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2 Installation
2.6.7 Six axes robot configuration
2.6.7 Six axes robot configuration
Modifications for six axes robots
When using PickMaster with a six axes robot, some modifications must be done
in the system parameters to optimize the robot motion with the conveyor tracking
process.
Topic Process
The following three parameters can be modified in the topic Process. They belong
to the type Conveyor systems.
Parameter
Start ramp
Stop ramp
Adjustment speed
44
Description
This is the correction start filter ramp that is used when
connecting to a moving conveyor. This is by default
set to 5 (steps).
Tune this parameter if higher accuracy is needed. A
lower value gives better accuracy but the manipulator
may jerk when connecting to the moving object.
This is the correction stop filter ramp that is used when
disconnecting from a moving conveyor. This is by de-
fault set to ten (steps).
Tune this parameter to eliminate manipulator jerks
when leaving the moving object. A lower value gives
better accuracy when leaving the conveyor.
The speed (in mm/s) at which the robot should catch
up to the conveyor. The general recommended value
is 130% of the conveyor speed. As minimum, the value
should be more than 100% with some margin. If the
robots speed is very fast compared to the conveyor
speed, a further increase of the value is often neces-
sary. If the value is set too low, robot movements may
become jerky or the conveyor tracking accuracy may
become reduced. On the other hand, if the value is set
too high, the drive system may become overloaded,
causing motion supervision errors. Generally, the
maximum recommended value is 200%. For IRB360 in
applications with high robot speed, the maximum re-
commended value is 500%.
Application manual - PickMaster® Twin - PowerPac
© Copyright 2021 ABB. All rights reserved.
3HAC064218-001 Revision: B
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