Defining Home
1. In the Header, tap Installation.
2. Under General, select Home.
3. Tap Set Position.
4. Teach robot using either Freedrive or Transition buttons.
20.10. Conveyor Tracking Setup
Description The Conveyor Tracking Setup allows the movement of up to two separate conveyors
to be configured. The Conveyor Tracking Setup provides options for configuring the
robot to work with absolute or incremental encoders, as well as linear or circular
conveyors.
Defining a
Conveyor
1. In the Header, tap Installation.
2. Under General, select Conveyor Tracking.
3. Under Conveyor Tracking Setup, in the dropdown list select Conveyor 1 or
Conveyor 2.
You can only define one conveyor at a time.
4. Select Enable Conveyor Tracking
5. Configure Conveyor Parametersand Tracking Parameters.
Conveyor
Parameters
Incremental Encoders
These can be connected to Digital Inputs 8 to 11. Decoding of digital signals runs
at 40kHz. Using a Quadrature encoder (requiring two inputs), the robot can
determine the speed and direction of the conveyor. If the direction of the conveyor
is constant, a single input can be used to detect
Rising
,
Falling
, or
Rise and Fall
edges which determine conveyor speed.
Absolute Encoders
These can be connected through a MODBUS signal. This requires a Digital
MODBUS Output register preconfigured in (section).
User Manual 295 UR10e
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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