Configuring Conveyors

After a conveyor has been created, you can set its parameters.

  1. Select [Tools]-[Conveyor Tracking].

  2. Select the conveyor you want to edit.

  3. There are three setup pages shown in the tree under each conveyor: [General], [Preferences], [Upstream Limit], [Downstream Limit], and [Conveyor Z].

    • To change the [Upstream Limit] and [Downstream Limit], refer to 16.16 Pickup Area Changing the Upstream / Downstream limits positions.
    • To change the settings of Reject Distance and queue position data sort, click on [Preferences].
    • To change other parameters, click on [General].

  4. Click on [General] or [Preferences]. The dialog shown below appears. Edit any of the configuration options.

  5. Click [Apply] to save changes.

KEY POINTS

If you changed Robot #, Encoder #, Orientation, Type, or Vision Sequence, you need to calibrate the conveyor again.

The following table explains the parameters you can edit in the [General] and [Preferences] pages.

Name

You can name conveyors. There is a restriction on the number of characters to be input.

Up to 16 bytes

Robot # You can select a robot that is configured.
Encoder #

You can select an encoder that is configured.

Select by encoder number.

Type

You can select vision type and sensor type.

  • Vision: Detects workpieces using a camera.
  • Sensor: Detects workpieces using a sensor.
Motion You can select the conveyor motion; Straight conveyor or Circular conveyor.
Orientation

When you selected Straight conveyor, you can specify if the conveyor is level or tilted.

Tilted is set by default. Normally you don't have to change it.

  • Tilted: Conveyor slope is detected during the calibration.
  • Level: Conveyor slope is not detected during the calibration. You need to observe the following:
  • The conveyor must be level with the robot X and Y planes.
Vision Sequence

Select a vision sequence for the calibration.

This is only necessary when using the vision type.

Downstream Conveyor When two or more conveyors have been set, you can select a conveyor number for the downstream conveyor.
Calibrate…

Click this button to execute the calibration.

The calibration procedure is different for each type and conveyor orientation.

Adjust Z After the calibration is completed, you can calibrate the Z coordinate value of the conveyor again.
Reject Distance

You can set distance to prevent the duplicate registration of workpieces on conveyors.

  • The distance also can be set from the SPEL program using the Cnv_QueReject command.
  • If the distance is different from the one set by Cnv_QueReject command, the Cnv_QueReject command setting has precedence.
Queue position data sorted on X axis You can select whether to sort the queue or not.

KEY POINTS

After the calibration, change the parameters for Robot #, Encoder #, Type, Motion, Orientation, Vision Sequence, Adjust Z, and Upstream/Downstream limit.

← Vision Conveyors →

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