Basic Configurations

Overview

General

Element

Description

Conveyor data

Displays the data of the selected conveyor.

Graphic

Displays a graphic of the selected conveyor.

Device assigning

Element

Description

Device assigning

Assigns devices to modules. For further information on how to proceed, refer to Device Assigning.

Default Homing parameters

Element

Description

Rotative system

The default parameter Rotative system is used for several structure variables.

Period

The default parameter Period is used for several structure variables.

Dimensions

Configures the dimensions of the conveyor (length, width, height). The dimensions can be read via the method SR_<MyConveyor>.GetDimensions().

NOTE: The parameters for length/width/height are not verified against other parameters, for example stTargets or the position of the conveyor.

Digital Twin - Conveyor Module not as submodule of RobotCell

Element

Description

Univocal Id

Selects a unique ID for the conveyor. Ensure that the Univocal Id is unique for all conveyors used in one project that is connected to a Digital Twin.

Control mode

Not editable, is set to DTC.ET_ConveyorControlMode.PositioningModuloRollover.

Color

Selects a color.

Position and Orientation

Sets the position and orientation to place the conveyor in the Digital Twin.

Position source

For the position source, you can use the position of a drive or encoder (LE_Encoder.Position) or using an IEC variable of type LREAL. In the case of an IEC variable you must ensure that the variable is updated in time.

Rollover value

For the rollover value, a value that do not change during execution must be set, therefore either a fix value can be set or an IEC variable of type LREAL.

Destroy target after max distance

If the checkbox is selected, set a value for the maximum distance in the Digital Twin.

Digital Twin - Conveyor Module as submodule of RobotCell

Element

Description

Univocal Id

Selects a unique ID for the conveyor. Ensure that the Univocal Id is unique for all conveyors used in one project that is connected to a Digital Twin.

Control mode

Not editable, is set to DTC.ET_ConveyorControlMode.PositioningModuloRollover.

Color

Selects a color.

Position and Orientation

Sets the position and orientation to place the conveyor in the Digital Twin.

Position source and Rollover value

For position source and rollover value, you can select between:

  • A TargetsHandler that has been configured in the RobotCell module. Then the Position source and Rollover value are automatically referenced from the TargetsHandler.

  • Set Position source and Rollover value as IEC variables. For example, for Position source, you can use the position of a drive or encoder (LE_Encoder.Position) or use an IEC variable of type LREAL. In the case of an IEC variable, ensure that the variable is updated in time. For Rollover value, a value that do not change during execution must be set, therefore either a fix value can be set or an IEC variable of type LREAL.

 

Destroy target after max distance

If the checkbox is selected, set a value for the maximum distance in the Digital Twin.

NOTE: For structure variable METwin OPC UA Node, the name of the conveyor module is used.
NOTE: A good practice for Position source and Rollover value is to use SystemInterface.FCSetMasterEncoder to link a drive to a logical encoder. For the rollover value you can calculate a value by ((GearIn/GearOut) * FeedConstant * 212 * 0.5) – 1.

Device Assigning

To assign a device to a module proceed as follows:

Step

Action

1

Activate the check box Enable adaptation.

2

Click the Scan configuration button.

3

Select a device in the box below the Scan configuration button.

4

Assign the selected device to a module by clicking the <<< button beside the respective module.