TRACKING SETUP SCREEN


TRACKING SETUP SCREEN

Tracking setup allows you to set up one of eight schedules for the items listed and described in Table 1, " Tracking Setup Items " .

Table 1. Tracking Setup Items

ITEM DESCRIPTION

Schedule Number

This item indicates which of the eight schedules is displayed. A schedule can incorporate any one of eight tracking frames, and a variety of other variables. Be sure to select the correct schedule number for the tracking program to be sure the correct variables are set during production.

Additional tracking schedules can be used with line tracking (pedestal) robots to allow you to use more than three tracking boundaries. There are up to ten boundaries for each tracking schedule. As additional tracking schedules are set up, PaintTool uses the data before each JOB program or test cycle is run. Note that the Frame Used must be set. If necessary, frame used can be set to NONE to disable the specific tracking schedule. Additional schedules must be used in sequential order. For example, the third schedule can not be used until the second schedule has been set up.

Frame Used

This item indicates the number of the frame, from 1 to 8, used by the program. The six frames are DEFAULT, USER1, USER2, USER3, USER4, USER5, USER6, USER7, and USER8. If you do not want to choose a frame, or to disable a tracking schedule, you can also select NONE. The DEFAULT frame assumes the robot and conveyor are perpendicular and automatically sets up all tracking variables. You set up one of the five USER frames to handle any other arrangement of robot and conveyor. If you have the Job opener option, the opener uses its own frame. The opener behaves as a line tracking robot. When you set up the frames for the opener (by setting the Sched for Robot/Opener=opener) you will see the same questions displayed as if you are setting up a line tracking system. The inbounds and outbounds are taught as if you have a line tracking robot. If you want to use the same inbounds and outbounds as the robot you can just use the inbounds and outbounds numbers from the robot schedule but reverse the signs. For example, if the robot inbounds is +1000, the opener inbounds will be -1000.

NOTE: USER1 - USER8 are reserved for future use. Do not use these frames in your system.

Encoder Used

Currently, only one encoder is supported.

Hold For CC (mm from detect)

This value is the distance in millimeters from the part detect that the robot can travel prior to sending the conveyor hold request output. The intent is to keep the robot from traveling to far into the zone while color changing. The value is based on the current frame.

Outbound warning enable

This item enables or disables the Outbound Warning feature, which will post an alarm and set a digital output when the robot TCP approaches to within a margin of the downstream boundary. The margin value and digital output number are defined in the next two items below.

Outbound warning dist.

This value is the distance in mm from the robot TCP to the downstream boundary at which the Outbound warning alarm and digital output are set. It only takes effect when the item above is set to YES.

Outbound warning DOUT

This item defines the digital output to be set when the outbound warning condition occurs, i.e. when the robot TCP approaches the downstream boundary to within the margin specified in the item above. Cycling power is required for changes to this variable to take effect.

Group Number

This item determines with which group to associate the respective data.

Part Detect Distance

(mm)

This item indicates the distance from the center line of the robot at its zero position to the part detect switch for the specified group above. This allows paint programs to use a common part reference frame for all robots in the zone. See below.

Boundry Set 1-10 (mm)

This item defines the distance, in millimeters, from the center line of the robot to each of these boundaries. You can select any one of these three pairs of boundaries for each tracking schedule. During production, the system will wait until the part travels past the inbounds window before the robot will start processing the part. If the part travels past the outbounds window, the part cannot be processed and an error will be displayed.