6-2
168542-1CD
168542-1CD
MLX200 Software and
Operations
6 Conveyor Tracking
6.1 Conveyor Tracking Overview
Referring to the example in Fig.6-2 "Robot Taught Positions with
Conveyor Off", the conveyor is stopped with the part at a known distance
from the photo eye. Seven points are taught near the part. The move
commands to points P2-P6 will be placed in the job in between the
MLxRobotConvSyncStart and MLxRobotConvSyncStop AOIs. In
Automatic mode, when the job is executed, the robot will move to the
points taught relative to the part, while it moves down the conveyor. The
conveyor motion will be interpolated or added to the taught positions to
create a tracking sequence (Fig.6-3 "Robot Path During Playback")
Fig. 6-2: Robot Taught Positions with Conveyor Off
Fig. 6-3: Robot Path During Playback
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