Omron SCARA YRCX Series User Manual page 19

[Setting example]
To start follow-up operation 50 mm before entering the working area at conveyor speed of 100 [mm/sec] (0.1 [mm/ms]):
Before setting
Tracking start margin
0 [ms]
Position judged as
Upstream position
follow-able
Motion
operation start
Tracking end margin (conveyor 1 / conveyor 2) ‹TRKEMGN1 / TRKEMGN2›
■
This parameter is used to set the work time for a workpiece on the conveyor.
The robot follow-up operation will start only if the work can be completed before the workpiece reaches the downstream
position of the working area.
NOTE
In this manual, the time required for the work (picking with an end tool, etc.) carried out while the robot is
following the workpiece is called the work time.
Specify the workpiece work time in milliseconds [ms].
The workpiece will be judged as follow-able if it is in the position of <Conveyor velocity [mm/sec] x Tracking end margin
[ms] ÷ 1000 (unit: mm)> before the downstream position of the working area.
The setting range is 0 to 10000. This parameter is set to 0 when initialized.
This parameter can be set by robot for each conveyor.
NOTE
• If the workpiece being followed by the robot reaches the downstream position of the working area, the
corresponded alarms will occur.
• This parameter is taken into consideration when judging whether the CTMOVE command can be executed. If
the follow-up target workpiece will exit the working area after [the movement time instructed by CTMOVE + the
tracking end margin] time has elapsed, it is judged that CTMOVE command cannot be executed, and an
alarm will occur.
• To continue the process after an alarm has occurred, use the "ON ERROR GOTO" statement to recover the state.
[Setting example]
When work time for a workpiece is 1 sec (1000 [ms]) at conveyor speed of 100 [mm/sec] (0.1 [mm/ms]):
Tracking end margin 0 [ms]
Position judged as
passing the working
Downstream position
area
Motion
Conveyor flow direction
Upstream Downstream
position position
Working area
Changes in workpiece position
Follow-up
Conveyor flow direction
operation
Follow-up Follow-up
operation end
Before setting
Upstream Downstream
position position
Working area
Changes in workpiece position
Follow-up
operation
Follow-up
state
Follow-up
Follow-up
operation end
canceled
After setting
500 [ms]
50 [mm] before upstream position
Upstream Downstream
position
Working area
Conveyor flow direction
Start margin
Follow-up Follow-up
operation start operation end
After setting
1000 [ms]
100 [mm] before downstream position
Upstream
position
Working area
Conveyor flow direction
Follow-up operation
End margin
not possible
position
4
Downstream
position
15