6 Conveyor Tracking
6.6 Conveyor Tracking Setup Procedure
6-11
168542-1CD
168542-1CD
MLX200 Software and
Operations
6.6.4 Teach Point and Setup Tracking Parameters
Conveyor Teach Position Value
Operate the conveyor to move a part past the photo eye and stop the
conveyor at a position where the part will be taught. Determine how far the
part traveled past the photo eye. This can be obtained by either measuring
the distance from the sensor to the front edge of the part, or by referring to
the ApplicationData.ConveyorData[].CurrentPosition tag. Note that every
time a part crosses the photo eye, this tag should reset to zero.
Distance = ApplicationData.ConveyorData [].CurrentPosition
Record this value inside the ApplicationData.ConveyorData[] tag structure
or enter it using the {Conveyor Tracking HMI} screen (Fig.6-11 "Conveyor
Tracking Setup Screen").
Teach all the robot positions relative to the part with the conveyor stopped.
Typical points taught will be an approach position above the part, a grip
position at the part, and a depart position above the part. During playback,
Linear Motion instructions can be used to move the robot TCP to these
points while tracking the part motion on the conveyor, as long as they fall
between a MLxRobotConvSyncStart and a MLxRobotConvSyncStop.
Enter the remaining parameters on the {HMI Conveyor Tracking Setup}
screen:
Fig. 6-11: Conveyor Tracking Setup Screen
The motions performed while conveyor tracking will be different from
those taught with the conveyor stationary. Thus, certain errors may be
encountered while tracking that would not show up otherwise (e.g.
speed/limit violations).
To Next Page
Loading...
