Key Terms
Here explains key terms used in this section.
- Queue
- Waiting queue of the FIFO (First-In, First-Out) type for each conveyor.
- With the queue, you can register the pose data of workpieces running on the conveyor and user data. When you add data, it will be registered to the end of the queue. When you delete data from the queue, the remaining data in the queue will be moved up automatically.
- Queue depth
- The number of data entries registered in a queue.
- Maximum number of queue data is each conveyor 1000. The maximum total of queue data for all conveyors is 1000.
- Queue user data
- Optional real value that can be registered in a queue.
- You can store additional information such as sorted data or part type determined by the image processing.
- Downstream Conveyor
- Use this when using multiple conveyors and you run them continuously.
- By making an association (upstream/downstream) between conveyors, you can move a queue using the Cnv_QueMove command. “Multiple conveyors” is not necessarily more than one conveyor. You can use one long physical conveyor and set upstream side and downstream side as different logical conveyors. This enables the robots cooperative work, for instance, robot at the downstream side can pick up the workpieces that the robot at upstream fails to pick in time.
- Upstream Limit
- Dividing line in the upstream side of the Pickup Area.
- Downstream Limit
- Dividing line in the downstream side of the Pickup Area.
- Pickup Area
- The area between the upstream limit and downstream limit.
- The robot picks parts which flow in the Pickup Area.
- The robot starting pickup near the downstream limit continues its operation over the downstream limit. Make sure that the Pickup Area covers the whole robot motion range.
- See details below.