Robot halts picking, resumes with loss of tracking

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Robot halts picking, resumes with loss of tracking

Postby dshaner » Thu Apr 16, 2009 10:24 am

PC running ACE and PackXpert. HMI application, written in C# also running on PC. ACE is version 2.0.2.34.

Robot is picking parts, 1 per second, off incoming belt. Vision and tracking locate parts on belt. Cobra and CX Controller pick parts off belt and place in static location.

The system can run for a couple hours without incident. Occasionally, approach the dynamic wait position and fail to pick any parts for approximately 6 or 7 seconds, parts continue to move under robot without being picked. All parts have passed the vision inspection and should have been picked. The robot then resumes picking, occasionally it resumes picking properly. Other times, it picks for about 3 seconds in the wrong locations, as if the tracking has been lost or corrupted. Then, it continues picking correctly. It can pick correctly anywhere from 10 minutes to 2 hours before the incident occurrs again.

It appears to occur more frequently (but not soley) if ACE client is open, not sure, but seems to happen more often if changes are being made from ACE client.

We have a heartbeat between the controller and the PC which seems pretty steady, which seems to indicate we aren't having any issues with Ethernet communications, our HMI locking up, or the V+ program tasks locking up. We're running 5 user written tasks, 10-14.
dshaner
 
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Re: Robot halts picking, resumes with loss of tracking

Postby CyleN » Thu Apr 16, 2009 11:26 am

Please contact your local application engineering group for support on this issue. I suspect you will need to upgrade to a newer version.
CyleN
 
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