Sensor conveyor operation check

After the calibration, we recommend that you check if the sensor conveyor works properly. Select a suitable method since the verification procedures vary depending on the system.

This checking method uses the program and command window described below.

Sample Program

Method 1: When the conveyor can be stopped arbitrary and the conveyor speed can be 30 mm/sec or less

1. Clear the all queue data registered to each conveyor.

   >Cnv_QueRemove 1,all
   

2. Detect the part using the sensor.

3. Execute the program “ScanConveyor” to register a queue.

4. Halt the program “ScanConveyor” and move the conveyor until the part enters the Pickup Area.

5. Pick up the part.

   When using the 6-axis robot, set U, V, and W values as shown below. When using the SCARA robot, setting of U, V, and W are not necessary.

   >Go Cnv_Queget(1,0):U(90):V(0):W(180)
   

6. Check if the robot end effector is above the center of a part.

7. Move the conveyor at 50mm/sec or less and check if the robot follows the part. At this point, the end effector will be off the center of part but this is not a problem.

8. Stop the tracking motion of the robot.

>Cnv_AbortTrack

In case the following symptoms occur with the above method, the conveyor calibration was not executed properly. Perform the calibration again.

• In step (6), the robot end effector is more than 1 mm away from the center of the part.
• The robot cannot follow the part when the conveyor is moved in step (7).

Method 2: When the conveyor can be stopped arbitrary and the conveyor speed can be 100 mm/sec or less

1. Clear the all queue data registered to each conveyor.

   >Cnv_QueRemove 1,all
   

2. Detect the part using the sensor.

3. Execute the program “ScanConveyor” to register a queue.

4. Halt the program “ScanConveyor” and move the conveyor until the part enters the Pickup Area.

5. Pick up the part.

When using the 6-axis robot, set U, V, and W values as shown below. When using the SCARA robot, setting of U, V, and W are not necessary. >Go Cnv_Queget(1,0):U(90):V(0):W(180)

6. Check if the robot end effector is above the center of a part.

7. Change the mode to “High Power”.

   >Power High
   

8. Move the conveyor and check if the robot follows the part. At this point, the end effector will be off the center of part but this is not a problem.

9. Stop the tracking motion of the robot.

   >Cnv_AbortTrack
   

In case the following symptoms occur with the above method, the conveyor calibration was not executed properly. Perform the calibration again.

• In step (6), the robot end effector is more than 2 mm away from the center of the part.
• The robot cannot follow the part when the conveyor is moved in step (8).

Method 3: When the conveyor can be stopped arbitrary

1. Clear the all queue data registered to each conveyor.

   >Cnv_QueRemove 1,all
   

2. Detect the part using the sensor.

3. Execute the program “ScanConveyor” to register a queue.

4. Halt the program “ScanConveyor” and move the conveyor until the part enters the Pickup Area.

5. Pick up the part.

   When using the 6-axis robot, set U, V, and W values as shown below. When using the SCARA robot, setting of U, V, and W are not necessary.

   >Go Cnv_Queget(1,0):U(90):V(0):W(180)
   

6. Check if the robot end effector is above the center of a part.

7. Stop the tracking motion of the robot.

   >Cnv_AbortTrack
   

8. Use the program “Main” to check if the robot follows the part.

   At this point, change the wait time after tracking to 0.2 to 0.5 in the sample program.

In case the following symptoms occur with the above method, the conveyor calibration was not executed properly. Perform the calibration again.

• In step (6), the robot end effector is more than 1 mm away from the center of the part.
• The robot moves to different position from the parts in step (8).

Method 4: When the conveyor cannot be stopped and the speed cannot be changed arbitrary

1. Move the conveyor.

2. Change the sample program as follows.

   • Change the wait time after tracking to 0.2 to 0.5
   • Set the tracking mode to "0"

3. Execute the sample program “Main”.

4. Place the part after the conveyor speed becomes constant.

5. Check if the robot follows the part.

6. Change the sample program as follows.

   • Set the tracking mode to "1"

7. Execute the sample program “Main”.

8. Place the part after the conveyor speed becomes constant.

9. Check if the robot follows the part.

In case the following symptoms occur with the above method, the conveyor calibration was not executed properly. Perform the calibration again.

• When comparing step (5) and (9), a distance between the robot and the part is smaller in step (5).
• The robot moves to different position from the parts in step (5).