Transcript 3.3.4.A Handshaking_VEXx

Introduction to Handshaking
Communication
Computer Integrated Manufacturing
© 2013 Project Lead The Way, Inc.
Table of Contents
• Definition
• Signal Compatibility
• Components
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Optical Isolator
Relays
Resistors
Breadboards
• Communications:
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Lynx to Lynx
Lynx to VEX®
VEX® to Lynx
VEX ® to VEX ®
Lynx to fischertechnik
fischertechnik to Lynx
fischertechnik to
fischertechnik
Handshaking
• Handshaking is the process of
communication that occurs between a
robot and another piece of equipment in a
workcell.
Handshaking
• This is a very simple form
of communication.
• A signal is sent from one
machine to the robot or
from the robot to a
machine.
• Can also be between two
robots or two machines.
When Is It Used?
• When a part
feeder is empty
• When a part is
available for pick
up or delivery
• When an
operation is
completed
Signal Compatibility
• When two
machines talk,
signals should be
isolated to protect
the machines from
incompatible
signals.
• Optical Isolators
and Relays are
used to do this.
Components: Optical Isolators
• An Optical Isolator
sends a signal as
a light pulse from
an LED (1 & 2) on
the input side.
• The output side of
the circuit “sees”
the light and sends
the signal (4 & 6).
Components: Relays
• A relay contains a
coil of wire on the
input side (A & B).
When power is
sent to this coil, it
creates a
magnetic field.
• This causes a
connection on the
output side (C & D).
Components: Resistor
• A resistor is used
to limit the amount
of current to
another
component like the
optical isolator.
Components: Breadboards
• A breadboard is
used to create a
simple circuit
without soldering.
• Keep wires as
short as possible.
• Use as few wires
as possible.
Lynxmotion Robot to Lynxmotion Robot
Communication
• Example:
When two robots
have to perform a
task at the same
time.
or
When one robot
needs to wait for
another to complete
a task.
Lynx to Lynx Communication
Lynx to Lynx Schematic
4N25
Optoisolator
Signal Yellow/White
Ground Black
220Ω
A
1
6
B
C
2
5
C
Signal Yellow/White
NC 3
4
E
Ground Black
®
VEX
®
VEX
Machine to
Machine Communication
• Example:
When one machine completes an
operation in a sequence, it can let
the next machine know when it is
safe to begin the next operation.
®
VEX
to
®
VEX
Communication
®
VEX
to
®
VEX
Schematic
®
VEX
Lynx Robot to
Machine
Communication
• Example:
When a robot places a part on a
conveyor, it can tell the conveyor when
it is done.
Lynx to
®
VEX
Communication
Lynxmotion to
®
VEX
Schematic
• Example
When a robot places a part on a
conveyor, it can tell the conveyor when
it is done.
VEX® Machine to Lynxmotion Robot
Communication
• Example:
When a machine is performing an operation, it can
tell the robot when the operation is complete and it
is safe to retrieve the part.
VEX® To Lynx Communication
®
VEX
to Lynxmotion Schematic
fischertechnik to fischertechnik
Communication
• Example:
When one machine completes an
operation in a sequence, it can let
the next machine know when it is
safe to begin the next operation.
fischertechnik to fischertechnik
Communication
fischertechnik to fischertechnik
Schematic
Lynx to fischertechnik
Communication
• Example:
When a robot places a part on a drill press,
it can tell the conveyor when it is done.
LynxMotion to fischertechnik
Communication
LynxMotion to fischertechnik
Schematic
fischertechnik to Lynxmotion
Communication
• Example:
When one machine completes an
operation in a sequence, it can let the
robot know when it is done.
fischertechnik to Lynxmotion
Communication
fischertechnik to Lynxmotion
Schematic