Adaptive process control (APC) allows you to map a single input to a single output. The purpose is to change the robot's motion dynamically based on an input so that a process can be completed successfully as the specific input parameter changes. Although, grinding is the most typical application for this feature, APC might apply to other process applications such as thermal spray, dispensing, and painting.
To set up APC you must set up the following:
Table 1. Input Parameters
ITEM | DESCRIPTION |
---|---|
AIN |
This item defines the analog input port selection. |
Port Number |
This item defines the analog port number range from 0 - 999. |
Maximum Voltage |
This item defines the minimum AIN port voltage range from -24 - 24 volts. |
Minimum Voltage |
This item defines the maximum AIN port voltage range from -24 - 24 volts. |
System Variables |
This item defines the use of the system variable for the input parameter. |
Name |
This item defines the name of the system variable. |
Max Value |
This item defines the maximum value for the system variable as used by the APC table. |
Min Value |
This item defines the minimum value for the system variable as used by the APC table. |
Table 2. Output Parameters
ITEM | DESCRIPTION |
---|---|
Speed |
This item defines the robot motion speed as the adjusted output parameter. |
Max Override |
This item defines the maximum speed override value range from 1 - 100% |
Min Override |
This item defines the minimum speed override value range from 1 - 100%. |
AOUT |
This item defines the analog output port as the output parameter. |
Port Number |
This item defines the analog output port number. |
Maximum Voltage |
This item defines the maximum output voltage -24 - 24 volts. |
Minimum Voltage |
This item defines the minimum output voltage -24 - 24 volts. |
System Variables |
This item defines the system variable as the output parameter. |
Table 3. Map Functions
ITEM | DESCRIPTION |
---|---|
Input |
This item defines the percentage of the input parameter. For example, using an AIN port that has the maximum voltage set to 12 volts and the minimum voltage set to 0 volts. Then, the input % is set to 10% which represents 1.2 volts, and 50% which represents 6.0 volts. |
Output |
This item defines the percentage of the output parameter. If the motion speed is used for the output parameter, and if the maximum override is 80% and the minimum override is 20% then 20% output represents the robot running at 32% speed. |
The options menu allows you to set the recording position. Use F4 to enable an option, or use F5 to disable an option. The position recording, if enabled, allows you to record a position when the input parameter exceeds some pre-defined threshold. The position is recorded to the system variable $APC.$recd_pos.
Table 4. Options
ITEM | DESCRIPTION |
---|---|
Position Record (Enable or Disable) |
This item when enabled, allows APC to record a position when the input parameter exceeds the predefined threshold. |
Threshold % |
This item defines the recording threshold. |