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Table of Contents
Related Manuals for ROEQ GuardCom
Summary of Contents for ROEQ GuardCom
- Page 1 GuardCom Installation Manual - including GuardCom Connect 2020.12.23...
- Page 2 All rights reserved. No parts of this manual may be reproduced in any form without the express written permission of ROEQ ApS. ROEQ makes no warranties, express or implied, in respect of this document or its contents. In addition, the contents of the document are subject to change without prior notice.
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Page 3: Table Of Contents
Option A – Installation using ROEQ DS Standalone ..............8 3.1.1 Option A (continued) – Installation of DS Standalone with VL-Marker ........8 3.1.2 Option A (continued) – Installation of GuardCom ..............10 Option B – Installation using custom made VL-Marker ............. 13 3.2.1 Option B (continued) –... -
Page 4: Introduction
• to describe the physical installation and • to explain the product functionality for usage in the planning and design phase of conveyor installations where the GuardCom System will fit in. As such this document does not cover safety issues. Please, refer to the User Manual for information on safety related issues. -
Page 5: The Guardcom System
Connect Conveyor station Figure 3. GuardCom installed on a receiving station, which can be inserted between the conveyor station and the pick-up/delivery point for the robot. The receiving station can serve as a buffer where goods can be “parked” until it is picked up by the robot or until a receiving conveyor station is ready to handle the goods. -
Page 6: Guard - For Added Safety
The GuardCom System facilitates wireless communication between robot and conveyor station eliminating usage of unstable Wi-Fi connections (section 5). 2.1 Guard – for added safety The GuardCom is equipped with a Guard, which opens for a package to pass and is closed otherwise: Guard open Guard closed Figure 4. -
Page 7: Communication - Between Robot And Conveyor Station
The ROEQ setup software presupposes correct physical positioning of GuardCom, VL-Marker and conveyor station. Especially the relative position of GuardCom and VL-Marker is crucial for robust functionality of the GuardCom system. This is also the case if the ROEQ setup software is not used for setup. -
Page 8: Option A - Installation Using Roeq Ds Standalone
ROEQ DS Standalone Figure 6. Outline of GuardCom on the conveyor station. The depicted conveyor station is not a commercial ROEQ product. The installation sequence when using ROEQ DS Standalone is: 1. Installation of DS Standalone with VL-Marker (section 3.1.1). - Page 9 Front of DS Standalone This is crucial for the GuardCom functionality and it is important to make the rolls on the conveyor station and on the ROEQ top roller parallel. The DS Standalone can be attached to the floor or it can be mounted directly on to the chassis/frame of the conveyor station through holes in the back plate.
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Page 10: Option A (Continued) - Installation Of Guardcom
3.1.2 Option A (continued) – Installation of GuardCom ROEQ GuardCom Figure 8. Outline of GuardCom on the conveyor station. The depicted conveyor station is not a commercial ROEQ product. Once the DS Standalone is mounted the GuardCom should be attached to the conveyor station following these guidelines:... - Page 11 NB: The front cover extends beyond the sides Side of GuardCom Side of DS Standalone The GuardCom must be placed with the back of the GuardCom flush to the back of the DS Standalone: Back side of GuardCom Chassis/frame for attaching GuardCom...
- Page 12 Frame/chassis for attaching GuardCom (not ROEQ equipment) If the bolts are too short the GuardCom might not be securely attached to the frame/chassis. Mount the ROEQ Reflector on the GuardCom. Correct position of Reflector: (pay attention to both the position and orientation of the reflector)
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Page 13: Option B - Installation Using Custom Made Vl-Marker
Custom made VL-Marker Figure 9. Outline of conveyor station with a custom made VL-Marker. The depicted conveyor station is not a commercial ROEQ product. In this case pay attention to these three points upon installation: 1. The GuardCom must be positioned as advised in section 3.2.1. -
Page 14: Option B (Continued) - Installation Of Guardcom
Publicly available 3.2.1 Option B (continued) – Installation of GuardCom Figure 10. Outline of the GuardCom prior to mounting a custom made VL-marker. The depicted conveyor station is not a commercial ROEQ product. Follow these guidelines to install the GuardCom with a custom made VL-Marker:... - Page 15 The offset from center should be less than ±1 mm (±0.04”): Offset Centre of rolls the station Centre of GuardCom Utilize the two threaded holes on the back of the GuardCom to fasten it to the frame/chassis: Refer to appendix 9.1 for measurements on the GuardCom. p. 15 of 31...
