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prog:basics_explaining_different_concepts [2022/01/03 11:02] – userprog:basics_explaining_different_concepts [2024/10/25 01:01] (current) – [Examples] joachim
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 ==== Markers ==== ==== Markers ====
  
-[[:parts:magnetic_markers|]] are the robot's references. They make the robot place itself correctly in the aisle. Markers shall be placed in the same place at each pen (see illustrations below). Preferably we want the markers to be placed between the pens, somewhere close to the wall which divides the pens. Imagine that the two pens (right side pen and left side pen) after the marker is connected to the marker (see illustrations below). If you have identical rooms, place the markers in the same position in every room to ensure that the robot is positioned correctly and avoids collisions. The markers main task is to repeat the programs you have made with the joystick.+[[:parts:magnetic_markers|]] are the robot's references. They make the robot place itself correctly in the aisle. Markers shall be placed in the same place at each pen (see illustrations below). Preferably we want the markers to be placed between the pens, somewhere close to the wall which divides the pens. Imagine that the two pens (right side pen and left side pen) after the marker is connected to the marker (see illustrations below). If you have identical rooms, place the markers in the same position in every room to ensure that the robot is positioned correctly and avoids collisions. The markers main tasks is to repeat the programs you have made with the joystick and to position the robot correctly in the corridor. 
 + 
 +OBS: Do not mount markers so they get inte contact with metal. This may spread the magentism and disorient the robot. This is most relevant for Short S-markers.
  
 **Examples of marker placements in a weaning, finishing or similar room:** \\ **Examples of marker placements in a weaning, finishing or similar room:** \\
-As seen in the two illustrations below. One room doesn't have a marker at the last pen but the other does. If your room has gates (or something else) in the aisle that are sticking out a couple centimeters from the wall, which leads up as an obstacle for the robots guidance wheels, then you should use a marker at the last pen. If there are obstacles in the aisle the robot could position itself incorrect due to slipping/spun drive wheels (too big obstacle for the guidance wheels to climb over). \\ +As seen in the two illustrations below. One room doesn't have a marker at the last pen but the other does. If your room has gates (or something else) in the aisle that are sticking out a couple centimeters from the wall, which leads up as an obstacle for the robots guidance wheels, then you should use a marker at the last pen. If there are obstacles in the aisle the robot could position itself incorrect due to slipping/spun drive wheels (too big obstacle for the guidance wheels to climb over).\\ 
-The markers are there as a reference, making it possible for the robot to reposition itself if something goes wrong in the positioning in the aisle. If the aisles wall, which the robots guidance wheels are facing, are even and smooth it is not necessary to use a marker at the last pen. Since the last pen needs a special program due to the outer wall/door that are in the way for the guidance wheel at the front. Those programs could nevertheless be thought from the marker before. \\+The markers are there as a reference, making it possible for the robot to reposition itself if something goes wrong in the positioning in the aisle. If the aisles wall, which the robots guidance wheels are facing, are even and smooth it is not necessary to use a marker at the last pen. Since the last pen needs a special program due to the outer wall/door that are in the way for the guidance wheel at the front. Those programs could nevertheless be thought from the marker before.\\
 In the examples below, we can use the programs in the middle to all the pens in the middle. The markers makes it possible to repeat these by putting the programs in to a recipe. In the examples below, we can use the programs in the middle to all the pens in the middle. The markers makes it possible to repeat these by putting the programs in to a recipe.
  
 {{:prog:markerplacementandprogramteach-ins1.png?direct&300x539}}{{:prog:markerplacementandprogramteach-ins2.png?direct&300x539}} {{:prog:markerplacementandprogramteach-ins1.png?direct&300x539}}{{:prog:markerplacementandprogramteach-ins2.png?direct&300x539}}
  
- \\ **Example of marker placements in farrowing: ** \\+\\ 
 +**Example of marker placements in farrowing: ** \\
 A farrowing room has most often mirror flipped pens. This means that the robot needs to do a program for each unique pen and then repeat the same programs at next marker. This means the robot only needs a marker at every second wall. The robot will in this case repeat four programs at the markers in the middle. A farrowing room has most often mirror flipped pens. This means that the robot needs to do a program for each unique pen and then repeat the same programs at next marker. This means the robot only needs a marker at every second wall. The robot will in this case repeat four programs at the markers in the middle.
  
