Introduction to Handshaking Communication

© 2013 Project Lead The Way, Inc.Computer Integrated Manufacturing

Table of Contents

• Definition• Signal Compatibility• Components:

– Optical Isolator– Relays– Resistors– Breadboards

• Communications:– Lynx to Lynx– Lynx to VEX– VEX to Lynx– VEX to VEX– Lynx to Fischertechnik– Fischertechnik to Lynx– Fischertechnik to Fisc

hertechnik

Handshaking

• Handshaking is the process of communication that occurs between a robot and another piece of equipment in a workcell.

Handshaking

• This is a very simple form of communication.

• A signal is sent from one machine to the robot or from the robot to a machine.

• Can also be between two robots or two machines.

What is it used for?

• When a part feeder is empty.

• When a part is available for pick up or delivery.

• When an operation is completed.

Signal Compatibility

• When two machines talk, signals should be isolated to protect the machines from incompatible signals.

• Optical Isolators and Relays are used to do this.

Components: Optical Isolators

• An Optical Isolator sends a signal as a light pulse from an LED (1 & 2) on the input side.

• The output side of the circuit “sees” the light and sends the signal (4 & 6).

Components: Relays

• A relay contains a coil of wire on the input side. (A & B)

When power is sent to this coil, it creates a magnetic field.

• This causes a connection on the output side. (C & D)

Components: Resistor

• A resistor is used to limit the amount of current to another component like the optical isolator.

Components: Breadboards

• A breadboard is used to create a simple circuit without soldering.

• Keep wires as short as possible.

• Use as few wires as possible.

Lynxmotion Robot to Lynxmotion Robot Communication

• Example:

When two robots have to perform a task at the same time.

or

When one robot needs to wait for another to complete a task.

Lynx to Lynx Communication

Lynx to Lynx Schematic

Signal Yellow/White220Ω

Ground Black

NC

1

2

3

6

5

4

A

C

B

C

E

Signal Yellow/White

Ground Black

4N25Optoisolator

VEX Machine to VEX Machine Communication• Example:

When one machine completes an operation in a sequence, it can let the next one know when it is done and it is safe to start.

VEX to VEX Communication

VEX to VEX Schematic

Lynx Robot to VEX Machine Communication

• Example:

When a robot places a part on a conveyor, it can tell the conveyor when it is done.

Lynx to VEX Communication

Lynxmotion to VEX Schematic• Example

When a robot places a part on a conveyor, it can tell the conveyor when it is done.

VEX Machine to Lynxmotion Robot Communication

• Example:

When a machine is performing an operation, it can tell the robot when the operation is complete and it is safe to get the part.

VEX To Lynx Communication

VEX to Lynxmotion Schematic

Fischertechnik to Fischertechnik Communication

• Example:

When one machine completes an operation in a sequence, it can let the next one know when it is done and it is safe to start.

Fischertechnik to Fischertechnik Communication

Fischertechnik to Fischertechnik Schematic

Lynx to Fischertechnik Communication

• Example:

When a robot places a part on a drill press,

it can tell the conveyor when it is done.

LynxMotion to Fischertechnik Communication

LynxMotion to Fischertechnik Schematic

Fischertechnik to Lynxmotion Communication

• Example:

When one machine completes an operation in a sequence, it can let the robot know when it is done..

Fischertechnik to Lynxmotion Communication

Fischertechnik to Lynxmotion Schematic