6.3.3 Conveyor tracking
Connect the robot controller to pin 16 on the Power and I/O connector (terminal 50
on CDB650-204) to activate conveyor tracking, which allows the robot controller to
synchronize the conveyor encoder with the exact time for an image exposure.
Conveyor tracking principle
The robot controller sends a Run.Locate command to the PLOC2D to start the part
localization, see "Commands", page 60. Each part localization consists of one or
more image exposures, depending on how many jobs are being located and if the
jobs use different image settings (see Image acquisition). The jobs using the same
image exposure settings are located within the same image. If there are multiple image
exposure settings in the command, one image is acquired for each exposure setting
and its connected jobs.
The conveyor tracking signal is high during each image exposure, which means that
one or more signal pulses will be sent as output to the robot controller. The robot
controller should trigger on the leading edge of the control signal pulse, which is when
the exposure for the image starts. The length of the signal pulse depends on the image
exposure settings.
The robot controller records an index for each exposure with the corresponding encoder
value for the conveyor. Each Run.Locate response from the PLOC2D includes an
image exposure index (exposure), see "Responses", page 64. The index makes it
possible to map the located part to its position on the conveyor.
Example with multiple exposure settings
An example to illustrate the case of locating jobs with multiple exposure settings and
exposure index with conveyor tracking. In this example part localization for three jobs
(job 3, 1, and 2) are applied. Job 1 and 3 use the same image exposure settings.
1. Run.Locate,3 1 2 command to the PLOC2D.
°
Job 1 and 3 use the same image exposure settings.
2. The leading edge of the tracking signal pulse, the robot controller records the
conveyor's encoder value.
3. The tracking signal is high.
°
Image exposure settings for job 1 (and 3).
✓
Image acquired, exposure index 1.
4. The tracking signal is low.
5. The leading edge of the tracking signal pulse, the robot controller records the
conveyor's encoder value.
6. The tracking signal is high.
°
Image exposure settings for job 2.
✓
Image acquired, exposure index 2.
7. The tracking signal is low.
8. Part localization for the jobs.
✓
The best part localization result is in the response (including which exposure
index) from the PLOC2D.
6.3.4 External illumination
Connect the external illuminationto pin 14on the Power and I/O connector. If you use
the CDB650-204 connection module, the external illumination is available on terminal
21.
On PLOC2D-63x devices, you can also use the separate external illumination connec‐
tion, see "Device view (InspectorP63x)", page 13.
6 ELECTRICAL INSTALLATION
36
O P E R A T I N G I N S T R U C T I O N S | PLOC2D 4.1 8020736/1K3Z/2023-06 | SICK
Subject to change without notice
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