ACE Sight Belt Calibration Upstream limit is the farthest point, towards the start of the belt, that the robot is allowed to move. This teaches the upstream limit, as well as the far side of the belt, width-wise (away from the robot). The target should be taped or otherwise fastened to the belt to prevent the target from moving, in relation to the belt, during calibration. 1. Place the target on the belt at the upstream limit, away from the robot (width- wise on the belt). If the robot is mounted above the belt, and is centered on the belt, pick either side of the belt. 2. Move the robot tip to the target. Click Pendant to display the pendant window.
This lets you to move the robot, to center the tip over the target. 3. Click Here. l Teach Downstream Limit (#2 in preceding figure) Downstream limit is the farthest point, towards the end of the belt, that the robot is allowed to move. 1. Move the belt, without touching the target, so that the target stops at the downstream limit. 2. Move the robot to the target. 3. Click Here. l Teach Downstream Pick Limit (#3 in preceding figure) Downstream pick limit is the farthest point, towards the downstream limit, that the robot is allowed to pick an object. It will be between the upstream and downstream lim- its. This also teaches the near side of the belt, width-wise (nearest the robot).
The dif- ference between the far side and near side establishes the usable width of the belt. 1. Place the target at the downstream pick point, near the robot (widthwise on the belt). If the robot is mounted above the belt, and is centered on the belt, pick the side of the belt opposite from the side you picked before. 2. Move the robot to the target. 3. Click Here. l Test Calibration ACEUser's Guide, 3.6.x, 18316-000 Rev A Page 639