Command: Conveyor Tracking - Universal Robots UR3/CB3 User Manual

14.27 Command: Conveyor Tracking

When using a conveyor, the robot can be configured to track it's movement. A pro-
gram node is available for tracking a conveyor, Conveyor Tracking. When the
Conveyor Tracking defined in the installation is configured correctly, a linear or cir-
cular conveyor can be tracked. The node can be added from the Wizard Program
node under the Structure tab. While the program is executing under the Conveyor
Tracking node, the robot will adjusts it's movements to follow the conveyor. Other
movements are allowed while tracking the conveyor, but are relative to the motion of
the conveyor belt.
14.28 Command: Suppress
Suppressed program lines are simply skipped when the program is run. A suppressed
line can be unsuppressed again at a later time. This is a quick way to make changes to
a program without destroying the original contents.
14.29 Graphics Tab
Graphical representation of the current robot program. The path of the TCP is shown
in the 3D view, with motion segments in black, and blend segments (transitions be-
tween motion segments) shown in green. The green dots specify the positions of the
TCP at each of the waypoints in the program. The 3D drawing of the robot arm shows
CB3 II-106
14.29 Graphics Tab
Version 3.3.3