- Page 16 Frame/chassis for attaching GuardCom (not ROEQ equipment) If the bolts are too short the GuardCom might not be securely attached to the frame/chassis. Mount the ROEQ Reflector on the GuardCom. Correct position of Reflector: (pay attention to both the position and orientation of the reflector)
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Page 17: Option B (Continued) - Installation Of Custom Made Vl-Marker
(not side of the front cover) Valley of VL-Marker 153.5 ±1 mm (6,04” ±0.04”) Note that the front cover of the GuardCom extends beyond the sides of the GuardCom: NB: The front cover extends beyond the sides Side of GuardCom Valley of VL-Marker p. - Page 18 The front of the VL-Marker must be parallel to the rolls on the conveyor station: Rotational axis of roll Front of VL-Marker This is crucial for the GuardCom functionality and it is important to make the rolls on the conveyor station and on the ROEQ top roller parallel. p. 18 of 31...
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Page 19: Mounting Of Guardcom Connect
• The TR500 Auto and 1000 Auto (not included in this document). 4.1 Mounting of GuardCom Connect on TR500/1000 The GuardCom Connect is installed on to the TR500/1000 as part of the installation of TR500/1000 on the MiR robot. Refer to the installation manual for TR500/1000 before proceeding with the following. - Page 20 Mount the screws for the side cover. Mount the cable fixing mounts with two M4x5mm. Secure the GuardCom Connect cable with cable ties mounted in the screw fixing mounts. MAKE SURE THE GUARDCOM CABLE IS NOT TOO TIGHT AT [1]...
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Page 21: Guardcom Connections And Communication
The GuardCom Connect is embedded into the ROEQ top module (section 4) and gets its signals and supply from here. The GuardCom Connect communicates with the GuardCom via light signals both ways. The GuardCom communicates with the conveyor station via a nine pin communication cable and is powered through a 24 V supply cable. - Page 22 24V DC should only be fed to the GuardCom via the 24V DC supply cable. Signals – that are used in communication between GuardCom and the conveyor station – must be fed from the isolated 24V signal exposed by the GuardCom (pin 5) in order to maintain the electrical separation.
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Page 23: Guardcom ↔ Guardcom Connect
GuardCom Installation Manual guardcom_installation_manual_v1.0.docm Publicly available 5.1 GuardCom ↔ GuardCom Connect The essential signals in the GuardCom System are the two light signals between the GuardCom and the GuardCom Connect: (refer to Figure 12, section 5 for signal overview) • robot_is_ready The GuardCom Connect can pass the signal robot_is_ready by turning on the light emitter situated on the GuardCom Connect. -
Page 24: Guardcom ↔ Conveyor Station
In default setting this input has no effect (section 6). Table 2. *The 24V source for setting a signal high must be taken from pin 5 (24v_isolated) from the GuardCom. The rolls on the conveyor station must not turn unless one of these signals are set... -
Page 25: Guardcom Functionality
There are three additional options that can be enabled individually by means of three dedicated jumpers inside the GuardCom. Details on this is described in section 6.2. The GuardCom holds a functionality to detect unexpected goods that hinders the Guard from closing. The Blocked Guard functionality is explained in section 6.4. -
Page 26: Three Control Options - Open/Close/Ready
• control_ready Each of the options can be activated independently of the others by moving the corresponding jumper inside the GuardCom. Refer to section 6.3 for instructions on how to enable the modes. control_open In this setting the Guard is not opened until the input signal ok_to_open is set high from the conveyor station. -
Page 27: Three Control Options - Jumper Setting
The three control options are enabled by setting their respective jumpers inside the GuardCom. The front cover must be removed to get access to the jumpers. The power supply to the GuardCom must be cut prior to removing the front cover to eliminate any risk of injury. -
Page 28: Blocked Guard Function
The situation can typically be resolved by removing the unexpected goods allowing the Guard to close. This will bring the GuardCom back to normal function and no further actions (regarding GuardCom) is needed. Automatic recovery can be attempted by rolling the obstacle back on to the conveyor station to let the Guard open. -
Page 29: Emergency Stop
Refer to section 6.3 for instruction on how to enable the setting. If the confirm_ready signal to the GuardCom is turned off (in control_ready mode) it will turn off the guardcom_is_ready light from GuardCom, which will tell the robot that the conveyor station is not operational. -
Page 30: Abbreviations
The GuardCom System consists of a GuardCom and a GuardCom Connect (section 2). Guard The part of the GuardCom that moves down to let cargo pass – and up to hinder cargo from passing. Table 7. p. 30 of 31... -
Page 31: Appendix
GuardCom Installation Manual guardcom_installation_manual_v1.0.docm Publicly available Appendix 9.1 Drawing of GuardCom Figure 17. p. 31 of 31...
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