6 Conveyor Tracking
6.5 Conveyor Parameter Configuration for MLX200
6-9
168542-1CD
168542-1CD
MLX200 Software and
Operations
ConveyorType 0 = Linear, 1 = Circular (only Linear supported at this
time.)
EncoderToMMConversion
The mm per encoder count. i.e.
[EncoderCount] * EncoderToMMConversion =
Distance (mm))
NbrOfPointsToLinearFit The number of points used to calculate a linear fit of
the encoder positions. Useful mainly for conveyor
running at close to constant speeds. The valid range
for this parameter is 0 - 50.
NbrOfPointsToAverage The number of points used to calculate a moving
average of the encoder positions. Useful for noisy
encoder signal. The valid range for this parameter is
0 - 50.
LagOffset
An offset in mm along the x direction of the
conveyor. This can be used to offset a constant
error along the conveyor. This value can be
used to fine tune the execution positions of
motion instructions that execute after a call to
MLxRobotConvSyncStart. A positive value
corresponds to an adjustment in the +X
direction.
NbrOfPartsInPattern
This value is used for Pattern-Based
Distribution in the case of running multiple
robots on the conveyor. See Section 6.7.2.3
“Advanced Application Options”.
PartPattern
This value is used for Pattern-Based
Distribution in the case of running multiple
robots on the conveyor. See Section 6.7.2.3
“Advanced Application Options”.
PatternPosition
This value is used for Pattern-Based
Distribution in the case of running multiple
robots on the conveyor. See Section 6.7.2.3
“Advanced Application Options”.
Parameter Name Description
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