GuardCom Installation Manual
guardcom_installation_manual_v1.0.docm
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6
GuardCom functionality
The GuardCom has different settings that alters how the GuardCom is controlled.
The default setting (factory default) offers the simplest option for integration and setup of the
GuardCom System. The basic functionality in this setting is explained in section 6.1.
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.
6.1
Default setting
–
basic functionality
In default setting a delivering/receiving cycle runs through these steps:
(refer to Figure 12, section 5 for signal overview)
Normal operation (default setting)
Stage/action
GuardCom Connect
to
GuardCom
(light)
GuardCom
to
GuardCom Connect
(light)
GuardCom
to
conveyor station
(wire)
Rolls on conveyor
station*
Robot approaches
conveyor station
robot_is_ready
guardcom_is_ready
robot_is_ready
guard_is_open
guard_is_closed
guard_is_blocked
Allowed to roll
Robot in place and
ready to transfer
package
robot_is_ready
guardcom_is_ready
robot_is_ready
guard_is_open
guard_is_closed
guard_is_blocked
Allowed to roll**
Guard fully opened
robot_is_ready
guardcom_is_ready
robot_is_ready
guard_is_open
guard_is_closed
guard_is_blocked
Allowed to roll
Package being
transferred
robot_is_ready
guardcom_is_ready
robot_is_ready
guard_is_open
guard_is_closed
guard_is_blocked
Allowed to roll
Package fully
transferred
(robot leaving)
robot_is_ready
guardcom_is_ready
robot_is_ready
guard_is_open
guard_is_closed
guard_is_blocked
Braked
Guard fully closed
robot_is_ready
guardcom_is_ready
robot_is_ready
guard_is_open
guard_is_closed
guard_is_blocked
Allowed to roll
Table 3. * Rolls on conveyor station are allowed to roll if (1) robot_is_ready or (2) guard_is_closed signal is sent to the conveyor station.
** Upon delivering a package from the conveyor station it will be obvious not to start the rolls on the conveyor station until the Guard is
fully open (guard_is_open signal is set high).
Note that the input signals:
•
ok_to_open
•
ok_to_close
•
confirm_ready
Are not used in the default setting
–
refer to next section.
