Introduction to Conveyor Tracking Introduction to Conveyor Tracking NOTE: The ACE software provides the following functionality through its graphical user interface. Therefore, Omron Adept strongly recommends that you use the ACE software. This chapter describes the Conveyor Tracking (moving-line) feature. The moving-line feature allows the programs to specify locations that are automatically modified to compensate for the instantaneous position of a conveyor belt. Motion locations that are defined relative to a belt can be taught and played back while the belt is stationary or moving at arbitrarily varying speeds.
Conveyor tracking is available only for systems that have the optional eV+ Extensions software. For eV+ to determine the instantaneous position and speed of a belt, the belt must be equipped with a device to measure its position and speed. As part of the moving-line hardware option, Omron Adept provides an interface for coordinating two separate conveyor belts. Robot motions and locations can be specified relative to either belt. There are no restrictions concerning the placement or orientation of a conveyor belt relative to the robot.
In fact, belts that move uphill or downhill (or at an angle to the reference frame of the robot) can be treated as easily as those that move parallel to an axis of the robot reference frame. The only restriction regarding a belt is that its motion must follow a straight-line path in the region where the robot is to work. The following sections contain installation and application instructions for using the moving- line feature. Before using this chapter, you should be familiar with eV+ and the basic operation of the robot. eV+Language User's Guide, v2.x, 18318-000 Rev A Page 189