This is a convenience module that allows the positions of encoders that are not part of a standard robot to be easily read. As with a standard "robot" module, this module must be configured by entering its module ID into the "Robot type" (DataID 116) array and by providing a "robot__.pac" and "calib__.pac" file. However, since there are no motors associated with the encoders, the encoder positions are read only and cannot be commanded to change.
This module can be used to interface to a non-servoed encoder connected to a conveyor belt. For conveyor tracking, the first motor of the module is assumed to be for the conveyor encoder. Multiple Encoder Only Modules can be configured to interface to multiple conveyor belts.
Once a module of this type is configured, multiple threads can simultaneously access this robot module to read the encoder positions since read operations do not require that a robot be "attached" to a single thread. In fact, encoder robot modules will generate an error if a program attempts to attach them. By default, encoder robots are marked as commutated and homed when they are started.
As a convenience, a sample "robot02.pac" and "calib02.pac" file are provided on the System Software Disk. These files configure encoder channel 10 (the single ended encoder input in the 4th encoder connector) for use with an encoder that generates 2048 counts per revolution.
Kinematics Module Number and Required Software License
Module number to be entered into the "Robot type" (DataID 116): 7
Required software kinematic license (entered using the web interface panel Utilities > Controller Options if not already installed): None.
Kinematic Model
Axis Optional Max Range Description 1 - 12
Yes
unlimited
From 1 to 12 encoders can be read using this kinematic module. Any axis can be configured for "Continuous Turn (Encoder Rollover Compensation)". Only the first encoder can be utilized for Conveyor Tracking.
Parameter Database Values
The following table describes the Parameter Database values that are utilized to configure the kinematic module. Standard motion control parameters such as servo tuning values, limit stops, the homing specification, etc are not included in the table.
Parameter Database ID Parameter Name Description 2000
Number of axes
Can be set from 1 to 12.
2001
Split-axis mask
Not applicable.
2003
Axis mask
Not applicable.
2005
Motor linearity compensation
Not supported.
2006
Robot type special option flags
Not applicable.
2701 / 2703
100% Cartesian speeds and accels
Not applicable.
16050
Kinematic dimensional constants
Not applicable.
16051
Tool set at restart
Not applicable.
16052
Base set at restart
Not applicable.
Robot Configuration ("Config") Parameters
This kinematic module makes use of the following Location Config property flags to control how Cartesian positions and orientations are converted to joint angles:
None since motor control is not supported.
Special Compensation
This kinematic module does support "Continuous Turn (Encoder Rollover Compensation)" for any axis.
This kinematic module does not support "Motor Coupling", "Linearity Compensation" or "Split-Axis Control".
This kinematic module does not support "Dynamic Feedforward" compensation (DFF).
Additional Considerations
The Move Class, Cartesian Locations, Cartesian motions, and Robot.Base and Robot.Tool are not supported by this module.
This kinematic module does not utilize the Custom Kinematic Parameters accessed by Robot.Custom.
This kinematic module does not have any extra, independent axes so Move.Extra has no affect.