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13.13 Conveyor Tracking Setup
example the offset is set to 10 cm in the Y-direction (see figure 13.6, offsets O1 and O2). This is
achieved using pose add() or pose trans() script functions to manipulate the variable. It is pos-
sible 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 13.7) where the reference feature for the MoveL
command P1 var can switch between two planes P1 and P2.
13.13 Conveyor Tracking Setup
The Conveyor Tracking Setup allows the movement of up to two separate conveyors to be con-
figured. 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 MOD-
BUS Output register preconfigured in (section 13.11).
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 ac-
curacy by placing the line feature parallel to the direction of the conveyor, with a large
distance between the two points that define the line feature. Configure the line feature by
placing the tool firmly against the side of the conveyor when teaching the two points. If the
line feature's direction is opposite to the conveyor's movement, use the Reverse direction
button.
The Ticks per meter field displays the number of ticks the encoder generates when the
conveyor moves one meter.
Circular Conveyors: When tracking a circular conveyor, the conveyor center point must be de-
fined.
1. Define the center point in the Features part of the installation. The value of Ticks
per revolution must be the number of ticks the encoder generates when the conveyor
rotates one full revolution.
2. Select the Rotate tool with conveyor checkbox for the tool orientation to track the
conveyor rotation.
13.14 Smooth Transition Between Safety Modes
When switching between safety modes during events (i.e., Reduced Mode Input, Reduced
Mode Trigger Planes, Safeguard Stop, and Three-Position Enabling Device), the Robot Arm
aims to use 0.4s to create a "soft" transition. Existing applications have unchanged behavior
which corresponds to the "hard" setting. New installation files default to the "soft" setting.
Version 3.11
II-57
e-Series
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