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 Markers are magnetic and the robot has a [[:parts:comp_marker_switch|magnetic sensor]] to read the markers. The magnetic markers are only placed in the aisle during the automatic wash. Brackets are mounted permanently. The magnetic sensor must be within 10 cm from the markers, otherwise the sensor cannot read the markers. Markers are magnetic and the robot has a [[:parts:comp_marker_switch|magnetic sensor]] to read the markers. The magnetic markers are only placed in the aisle during the automatic wash. Brackets are mounted permanently. The magnetic sensor must be within 10 cm from the markers, otherwise the sensor cannot read the markers.
  
-**[[:prog:virtual_markers|]]**  give you the ability to use fewer markers in those rooms where you have a very long aisle with many identical pens. This means that physical markers are placed at every other pen.+**[[:prog:virtual_markers|]]** give you the ability to use fewer markers in those rooms where you have a very long aisle with many identical pens. This means that physical markers are placed at every other pen.
  
 [[:prog:virtual_markers|Read more about virtual markers here. ]] [[:prog:virtual_markers|Read more about virtual markers here. ]]
- + <font 11.0pt/inherit;;inherit;;inherit>**You can only start a wash and teach programs to the robot from a physical marker.**</font>
-<font 11.0pt/inherit;;inherit;;inherit>**You can only start a wash and teach programs to the robot from a physical marker.**</font>+
  
 Do not use the virtual marker feature if the pens are 280 cm and above wide. The robot can only reposition itself when it reads a physical marker. If the distance between the physical markers are too far there is a greater risk for [[:troubleshooting:no_alarm:robot_positions_incorrect|incorrect positioning]]. Do not use the virtual marker feature if the pens are 280 cm and above wide. The robot can only reposition itself when it reads a physical marker. If the distance between the physical markers are too far there is a greater risk for [[:troubleshooting:no_alarm:robot_positions_incorrect|incorrect positioning]].
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 ---- ----
 +
  
 ==== Examples ==== ==== Examples ====
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 Learning the programs for the **first pens **are done from marker 1. For learning programs to the first pens, drive the robot backwards with the green arrows when selecting the **[[:prog:screen_guide_step_by#start_position|start position.]]** Learning the programs for the **first pens **are done from marker 1. For learning programs to the first pens, drive the robot backwards with the green arrows when selecting the **[[:prog:screen_guide_step_by#start_position|start position.]]**
- + <font 11.0pt/inherit;;inherit;;inherit>Programming for the **last** pens are</font> 
-<font 11.0pt/inherit;;inherit;;inherit>Programming for the **last** pens are</font><font 11.0pt/inherit;;inherit;;inherit>done from the last physical marker. Start learning from the last physical marker, but drive the robot to the desired starting position(past the second to last pen according to these examples). This means that we do not need another marker at the last pen (optional) at the end because no matter, you would need individual programs for the first and last pens due to the outer walls (</font>guidance <font 11.0pt/inherit;;inherit;;inherit>wheels could hit the wall/door at the start/end of the aisle).</font> + <font 11.0pt/inherit;;inherit;;inherit>done from the last physical marker. Start learning from the last physical marker, but drive the robot to the desired starting position(past the second to last pen according to these examples). This means that we do not need another marker at the last pen (optional) at the end because no matter, you would need individual programs for the first and last pens due to the outer walls (</font> guidance 
- + <font 11.0pt/inherit;;inherit;;inherit>wheels could hit the wall/door at the start/end of the aisle).</font> 
-<font 11.0pt/inherit;;inherit;;inherit>Different type of rooms could have different types of solutions.</font>+ <font 11.0pt/inherit;;inherit;;inherit>Different type of rooms could have different types of solutions.</font>
  
