Table 1. Basic Load Balance Setup Items
ITEM | DESCRIPTION |
---|---|
Name This is a 21 character name. |
A unique name for the LBG, ex: LBG 1. Press Enter to be able to bring up the alpha key editor. |
Conveyor | Select the Conveyor to which the LBG belongs. (A conveyor can have more than one LBG). This is selected from the [CHOICE] menu. |
OTol Range: –9999.99 to 9999.99 |
You need to specify the Overlap Tolerance in order to
avoid duplicate or ghost part detection by a sensor. It is most commonly used
with vision sensors but can also be used with DI sensors. In case of a vision
sensor, when a workpiece is found in more than one snap as it travels through
the field of view, this tolerance is used to help determine if it is the same
already found workpiece or a new workpiece. If it is determined that the found
workpiece has already been found in an earlier snap then it is not put into
the queue multiple times. During runtime, if the robot tends to pick the same
part multiple times, raise the overlap tolerance. With DI sensors, you would sometimes want to use overlap tolerance when you have flighted conveyors and you wish to use only every alternate or third flight, etc. Or, your tray on the conveyor is such that it would be detected twice by the sensor but you do not want PickTool to think that there are two trays. |
LoadBal Range: YES/NO/LB-NFB/FIX-FB/FIX-NFB. |
Load Balance algorithms:
|
Table 2. PT LBG MODIFY Items
ITEM |
DESCRIPTION |
---|---|
LBG Object | A LBG object can only be a sensor or a Conveyor Station. You cannot choose the item in this column. When you select an LBG object while in the LBG_ObjName column, the type of object is updated automatically in the LBG_Object column. The first object in the LBG must be a sensor. |
Sensor | A sensor must be the first item in a LBG. Select Sensor in the LBG_ObjName column. Use the [CHOICE] key to select a defined sensor in the right hand column. Example: Cam 1. The choice sub-window contains all the defined sensors and conveyor stations. |
CStn | Once you define the sensor as the first object for the LBG, then enter the CStns in the same sequence as a part would flow from the sensor downstream to each CStn. You cannot compromise the order. It must be correct. |
Table 3. Load Balance (Quota) Items
ITEM |
DESCRIPTION |
---|---|
Stn | In the Load Balance menu you specify the ratios or percentages of the each Model_id (quotas) you want to see the robot pick at each conveyor station in the LBG. When you enter the menu, you will see the Stn column already populated with the same sequence of Conveyor stations that you created in the LBG – Modify menu. This column is auto-filled with all the Conveyor Stations specified for the LBG in the LBG setup, in sequential order. |
M1...M8 | Model Ids that would be detected at each conveyor station. A Model ID defines a part that satisfies certain conditions in the iR Vision menu (for example: the part found by vision is model id 1 if its rotation angle is –45 <= R <= 45). For each model ID, specify the utilization rate or quota at the selected station (row). For example, if you only had one model id M1, and you wanted the robots at each conveyor station pick this part equally, then you could enter Stn M1 CS1 1 CS2 1 CS3 1 CS4 1
This tells PickTool that you want equal allocation of Model id M1 to all 4 of the conveyor stations. If you wish CS2 and CS4 to pick twice as many Model id M1’s as CS1 and CS4, you would enter: Stn M1 CS1 1 CS2 2 CS3 1 CS4 2 In order to enter the Model Ids which you defined while doing the Vision Process setup, press the MODEL_ID function key to display the Model_id menu shown below. If you have more than one model_id in your vision process, you should actually visit the Model_id menu prior to setting up the Load Balance data in the LD_BAL menu. |
Table 4. Model ID Items
ITEM |
DESCRIPTION |
---|---|
Name | This column is auto-filled with pre-named model_ids. PickTool supports upto 8 Model_ids per LBG. |
Value | Enter the values of the Model_ids you defined in the vision process and note the corresponding name (M1, M2, etc.) in the Name column. When done, press PREV to go back to the Load Balance menu to complete the setup of Load balance data. |