Overview

Conveyor Tracking is a process in which a robot picks up parts from a stationary or moving conveyor that are found by a vision system or sensor.

The Epson RC+ 8.0 Conveyor Tracking option supports both tracking and indexed conveyor systems.

Tracking conveyor system

Conveyor moves constantly. Vision system or sensor system finds the parts on it and robot picks them up as they move. During tracking, the robot can move along with the part as it picks up parts.

Indexed conveyor system

Conveyor moves a specified distance and then stops. The vision system finds the parts and robot picks up each part. After finding and picking up all parts, the conveyor moves again.

Up to 16 logical conveyors can be defined in each project. To define a logical conveyor, set a conveyor number, a robot number, encoder and select vision or sensor.

Multiple conveyors and multiple-robot conveyors are supported.

Applicable conveyor tracking models and connection methods are shown below.

Controller	Supported/Not Supported	Connection Method
		Conveyor Tracking Option Kit B	Pulse Generator (PG) Board
RC90 Series	Supported	Not supported	Max 2 boards supported
RC700-A	Supported	Not supported	Max 4 boards supported
RC700-D, RC700-E	Supported	Not supported	Max 3 boards supported
T series Manipulator	Not supported	-	-
VT series Manipulator	Not supported	-	-
RC800 series	Supported	Supported	Max 3 boards supported

For details on multi robots, refer to the following manual.

"Robot Controller Manual"

There are two types of conveyors that can be used with the Conveyor Tracking option: straight conveyors and circular conveyors, as shown in the figure below. These conveyors have different calibration and programming methods.

• Straight conveyor tracking system

Symbol	Description
a	Camera
b	Robot
c	Workpiece
d	Straight conveyor

• Circular conveyor tracking system

Symbol	Description
a	Workpiece
b	Camera
c	Circular conveyor
d	Robot