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Robot Future Improvements

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Controls Future Improvements- The program runs from battery backed RAM in the BASIC card right now. Adding the 1747-M2 EEPROM memory module to the BASIC card would put less dependency on the battery power for holding memory. Right now, the BASIC card has a 1747-M1 EEPROM memory module installed but this does not have enough storage space for the BASIC program of the robot to be stored – so we settled for running the program from RAM and left the 1747-M1 alone.- Add a “master disconnect” to the system so that the unit does not need to be unplugged tocut power- Rewire the fluorescent light so that it can be on even when power is disconnected from the rest of the control panel- Rewire the potentiometer terminal blocks so that the wiring is “cleaner”… possibly use many rows of din-rail mount terminal blocks instead- Re-label all the wires with the same colored label- Replace the exiting small joysticks with bigger sized joysticks??- Rewire the E-stop buttons so that they are 2-Channel instead of the 1-Channel they are now. 2-Channel is a more widely accepted means of safety wiring.- Add the motion detector- Limit switches at joint 5 and at the gripper are normally open. It would be preferred to have these as normally closed.- The limit switch for safe positioning of the podium should be remounted so that the podium has to be completely out of its holding position on the cart. This could be done by putting a limit switch at the lowest point on the podium legs so that the limit switch is triggered when the podium is set on the ground.- Try to implement more robot operations in the ladder logic to relieve the BASIC cardo Use the BASIC card as a calculator and not as a CPUo Keep in mind that the SLC 500/03 with OS300 does not support floating point decimals- Find a faster way too download programs to the BASIC card. I’ve heard rumors (www.plctalk.net and other places) of changing certain settings to accomplish this but I haven’t been able to figure it out yet. Is there a possibility of making the BASIC code a *.hex file and then downloading it??Last Updated: 10/17/07 1 of 2- Possibly upgrade the BASIC card from the 1746-BAS that it is right now to the 1746-BAS-T (faster model). Maybe even consider upgrading the SLC 500.Last Updated: 10/17/07 2 of


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