2009:New Sensor Mounting Ideas

• Desired to retrofit robot with shaft rotation sensors on the conveyors (one on front and one on rear).
• Probably use Omron photoreflective sensors?  We have two of them.
• Jeff says for the readback we can used Digital sidecar channel 11, which is presently unused, and we can re-assign Digital sidecar channel 10, which is presently the upper spinner shaft encoder phase B (this is not currently used in the software; the programmers are only using phase A).
• One place to moutnt sensor near shaft is where the shafts extend out the sides if the robot (opposite side from electrical board), so the sensor won't be anywhere near where the balls are going up the conveyors.  This does however expose them to damage from collisions with other robots (?)
• Here are a couple of mounting ideas: 

 

• We might also want to try to use the shaft supports somehow, bolting to the same slots so that we don't have to drill new holes?  Like this maybe?