Conveyor Calibration - Omron SCARA YRCX Series User Manual

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Programming manual (506 pages)

Table Of Contents

Table of Contents

Tracking position adjust (conveyor 1 / conveyor 2) ‹TRKPADJ1 / TRKPADJ2›

■

This parameter compensates delay of robot follow-up for the workpiece flowing on the conveyor. The compensation

distance is specified in 0.001 mm units.

The compensation amount is adjustment of tracking position in the conveyor flowing direction.

Setting range is between -9999999 and 9999999. When this parameter is initialized, "0" is set.

This parameter can be set by robot for each conveyor.

NOTE

• Unlike the "Conveyor velocity coef. 1/2", this parameter always compensates interval in the conveyor flowing

direction even though the conveyor velocity changes.

• The compensation amount of follow-up position by this parameter is not considered in "CCHKQUE" function.

Therefore, the target position of follow-up may be outside the working area depending on the "conveyor

velocity coef." value. For details on working area, refer to refer to "5. Conveyor calibration".

[Setting example]

To compensate the follow-up position at interval conveyor speed and 10 [mm] follow-up delay.

Tracking position

adjust

Follow-up position

compensation

Motion

Tracking CADDQUE Distance (conveyor 1 / conveyor 2) ‹CADDST1 / CADDST2›

■

This parameter sets the radius (judgment area distance) for judging double-registration when adding a queue element to

position monitoring queue "CADDQUE/CADDQUEV" command (units: 0.001 mm). If there already is a queue element

that has been added as a position monitoring queue within the radius of the queue element that is about to be added to

the position monitoring queue, it is judged as double-registration. The queue that is judged as double-registration will not

be added to the position monitoring queue. No alarm occurs in this case.

The setting range is between 0 and 9999999.

When "0" is specified, judging double-registration is invalid. This parameter is set by conveyor.

The judgment area distance specified by "CADDQUE" or "CADDQUEV" command is prior to this parameter.

Conveyor calibration refers to the process of aligning the conveyor position with the robot coordinates.

By calibrating the conveyor, it can be seen where the positions of the queue elements added to the conveyor

position monitoring queue are in relation to the robot coordinates, and conveyor tracking becomes possible.

Conveyor calibration must be carried out for all the robots to use the conveyor tracking function.

Carry out conveyor calibration after the conveyor, camera, and robot have been installed.

If the position of the conveyor, camera, or robot changes, the conveyor must be calibrated again.

TIP

Refer to section "7.2 Position monitoring queue" for details on the position monitoring queue and the queue

elements.

Before setting

0 [0.001 mm]

0 [mm]

Follow-up state

Follow-up delay

Changes in workpiece position