6-12
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168542-1CD
MLX200 Software and
Operations
6 Conveyor Tracking
6.6 Conveyor Tracking Setup Procedure
Sync Start Position Value
Determine how far past the photo eye the conveyor tracking sequence
should begin. The robot will wait at the MLxRobotConvSyncStart
instruction until the part has traveled to this distance past the sensor. At
this point, the robot will begin to move.
Max Start Position Value
Estimate the worst case distance past the photo eye that the robot will be
able to begin tracking a part and successfully pick it up without reaching a
software limit. This parameter is used for queued parts. After moving a
part, the robot will return to the pounce position. If a new part had already
crossed the photo eye and is in a queue, the MLxRobotConvSyncStart
AOI will determine if its location is past the Max Start Position Value, which
will indicate the pickup cannot be reached within the work space.
Whenever the speed of the conveyor is changed, this value should be
adjusted. Note that in the data structure the Max Start Position is an array,
so that a different value can be inputted for each robot.
# of Points to Average/Linear Fit for Conveyor Position
These parameters will allow you the smooth out feedback from the
conveyor motion. Up to 50 encoder position readings can be averaged or
linearly fit.
Conveyor Position
This field is for conveyor position reference only and cannot be changed.
Lag Offset
The lag offset parameter can be adjusted to speed up or slow down the
SyncStart instruction execution time, so that parts can be picked up at a
consistent location on the part. It can compensate for I/O hardware
delays.
6.6.5 Debugging Pickup Position Errors
6.6.5.1 Part is Gripped at Different Locations on Part
If the part is gripped at different locations on the part, the conveyor
resolution is not as accurate as it needs to be. This is typically observed
when the part is picked from different locations on the conveyor.
To improve this resolution, slow the conveyor down, and add a long delay
in the program after the move position above the part. During the
playback, the robot will be tracking the conveyor with the gripper above
the part. If the conveyor resolution tag is accurate, the robot should
maintain its position relative to the moving part, while it is executing the
long delay. If it is observed that the robot gripper is drifting forward or
backward in respect to the part, modify the EncoderToMMConversion tag
until the drift is eliminated.
This section should be utilized after the ladder program is
developed.
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