 {{:teach-inschedule2_1.png?direct&260x421}}{{:washschedule.jpg?nolink&260x418|washschedule.jpg}}{{https://wiki.envirologic.se//lib/plugins/ckgedit/fckeditor/userfiles/image/prog/teach-inprogs.png?nolink&250x450}} {{:teach-inschedule2_1.png?direct&260x421}}{{:washschedule.jpg?nolink&260x418|washschedule.jpg}}{{https://wiki.envirologic.se//lib/plugins/ckgedit/fckeditor/userfiles/image/prog/teach-inprogs.png?nolink&250x450}}
  
 {{:f3d9df84d306ec0129d10f35220c421b.png?nolink&}} = Feeder {{:b3ef84991e51ed182f43f5336a71a41d.png?nolink&}}= Marker {{:f3d9df84d306ec0129d10f35220c421b.png?nolink&}} = Feeder {{:b3ef84991e51ed182f43f5336a71a41d.png?nolink&}}= Marker
- + <font 16px/inherit;;inherit;;#e74c3c>"Floor L"</font>  and 
-<font 16px/inherit;;inherit;;#e74c3c>"Floor L"</font> and <font 16px/inherit;;#000000;;#2ecc71>"Floor R"</font>  could, for example, be programmed at marker 3 and then applied to marker 1,2,3,4, 5 and 6 because there are similar boxes there. The boxes are mirror-flipped but only with the feeders on the other side so same program can be applied in these, just have that in mind during the programming so you keep same distance on both sides.+ <font 16px/inherit;;#000000;;#2ecc71>"Floor R"</font>   could, for example, be programmed at marker 3 and then applied to marker 1,2,3,4, 5 and 6 because there are similar boxes there. The boxes are mirror-flipped but only with the feeders on the other side so same program can be applied in these, just have that in mind during the programming so you keep same distance on both sides.
  
 {{:markertable.png?nolink&401x334}} {{:markertable.png?nolink&401x334}}
- + <font 12px/inherit;;inherit;;inherit>//The table shows which markers the programs are placed at. Markers with same color contain the same programs. This is an example in a finishing room.//</font>
-<font 12px/inherit;;inherit;;inherit>//The table shows which markers the programs are placed at. Markers with same color contain the same programs. This is an example in a finishing room.//</font>+
  
 ---- ----
  
-To get all floor washed, in the room in the example of the [[:prog:basics_explaining_different_concepts#examples|previous sheet]], <font 11.0pt/inherit;;inherit;;inherit>9 different programs were needed.</font> +To get all floor washed, in the room in the example of the [[:prog:basics_explaining_different_concepts#examples|previous sheet]], 
- + <font 11.0pt/inherit;;inherit;;inherit>9 different programs were needed.</font> 
-<font 12pt/inherit;;inherit;;inherit>**The programs are:**</font><font 11.0pt/inherit;;inherit;;inherit>Individual programs for the first and last boxers on each side (**4** programs) because they have all different requirements.</font><font 11.0pt/inherit;;inherit;;inherit>"Floor R" and "Floor L" are programs that works to the majority of each side (**2** programs). One program for the first part of the aisle that washes behind the robot, one program for the aisle that works at the majority of the markers,</font><font 11.0pt/inherit;;inherit;;inherit>and one program for the aisle at the last marker where there is another distance from the marker to the outer wall (**3** programs for the aisle).</font> + <font 12pt/inherit;;inherit;;inherit>**The programs are:**</font> 
- + <font 11.0pt/inherit;;inherit;;inherit>Individual programs for the first and last boxers on each side (**4** programs) because they have all different requirements.</font> 
-<font 11.0pt/inherit;;inherit;;inherit>**Same principle with wall recipes.**</font> + <font 11.0pt/inherit;;inherit;;inherit>"Floor R" and "Floor L" are programs that works to the majority of each side (**2** programs). One program for the first part of the aisle that washes behind the robot, one program for the aisle that works at the majority of the markers,</font> 
- + <font 11.0pt/inherit;;inherit;;inherit>and one program for the aisle at the last marker where there is another distance from the marker to the outer wall (**3** programs for the aisle).</font> 
-<font 11.0pt/inherit;;inherit;;inherit>Floor programs are shorter than the wall programs.</font> + <font 11.0pt/inherit;;inherit;;inherit>**Same principle with wall recipes.**</font> 
- + <font 11.0pt/inherit;;inherit;;inherit>Floor programs are shorter than the wall programs.</font> 
-<font 11.0pt/inherit;;inherit;;inherit>The time you put to make programs is well invested time when the quality and efficiency increases every time.</font><font 11.0pt/inherit;;inherit;;inherit>Aim to improve the programs in this room at the next wash and next wash, until you get a result you are satisfied with. This way you keep yourself familiar with the robot and you become a better programmer over time.</font>+ <font 11.0pt/inherit;;inherit;;inherit>The time you put to make programs is well invested time when the quality and efficiency increases every time.</font> 
 + <font 11.0pt/inherit;;inherit;;inherit>Aim to improve the programs in this room at the next wash and next wash, until you get a result you are satisfied with. This way you keep yourself familiar with the robot and you become a better programmer over time.</font>
  
