12.13 Conveyor Tracking Setup
12.13 Conveyor Tracking Setup
When using a conveyor, the robot can be configured to track the movement of the
conveyor. The Conveyor Tracking Setup provides options for configuring the robot to
work with absolute and incremental encoders, and linear and circular conveyors.
Conveyor Parameters
Incremental encoders can be connected to digital inputs 0 to 3. Using a Quadrature
encoder (requiring two inputs), the robot is able to determine the speed and direction
of the conveyor. If the direction of the coneyor is constant, a single input can be used,
counting on Rising, Falling, or Rise and Fall edges to determine the speed of
the conveyor.
Absolute encoders can be used when connected through a MODBUS signal. This
requires that a digital MODBUS input register is preconfigured in the 12.11.
Linear conveyors
When a linear conveyor is selected, a line feature must be configured to determine the
direction of the conveyor. The line feature should be parallel to the direction of the
conveyor, and there should be a large distance between the two points defining the
line feature. It is recommended to configure the line feature by by placing the tool
firmly against the side of the conveyor when teaching the two points.
Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
II-37 CB3
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