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24.14.1. Defining a Conveyor

1. In the Header, tap Installation.

2. Under General, select Conveyor Tracking.

3. Under Conveyor Tracking Setup, in the dropdown list select Conveyor 1 or Conveyor 2.

You can only define one conveyor at a time.

4. Select Enable Conveyor Tracking

5. Configure Conveyor Parameters (section24.14.2. Conveyor Parametersbelow) and

Tracking Parameters (section24.14.3. Tracking Parametersbelow).

24.14.2. Conveyor Parameters

Incremental

encoders can be connected to Digital Inputs 8 to 11. Decoding of digital signals runs at 40kHz.

Using a Quadrature encoder (requiring two inputs), the robot can determine the speed and

direction of the conveyor. If the direction of the conveyor is constant, a single input can be used

to detect Rising, Falling, or Rise and Fall edges which determine conveyor speed.

Absolute

encoders can be connected through a MODBUS signal. This requires a Digital MODBUS Output

24.14.3. Tracking Parameters

Linear Conveyors

When a linear conveyor is selected, a line feature must be configured in the Features part of the

installation to determine the direction of the conveyor. Ensure accuracy by placing the line

feature parallel to the direction of the conveyor, with a large distance between the two points

that define the line feature. Configure the line feature by placing the tool firmly against the side

of the conveyor when teaching the two points. If the line feature’s direction is opposite to the

conveyor’s movement, use the Reverse direction button. The Ticks per meter field displays the

number of ticks the encoder generates when the conveyor moves one meter.

Circular Conveyors

When tracking a circular conveyor, the conveyor center point must be defined.

1. Define the center point in the Features part of the installation. The value of Ticks per

revolution must be the number of ticks the encoder generates when the conveyor rotates

one full revolution.

2. Select the Rotate tool with conveyor checkbox for the tool orientation to track the

conveyor rotation.

UR5e 220 User Manual

24.Installation Tab

Universal Robots E Series Original Instructions

Other manuals for Universal Robots E Series