Programming (Tb/Tw); Conveyor Coordinates; Conveyor Tracking - Doosan M0609 Reference Manual

3.

Programming (TB/TW)

Programming of Conveyor Tracking is made with the Conveyor Coordinates command and Conveyor
Tracking command in TB/TW. Coordinates information of the workpiece is obtained through the
Conveyor Coordinates command, and Conveyor Tracking motion is performed with the Conveyor
Tracking command.
3.1

Conveyor Coordinates

For basic a description of the command, refer to User Manual 7.7. This command returns the
coordinates information of a workpiece in the Watch Window at the time the command is executed
according to its Picking Rule. If there is no workpiece in the Watch Window, the command stands by,
but it only remains on standby for the time set by Time Out. (If Time Out = 0, it remains on standby
indefinitely)
Object Offset Coordinates is used to give an offset to the reference coordinates of a workpiece.
Update the program with Pose Variable, which is used to give a static offset, when necessary, and
Pos(x) Variable, which is used to dynamically change the offset.
3.2

Conveyor Tracking

Inserting the Conveyor Tracking command into programming creates the Conveyor Tracking node and
End Conveyor Tracking node. At this time, the robot performs the Conveyor Tracking motion. It is
possible to insert the Wait command to check whether Tracking is performing well, or insert various
other Task Motion commands to develop the desired work.
Also, it is possible to obtain a teaching point for using Task Motion. The teaching point of Conveyor
Tracking must be entered based on the workpiece coordinates, so in order to obtain the accurate
teaching point, the coordinates must be entered manually based on CAD information or be obtained
through the following procedure:
-
Select the Conveyor Coordinates to track in the Conveyor Tracking command Property
window.
-
With the Start button pressed, let workpieces flow through like an actual workflow.
-
When a workpiece enters the Watch Window, a green indicator lights goes on at Get Pose
Ready, and after the indicator light goes on, stop the conveyor in a position where the robot
can perform teaching properly. If the green indicator light does not go on, press Stop and
repeat the process starting from #2.
-
After teaching the robot based on a workpiece at stop, press Get Pose to obtain as many
teaching points as necessary. (up to 20 points)
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