PT SENSOR


PT SENSOR

Table 1. PT Sensor Main Menu Items

ITEM

DESCRIPTION

Sensor

This column contains the names of all the defined sensors. Even if a sensor is not defined yet, you can press MODIFY to set up its properties.


Table 2.  PT Sensor MODIFY Items

ITEM DESCRIPTION

Name

This is a 21 character name.

A unique name for the sensor. Ex: Cam1.

Enabled

Range: YES/NO

If this sensor is to be used during production run, set the Enabled property to TRUE, else set it to FALSE. Note that you can define a sensor and still not use it.

Controller

The controller to which this sensor is connected. The name can be selected from the [CHOICE] menu that will list all the controller names ($HOSTNAME) in the Robot ring.

Sensor type

Range: iRVision Cam, DI, HDI

Select from either iRVision Cam, DI or HDI (High—speed Digital Input).

Vision Process

Range: 10 characters maximum

If the Sensor Type is iRVision Cam, then you must enter the name of the Vision Process to use with this sensor.

Trigger type

Range: DI or DIST

Select from either DI or Distance.

  1. DI trigger type detects a part when it crosses a DI sensor when the sensor type is DI. If DI trigger type is chosen, then the user must enter a value for Trigger DI.

  2. Distance trigger can only be used when the Sensor Type is iRVision Cam. When distance trigger is chosen, the user must also enter the value for Trigger Distance. Then for every Trigger distance movement of the conveyor, the camera will do a snap and find.

  3. If the sensor type is HDI, then the trigger type is neither distance nor DI. PickTool does not allow you to choose a trigger type. The value for trigger type will always be displayed as a blank.

Trigger DI

Range: 0–1024

Specify the port number of a valid Digital Input if the trigger type and/or Sensor type is DI.

Trigger distance

Range: –9999.99 to 9999.99

Specify the value of the distance of conveyor movement at which the camera should do a snap and find. This is only valid if Sensor type is iRVision Cam and trigger type = DI.

Tray:

If a Tray is detected using this sensor rather than an individual part, select the Tray name from the [CHOICE] window.

VT Sensor ID:

Range: 1–4

Every controller supports upto 4 sensors or 4 VTSensors (Visual Track Sensors). A VTSensorID is automatically chosen for you depending upon availability. The chosen local sensor is displayed next to this item. You cannot change this automatic assignment. But it is important to note the VTSensorID for later steps that require you to teach the Reference Position or the Sensor Position in the Track Sensor Menu (Menus — Setup — Track Sensor)

Indexer Id:

Range: 1–4

If the sensor is used with an Indexing Conveyor, then enter the Id of the indexer here. An indexing conveyor is not the usual constant speed conveyor. The indexing conveyor continuously stops and starts at high accelerations. Between the start and stop it always moves the same indexing distance. The Indexing conveyors can index at very high rates such as 300 indexes/minute. The setup of the Indexer is done separately using the Indexer Menu under SETUP. You can setup multiple indexers in the Indexer menu but in this menu, you need to indicate which of them is associated with this sensor. PickTool will then use the trigger value provided by the Indexer software instead of the trigger value it captures itself with the sensor task. This will result in higher accuracy in picking from or dropping to the indexing conveyor.

Enable Reject Part:

Range: YES/NO

This is a special property that allows you to turn on a Digital Input exactly when a part crosses the sensor to indicate that it is a defective part. Then, when PickTool adds the part to the part queue, it will assign a special model id to it to flag that it is defective. When the pick program (PTPKCS11.TP) or the drop program (PTDPCS11.TP) runs, as soon as the PKGETQ call completes, PickTool will set the register R[141: Reject Part G1]. If it is a good part, the value of the register will be zero; if defective, it will be 1. You can then use this register value to call a program that you write to deal with the exception of the defective part. For example, your program drops the reject part to a reject part bin.

This feature is only available with DI sensors.

Reject Part DI:

Range: 0–1024

If you Enable Reject part, then you must specify a valid Digital Input that will be OFF when good parts cross the sensor and ON when defective parts cross the sensor. It is your responsibility to control the value of the Digital Input.

Note that this Digital Input must exist in the same controller that has the PT Sensor.

Reject Part Model Id:

Range: 0–999

If you Enable Reject part, then you must specify a valid Model id that PickTool should use to flag it as defective. This model id will eventually be assigned to the Vision Register (VR) that is passed in to the PKGETQ call in the PTPKCS11.TP or the PTDPSC11.TP program.

As soon as the PKGETQ call is executed during run-time, PickTool will check if the Vision Register contains the defective Model id and then set the numeric register R[141: Reject Part G1] to zero or 1.