Transcript Sensor Function - SAM Robotics ROMANIA

Sensor Function
Function
Sensor Function is a function that the robot corrects current position or monitors deviation
using external sensor unit.
User Benefit
External Sequencer is no need.
Convenient Function
Sensor function has a couple of functions as following.
Real Time Tracking
The robot can correct the current position on real time during playback by the signals
from sensor unit.(Note1) There are three directions of correction.
Tool Coordinate Axes Direction
Free Direction(Note2)
Advance Direction
(Note1) External Reference Point Function or Coordinated Motion Function does not work together.
(Note2) Weaving Function does not work together.
Sensor Signal
Following two types of inputs can be chosen.
(1) Analogue Input
Both real time tracking and shift amount taking-in are available.
Searching
While the robot is moving to specified point in linear motion, it also monitors
analogue data from sensor unit. If this data exceeds specified value, the robot
stops automatically.
Shift Amount Creation
Shift amount is created by analogue input or serial input.
(2) Serial Input
Only shift amount taking-in motion is available.
Tracking
(1) Shift Amount Creation by Analogue Input
Analogue input voltage from sensor unit multiplies with conversion
coefficient specified by parameter. This result is stored to position variable
as a shift amount.
(2) Shift Amount Creation by Serial Input
Factory shipment setting is 10 to 40mm/s speed and +-3deg maximum tilting.
The follow up performance deteriorates as the speed increases.
Therefore please set the movement is at low speed in the sensing zone.
Received data is stored to position variable.
Sensor Output Voltage Monitoring
Voltage from sensor unit is monitored during sensing if it is between lower level and
upper level of threshold value. In this way the robot is checked to not deviate from
original path.
If it is out of levels, the robot works with the conditions specified by sensor
monitoring condition file.