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6•2•6 P10 PARAMETERS: WORKING TIME RATIO
The P10 parameter is a multi-zone parameter, i.e. each zone (A, B
and C) has its own P10 value. This parameter is used as the lowest
priority (after Option 02, O17, O15 and rest time) to select a zone for
the robot to work in.
The values for P10 for the active zones determine the distribution
of working time across these zones. P10 (Zone X) corresponds to a
"weighting" which influences the algorithm for selecting the work
zone: the higher P10(Zone X) is, the greater the probability that the
robot will go to Zone X (providing the zone is active).
Nevertheless, the P10 parameters for Zones A, B and C must be
considered on a relative and global basis, we could say that P10(Zone
X) divided by Total(P10 active zones) is the percentage of time that
the robot will spend in Zone X.
Authorised P10 values are between 1 (min) and 10 (max).
There are three active zones with no rest period constraints on these
zones. Choose the P10 parameters for each of the zones as indicated
in the table below:
Identification
Significance
(screen)
P10
Working time ratio
O017
Active zone
Total (P10(Zone A) + P10(Zone B) + P10(Zone C)) = 2+1+1 = 4
(Active zones only)
Overall, the robot will therefore select work zones as follows:
Working time ratio for Zone A = P10(ZoneA)/Total= 2/4 = 50%
Working time ratio for Zone B = P10(ZoneB)/Total= 1/4 = 25%
Working time ratio for Zone C = P10(ZoneC)/Total= 1/4 = 25%
At the beginning of each cycle, the robot looks at the zones in which
it is authorised to work (O17, O15, resting time) and for these zones
it compares the percentage time spent in these areas (historically over
the last 3 to 4 days) and selects the zone in which the working time
ratio is lowest relative to the P10 command.
Example: over the last 3 to 4 days, the robot has spent 55% of its time
in zone A, 30% in zone B and 15% in zone C. Based on the example
P10 values in the table above, the robot will then go to zone C for the
next cycle.
The same example, BUT zone C is deactivated.
Identification
Significance
(screen)
P10
Working time ratio
O017
Active zone
In this case, total P10 for active zones:
P10(zoneA) + P10(zoneB) = 2+1 = 3.
Overall, the robot will therefore select work zones as follows:
Working time ratio for Zone A = P10(ZoneA)/Total= 2/3 = 67%
Working time ratio for Zone B = P10(ZoneB)/Total= 1/3 = 33%
Working time ratio for Zone C = P10(ZoneC)/Total= 0 = 0% (zone
disabled)
How do you define the P10 values for the different zones?
A good rule of thumb is to define the values of P10 as a function of
the relative areas of zones A, B and C because the time that a robot
needs to spend in each zone to obtain an even cut is proportional to
the area of the zone.
30
6• MULTIZONE OPTION
Zone A
Zone B
Zone C
2
1
1
(√)
(√)
(√)
Zone A
Zone B
Zone C
2
1
1
(√)
(√)
(−)
However, this rule is only correct if the user does not bias the robot's
behaviour by assigning different rest times for the zones.
Example: An installation with 3 zones, the areas of which are shown
in the picture 39.
In order to determine the P10 for an zone, we take the area of the
zone, divide it by 1000m² and round the result:
P10(ZoneA) = rounded (7200m²/1000m²) = rounded (7.2) = 7
P10(ZoneB) = rounded (5200m²/1000m²) = rounded (5.2) = 5
P10(ZoneC) = rounded (2100m²/1000m²) = rounded (2.1) = 2
This would give a relative working time in each zone as follows:
Zone A: 7 / total (P10) = 7/(7+5+2) = 50%
Zone B: 5 / total (P10) = 5/(7+5+2) = 36%
Zone C: 2 / total (P10) = 2/(7+5+2) = 14%
If the formula above give P10 values which are outside the authorised
limits (1 to 10) the values for the 3 zones must be divided or multiplied
by a common factor.
!!! Remember that the P10 parameter is the last priority in the
algorithm for selecting a zone and the robot takes the history of
the last 3 to 4 days into consideration.
In certain cases, the P10 values may have no influence if the rest
behaviour is entirely determined by the active zones and rest periods.
See example in chapter 6•2•5.
If the user modifies the active zones, the active rest periods or the P10
values, there will be a period of transition (which can be up to 3 to 4
days) before the way the robot works reflects the programmed P10
ratio. During this transition period, the robot may not work in one
zone or another. Once the ratio of time passed in the different zones
corresponds to the new user configuration, the transition period ends
and the robot starts working in the authorised zones again with the
working time ratio corresponding to the P10 values.
6•3 MANUAL CHOICE OF WORK ZONE
When the robot is working in one zone, the robot can be forced
manually to change zone and go and work in another given active
zone. This method is particularly useful on installation in order to
check the installation is correct (wires, station, etc.) and properly
programmed (options, parameters) for each of the zones.
The manual choice of the work zone is valid for one cycle, i.e. the
robot completes the cutting cycle in the selected zone and at the start
of the next cycle, the automatic selection algorithm takes over again.
The procedure for changing the work zone manually is as follows:
Stop the robot and remove the hood (user mode).
Move the robot to the desired zone. If you attempt to restart the
robot when it is outside its zone (negative phase), the robot will first
carry out a few manoeuvres to attempt to find a positive phase and
then trigger a "Stuck on wire" alarm.
F3
Press
on the keyboard several times until you see the zone on
which you wish the robot to work - Example below: Zone B selec-
ted and positive phase.
Menu
27,2
tu 19/02
BΦ+ 003:210
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