 {{:recipe.png?nolink&510x328  }} {{:recipe.png?nolink&510x328  }}
- + <font 12px/inherit;;inherit;;inherit>Programs created for the right side are placed at the right side (position 1 – 5 as shown on the screen).Programs created for the left side are placed at the left side (positions 6 – 10).</font> 
-<font 12px/inherit;;inherit;;inherit>Programs created for the right side are placed at the right side (position 1 – 5 as shown on the screen).Programs created for the left side are placed at the left side (positions 6 – 10).</font> + <font 12px/inherit;;inherit;;inherit>"Place in front" (Positions 11 – 12) and "place behind" (positions 13 – 14), can you use for the aisle programs.</font> 
- + <font 12px/inherit;;inherit;;inherit>Placing a program on the right side that is programmed for the left side or vice versa doesn’t matter. This concept is only to visually get a clearer picture of what you want to wash at each marker. The robot washes in numerical order.</font>
-<font 12px/inherit;;inherit;;inherit>"Place in front" (Positions 11 – 12) and "place behind" (positions 13 – 14), can you use for the aisle programs.</font> +
- +
-<font 12px/inherit;;inherit;;inherit>Placing a program on the right side that is programmed for the left side or vice versa doesn’t matter. This concept is only to visually get a clearer picture of what you want to wash at each marker. The robot washes in numerical order.</font>+
  
 {{:recipe2.png?nolink&510x326  }} {{:recipe2.png?nolink&510x326  }}
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 This picture shows how it would look like at marker one with all programs according to the examples at the [[:prog:basics_explaining_different_concepts#examples|previous sheet.]] This picture shows how it would look like at marker one with all programs according to the examples at the [[:prog:basics_explaining_different_concepts#examples|previous sheet.]]
- + <font 12px/inherit;;inherit;;inherit>The location is named Finishing. Recipe is named Floor. The location has 6 markers.</font> 
-<font 12px/inherit;;inherit;;inherit>The location is named Finishing. Recipe is named Floor. The location has 6 markers.</font> + <font 12px/inherit;;inherit;;inherit>The programs for this location are placed on their positions. Including the aisle programs.The next step is to go to the next marker and choose which programs you want to use there.</font> 
- + <font 12px/inherit;;#ffffff;;inherit>.</font> 
-<font 12px/inherit;;inherit;;inherit>The programs for this location are placed on their positions. Including the aisle programs.The next step is to go to the next marker and choose which programs you want to use there.</font> + <font 12px/inherit;;inherit;;inherit>Keep in mind that the same programs will follow from the previous marker, to the next marker in the same order. To use other programs when you are at marker 2, you can remove the ones that followed.</font>
- +
-<font 12px/inherit;;#ffffff;;inherit>.</font> +
- +
-<font 12px/inherit;;inherit;;inherit>Keep in mind that the same programs will follow from the previous marker, to the next marker in the same order. To use other programs when you are at marker 2, you can remove the ones that followed.</font>+
  
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-If you want to learn more and see exactly how to press on the screen, go to "**[[:prog:programming_support#from_start_to_finish_-_step_by_step_guide|From start to finish - Step by step guide]]**".+If you want to learn more and see exactly how to press on the screen, go to "**[[:prog:screen_guide_step_by|]]**".