controller becomes the Configuration Teach Pendant. If you want to designate a different controller as the configuration controller, then say NO to this item, and go to the other controller and select YES there. All other controllers are then notified of the change in configuration controller over Ethernet.

Dynamic Load Bal

Enable or disable DLB.

Dynamic Load Bal Mode

The available modes are:

  • Even Inf — When a robot in the workcell goes down, only the parts that it should have picked are evenly distributed to the remaining running robots.

    For example, if there are 4 robots in the load balance group and their ratio is 2, 1, 2, 1 for a a given model_id. In the normal running each robot would pick based on the following Load Balance calculations:

    Robot 1: pick 2/(2+1+2+1) = 2/6 of total parts on the conveyor Robot 2: pick 1/(2+1+2+1) = 1/6 of total parts on the conveyor Robot 3: pick 2/(2+1+2+1) = 2/6 of total parts on the conveyor Robot 4: pick 1/(2+1+2+1) = 1/6 of total parts on the conveyor

    If R1 went down: Robot 2: pick 1/(1+2+1) = 1/4 of total parts on the conveyor Robot 3: pick 2/(1+2+1) = 2/4 of total parts on the conveyor Robot 4: pick 1/(1+2+1) = 1/4 of total parts on the conveyor

    If R2 went down: Robot 1: pick 2/(2+0+2+1) = 2/5 of total parts on the conveyor Robot 3: pick 2/(2+0+2+1) = 2/5 of total parts on the conveyor Robot 4: pick 1/(2+0+2+1) = 1/5 of total parts on the conveyor

Dynamic Load Bal Mode (Continued)

  • Keep Same — When a robot in a workcell goes down, then the parts that it should have picked are not picked by any of the remaining running robots. In other words, the running robots continue to pick at the same rate that they were picking prior to the fault.

    For example, if there are 4 robots in the load balance group and their ratio is 2, 1, 2, 1 for a a given model_id. In the normal running each robot would pick based on the following Load Balance calculations: Robot 1: pick 2/(2+1+2+1) = 2/6 of total parts on the conveyor Robot 2: pick 1/(2+1+2+1) = 1/6 of total parts on the conveyor Robot 3: pick 2/(2+1+2+1) = 2/6 of total parts on the conveyor Robot 4: pick 1/(2+1+2+1) = 1/6 of total parts on the conveyor If R1 went down: Robot 2: pick 1/(2+1+2+1) = 1/6 of total parts on the conveyor Robot 3: pick 2/(2+1+2+1) = 2/6 of total parts on the conveyor Robot 4: pick 1/(2+1+2+1) = 1/6 of total parts on the conveyor If R2 went down: Robot 1: pick 2/(2+1+2+1) = 2/6 of total parts on the conveyor Robot 3: pick 2/(2+1+2+1) = 2/6 of total parts on the conveyor Robot 4: pick 1/(2+1+2+1) = 1/6 of total parts on the conveyor

LBG Prod Data tracking.

If you select YES, then the configuration Teach Pendant's Status PT Prod LBG Menu will continuously display LBG statistics: total number of parts that were detected, picked and missed on a LBG (conveyor), the pick rate and part rate of the LBG.

Clear part queues @ startup:

If YES, then all the part queues will be cleared at startup before the robots start picking. If the conveyors were stopped with parts on them, they will not be picked

Network Test

Select YES to test the RIPE network. PickTool will check if all the controllers are on-line. If they are all on-line, a message “Network test passed” will be posted on the error line. If they are all not on-line (even if one controller is off-line), the message “Network test failed” will be posted. At the end of the test, the value of “Test Network” will be automatically set to NO.

Clear Alarms (all Ctlrs)

Select YES to clear the alarm logs in the teach pendants of all the controllers in one shot. The value of Clear Alarms will be automatically set to NO when the clearing procedure completes.

Prod Run DataChg Prompt

Enable/disable the confirmation prompt box that pops up when you attempt to change PickTool data when production is running. If YES, and you attempt to change data in a PickTool menu that is allowed, then a prompt box will be displayed to confirm your action. If NO, then you can freely change allowed data, but you should be careful because changing some data incorrectly can result in robot collisions, or the robots may not pick or drop correctly anymore.


Table 2. PickTool Objects

ITEM DESCRIPTION

Number of Robots

Range: 1–32

This item displays the number of named robots in the PT Robots menu.

Number of Conveyors

Range: 1–32

This item displays the number of named conveyors in the PT Conveyors menu.

Number of Sensors

Range: 1–32

This item displays the number of named sensors in the PT Sensors menu.

Number of Conv Stns

Range: 1–84

This item displays the number of named conveyor stations in the PT Conveyor Stn menu.

Number of Fixed Stns

Range: 1–84

This item displays the number of named Fixed Stations in the PT Stations menu.

Number of Trays

Range 1–16

This item displays the number of named trays in the PT Trays menu.

Number of Lines (temp)

Range: 1–32

This item displays the number of named Lines. Line Names are automatically assigned in the PT LBG menu, or the Line names could have been initialized in PickPRO or PickPRO Supervisor and then downloaded to the configuration controller. There is no menu on the pendant to setup Lines.

Number of LBGs

Range: 1–32

This item displays the number of named LBGs in the PT LBG menu.

Number of Grippers

Range: 1–32

This item displays the number of named grippers in the PT Grippers menu.

Number of Recipes

Range: 1–99

This item displays the number of named recipes in the PT Recipes menu.


Table 3. PickTool Objects MODIFY

ITEM

DESCRIPTION

Max Robots

To update an item, change the value and press F3, UPDATE. Each item in this menu shows the current maximum number of PickTool objects that PickTool has created. In other words, if the menu shows “Max Robots = 4” and you have 5 robots in your application, change the 4 to 5 and then presss UPDATE. PickTool creates or deletes objects in memory based on the counts displayed in the menu. You cannot increase the objects beyond the limits PickTool has set internally. Additionally, you might need extra physical memory if you are creating a large number of objects.

If the Update is successful, you will see a message “Modification of objects succeeded”. If you made no change to the menu and yet pressed Update, you will see a message “Modification of objects failed”. At the end of a successful update, the controller will have the same quantity of objects as you see displayed in the menu in every controller in the application.

Max Conveyors

Max Sensors

Max Conv Stations

Max Fixed Stations

Max Trays

Max Lines

Max LBGs

Number of Grippers

Number of Recipes