Conveyor Tracking with 6-Axis Robot

When you use a 6-axis robot in a conveyor tracking system, you need to set the values of U, V, and W.

For this, use the Cnv_QueGet command.

The following shows the case where the robot end effector moves toward a part during the pickup.

Go Cnv_Queget(Conveyor number,[Index]):U(90):V(0):W(180)

An example of using Jump3 is shown below.

Jump3 P1,Cnv_QueGet(1):Z(**):U(90):V(0):W(180),
Cnv_QueGet(1):U(90):V(0):W(180)

KEY POINTS

When setting the Z(**) height, be aware of the following:

Home position of Z in the tracking coordinate is the calibration position.
To raise the Z height in the tracking coordinate, offset in a positive (+) direction.
To lower the Z height in the tracking coordinate, offset in a minus (-) direction.
Robot coordinate P1 can be converted to the conveyor coordinate and displayed.
```
> print P1@cnv1
```