Conveyor Tracking 3.2 - ABB IRB 6400R Product On-Line Manual

Conveyor Tracking 3.2

3.11 Conveyor Tracking 3.2
Conveyor Tracking (also called Line Tracking) is the function whereby the robot
follows a work object which is mounted on a moving conveyor. While tracking the
conveyor, the programmed TCP speed relative to the work object will be maintained,
even when the conveyor speed is changing slowly.
Note that hardware components for measuring the conveyor position are also necessary
for this function. Please refer to the Product Specification for your robot.
Conveyor Tracking provides the following features:
- A conveyor can be defined as either linear or circular.
- It is possible to have two conveyors connected simultaneously and to switch
between tracking the one or the other.
- Up to 254 objects can reside in an object queue which can be manipulated by
RAPID instructions.
- It is possible to define a start window in which an object must be before tracking
can start.
- A maximum tracking distance may be specified.
- If the robot is mounted on a parallel track motion, then the system can be con-
figured such that the track will follow the conveyor and maintain the relative
position to the conveyor.
- Tracking of a conveyor can be activated "on the fly", i.e. it is not necessary to
stop in a fine point.
Performance
At 150 mm/s constant conveyor speed, the TCP will stay within +/-2 mm of the path as
seen with no conveyor motion. When the robot is stationary relative to the conveyor,
the TCP will remain within 0.7 mm of the intended position.
These values are valid as long as the robot is within its dynamic limits with the added
conveyor motion and they require accurate conveyor calibration.
RAPID instructions included in this option
WaitWObj
DropWObj
30
Connects to a work object in the start window
Disconnects from the current object
Product Specification RobotWare for BaseWare OS 3.2