Conveyor Tracking Setup - Universal Robots UR3/CB3 User Manual

13.13 Conveyor Tracking Setup

13.13 Conveyor Tracking Setup
When using a conveyor, the robot can be configured to track it's movement. The Con-
veyor Tracking Setup provides options for configuring the robot to work with absolute
and incremental encoders, as well as, linear and circular conveyors.
Conveyor Parameters
Incremental encoders can be connected to digital inputs 0 to 3. Decoding of digital
signals runs at 40kHz. Using a Quadrature encoder (requiring two inputs), the robot
is able to determine the speed along with direction of the conveyor. If the direction of
the coneyor is constant, a single input can be used, detecting either Rising, Falling,
or Rise and Fall edges to determine the speed of the conveyor.
Absolute encoders can be used when connected through a MODBUS signal. This
requires that a digital MODBUS input register is preconfigured in the 13.11.
Linear conveyors
When a linear conveyor is selected, a line feature must be configured to determine the
direction of the conveyor. The line feature should be parallel to the direction of the
conveyor, and there should be a large distance between the two points defining the
line feature. It is recommended to configure the line feature by placing the tool firmly
against the side of the conveyor when teaching the two points.
Version 3.3.3 II-57 CB3