Pick & Place (Two Conveyors); Multiple Workpiece Handling - Doosan M0609 Reference Manual

4.2 Pick & Place (Two Conveyors)
This example picks a workpiece moving on one conveyor and places it on another conveyor. While the
method is identical to the example in 4.1, it requires two pairs of Conveyor Coordinates and Conveyor
Tracking commands, and each must be programmed at different conveyors.
4.3

Multiple Workpiece Handling

This example handles workpieces continuously supplied by one conveyor. If a workpiece is handled
between Conveyor Tracking and End Conveyor Tracking, and if the overall work time is not sufficient,
obtain Conveyor Coordinates information rather than performing End Conveyor Tracking to continue
the work.
Note that it is necessary to differentiate the first coordinates and the second coordinates when
teaching. Select coordinates suited for the workpiece, perform Start Teaching, and perform Get Pose
to obtain teaching points suited for each coordinate. If the workpiece is identical, it is acceptable to
share identical teaching points.
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