Quantity-priority mode

Quantity-priority mode prioritizes reducing time to catch up with the workpiece (queue) over the picking accuracy. This mode is suitable for the conveyor tracking system in which space between the workpieces is narrow.

KEY POINTS

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When the quantity-priority mode is selected, tracking delay (situation in which the Manipulator does picking motion at the posterior part of the workpiece to the direction of the conveyor motion) may occur. When you correct the tracking delay, write the program to add the offset as follows.

Go Cnv_Queget(Conveyor number,[Index])+X(**)

X indicates the direction of the conveyor motion. ** indicates correction amount [mm]. For the details of offset, refer to the following manual:

"SPEL"+ Language Reference - Go"