14.27 Command: Conveyor Tracking
Direction
The direction is given by two positions, and is calculated as the position difference
from the first positions TCP to the second positions TCP. Note: A direction does not
consider the orientations of the points.
Next Stacking Position Expression
The robot arm moves along the direction vector while continuously evaluating
whether the next stack position has been reached. When the expression is eval-
uated to True the special sequence is executed.
“BeforeStart”
The optional BeforeStart sequence is run just before the operation starts. This
can be used to wait for ready signals.
“AfterEnd”
The optional AfterEnd sequence is run when the operation is finished. This can
be used to signal conveyor motion to start, preparing for the next stack.
Pick/Place Sequence
Like for the Pallet operation (14.25), a special program sequence is performed at
each stack position.
14.27 Command: Conveyor Tracking
When using a conveyor, the robot can be configured to track it’s movement. A
program node is available for tracking a conveyor, Conveyor Tracking. When
Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
II-99 CB3
To Next Page
Loading...
Need help?
General
