13.13 Conveyor Tracking Setup
Robot Program
MoveJ
S1
if (digital_input[0]) then
P1_var = P1
else
P1_var = P2
MoveL # Feature: P1_var
wp1
wp2
wp3
wp4
Figure 13.7: Switching from one plane feature to another
13.13 Conveyor Tracking Setup
When using a conveyor, the robot can be configured to track it’s movement. The
Conveyor Tracking Setup provides options for configuring the robot to work with
absolute and incremental encoders, as well as, linear and circular conveyors.
Conveyor Parameters
Incremental encoders can be connected to digital inputs 0 to 3. Decoding of dig-
ital signals runs at 40kHz. Using a Quadrature encoder (requiring two inputs),
the robot is able to determine the speed along with direction of the conveyor. If
the direction of the coneyor is constant, a single input can be used, detecting ei-
ther 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 13.11.
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 placing the tool
firmly against the side of the conveyor when teaching the two points.
The field Ticks per meter is used as the number of ticks the encoder generates
when the conveyor moves one meter.
Ticks per meter =
ticks per revolution of encoder
2π · radius of encoder disc[m]
(13.1)
CB3 II-58 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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