Installation and Commissioning

Conveyor Tracking 3.13.9 Conveyor Tracking 3.1Conveyor Tracking (also called Line Tracking) is the function whereby the robotfollows a work object which is mounted on a moving conveyor. While tracking theconveyor, the programmed TCP speed relative to the work object will be maintained,even when the conveyor speed is changing slowly.Note that hardware components for measuring the conveyor position are also necessaryfor this function. Please refer to the Product Specification for your robot.Conveyor Tracking provides the following features:- A conveyor can be defined as either linear or circular.- It is possible to have two conveyors connected simultaneously and to switchbetween tracking the one or the other.- Up to 254 objects can reside in an object queue which can be manipulated byRAPID instructions.- It is possible to define a start window in which an object must be before trackingcan start.- A maximum tracking distance may be specified.- If the robot is mounted on a parallel track motion, then the system can be configuredsuch that the track will follow the conveyor and maintain the relativeposition to the conveyor.- Tracking of a conveyor can be activated “on the fly”, i.e. it is not necessary tostop in a fine point.PerformanceAt 150 mm/s constant conveyor speed, the TCP will stay within +/-2 mm of the pathas seen with no conveyor motion. When the robot is stationary relative to the conveyor,the TCP will remain within 0.7 mm of the intended position.These values are valid as long as the robot is within its dynamic limits with the addedconveyor motion and they require accurate conveyor calibration.RAPID instructions included in this optionWaitWObjDropWObjConnects to a work object in the start windowDisconnects from the current objectProduct Specification RobotWare for BaseWare OS 3.1 27