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The movement relative to P1 is repeated a number of times, each time by an offset o. In this
example the offset is set to 10 cm in the Y-direction (see figure 15.6, offsets O1 and O2). This is
achieved using pose_add() or pose_trans() script functions to manipulate the variable. It is
possible to switch to a different feature while the program is running instead of adding an offset.
This is shown in the example below (see figure 15.7) where the reference feature for the MoveL
command P1_var can switch between two planes P1 and P2.
1.23.13. Conveyor Tracking Setup
The Conveyor Tracking Setup allows the movement of up to two separate conveyors to be
configured. The Conveyor Tracking Setup provides options for configuring the robot to work with
absolute or incremental encoders, as well as linear or 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 can determine the speed
and direction of the conveyor. If the direction of the conveyor is constant, a single input can
be used to detect Rising, Falling, or Rise and Fall edges which determine conveyor speed.
Absolute
encoders can be connected through a MODBUS signal. This requires a Digital MODBUS
Output register preconfigured in
page 136).
Tracking Parameters
Linear Conveyors
When a linear conveyor is selected, a line feature must be configured in the Features part of
the installation to determine the direction of the conveyor. Ensure accuracy by placing the
line feature parallel to the direction of the conveyor, with a large distance between the two
UR10
15.7: Switching from one plane feature to another
(section 1.23.11. Installation → MODBUS client I/O Setup on
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