163
Intera 3.2
•If Ready goes false while an action is running and the action has not yet
taken place (i.e., the part has not yet been picked or placed), then the action
is aborted immediately. If the action has been performed then it completes
normally regardless of the state of Ready.
• Reset Count (edge): When the Reset Count pulse is detected, the action’s count
will be reset.
OUTPUTS
• Done (level): true when the Action’s count has been reached.
•Due to the automatic reset of counts, if a Ready signal isn’t connected Done
may be on for only a short time, but in no case less than 0.5 seconds.
•Internally, Intera counts the number of parts available for a Pick or Place.
Therefore, Picks count down and assert Done when the number of available
parts reaches 0. If a Pick fails a certain number of times in a row, normally 2,
one of two actions will be taken:
1.The Pick goes into an error state which leaves the count alone, so Done
will not be asserted. This is the default.
2.If the SoftFailureLimitAction attribute is set to EMPTY, the count will be
set to zero (a sensed empty condition) and as a result Done will be
asserted.
• Increment Count (pulse): sent when the Action has succeeded and the count has
changed.
•The pulse is sent when the Action successfully picks or places a part and
the count has changed. This is typically after the retract motion has com-
pleted, but may be earlier if the Action is aborted during the retract phase,
e.g., if the user grabs the cuff.
•The internal count is not changed when an error occurs, therefore the incre-
ment count signal will not be pulsed.
• Start (pulse): sent when the action is starting its approach.
•One pulse will be sent for each retry of the Action.
• End (pulse): sent when the action has finished its retract.
•The pulse is sent when the Action has completed, whether successful or
not, typically after the retract motion.
•One pulse will be sent for each retry of the Action.
To Next Page
