Omron TM Collaborative Robot: Conveyor Tracking User’s Manual 9
1. Introduction
TM Conveyor Tracking can obtain the position and motion of the object on a conveyor using vision and/or
a sensor. The conveyor tracking software runs on TMflow and comes with the Sensor Mode and ETH
mode. The Sensor Mode is the default function mode and does not require a license dongle to activate
it.
To activate the Sensor Mode on TM Conveyor Tracking, users shall open a TM Conveyor Tracking project
and use the features of the mode. To activate the ETH mode, however, users shall insert the TM Dongle
they have purchased into any USB port on the control box. Be careful that during editing, trial runs or
operation, the signal cable must remain connected to the control box. Otherwise, the project cannot be
edited or the robot may stop. Under the ETH mode, the license dongle must remain inserted in the control
box.
How Can I Get Help?
You can access information sources on the corporate website:
http://www.ia.omron.com/
Scope of Use
1. A single robot can support two conveyors.
2. Conveyor speed < 300 ㎜/s, average precision±1 ㎜ (when the workpiece angle variation
within±15˚).
Limitations of Use
1. Functional mode combination per robot: Sensor Mode + Sensor Mode or ETH Mode + Sensor
Mode for maximum two conveyors (ETH +ETH is not supported, and ETH mode requires use of
license dongle)
2. Does not support two robots using one single Encoder + EtherCAT IO
3. Only supports linear conveyor (Does not support circular conveyor).
4. Does not support multiple types of objects.
NOTE:
The precision specifications in this manual only serves as reference. Upon the actual completion of
automation setting, the precision specifications and calibration accuracy are influenced by
environmental factors, workpiece variation, visual patterns, editing, and conveyor stability. Users
still need to take actual tests.
This manual applies to TMflow Version 2.14 or later. There may be differences between the functions and
interfaces of different software versions. Confirm the software version before using and reading this manual. To
confirm the software version, click at the top right of the screen for the information.
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