Sensor Conveyor Calibration (Circular conveyor)
Follow these steps to calibrate a circular sensor conveyor:
KEY POINTS
- When teaching part positions with the robot during calibration, it is important to position X, Y, and Z of each point accurately. The conveyor is calibrated in X, Y, Z, U, V, and W.
- To perform the fine calibration, in steps 10, 12, and 14, teach the position when the robot is directly above the parts and set as wide a distance as possible between the points to be taught.
Select [Tools]-[Conveyor Tracking].
Select the conveyor you want to calibrate.
Select [Sensor] for the [Type].
Select [Circular] for the [Motion].
Select the conveyor rotating direction for the [Direction]. Be careful not to calibrate with a wrong direction, otherwise, the robot will not track the parts.
Click the [Apply] button.
Click the [Calibrate] button.
The [Conveyor Tracking Calibration] wizard is displayed. Follow the instructions for each step. Before you can proceed to the next step, you must click the [Teach] button. You can go back to previous steps using the [Back] button.
Check if the conveyor direction shown in the wizard is the same as the conveyor you want to use.
Place a part on the conveyor and move the conveyor toward the sensor until the sensor just turns on.
Click the [Teach] button.
Move the conveyor by hand to move Part.
Click the [Jog & Teach] button.
The [Jog & Teach panel] will appear. Click the jog buttons to move the robot end effector to the pick position.
Click the [Teach] button.
Move the conveyor to move Part.
Click the [Jog & Teach] button.
The [Jog & Teach panel] will appear. Click the jog buttons to move the robot end effector to the pick position.
Click the [Teach] button.
Move the conveyor to move Part.
Click the [Jog & Teach] button.
The [Jog & Teach panel] will appear. Click the jog buttons to move the robot end effector to the pick position.
Click the [Teach] button.
Place a part on the upstream limit.
Click the [Jog & Teach] button.
The [Jog & Teach panel] will appear. Click the jog buttons to move the robot end effector above the part.
Click the [Teach] button.
Move the conveyor so the part is at the downstream limit.
Click the [Jog & Teach] button.
The [Jog & Teach panel] will appear. Click the jog buttons to move the robot end effector above the part.
Click the [Teach] button.
The calibration complete picture will be displayed.
Click the [Finish] button.
The Calibration Results screen is displayed.
- Click the [OK] button to complete the calibration.
- Click the [Cancel] button to return to the Calibration Complete screen in step 20.
