YASKAWA Motoman MLX200 - Part Is Gripped Consistently at the Wrong Location on the Part

6 Conveyor Tracking
6.6 Conveyor Tracking Setup Procedure
6-13
168542-1CD
168542-1CD
MLX200 Software and
Operations
6.6.5.2 Part is Gripped Consistently at the Wrong Location on the Part
 Part is Gripped Consistently at the Wrong Location on the Part
If the part is picked up anywhere on the conveyor with the gripper
consistently at the wrong location on the part, there is a small execution
delay that needs to be calibrated. Typically, this is caused by the response
time of hardware I/O. In most cases, it is desired to program the gripper to
pick up the part at a center location on the part. On the {HMI Conveyor
Tracking Setup} screen, the Lag Offset can be modified to fine tune the
pickup of position of the gripper on the part.
Whenever the conveyor speed is changed, the Lag Offset should be
modified. The corresponding tag in the ladder is
ApplicationData.ConveyorData[x].LagOffset.
111 of 206