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Precautions Before Use

  • Currently, only the Linear Conveyor is supported.

  • One robot can support up to two conveyors.

  • When connecting one conveyor, it is necessary to have one encoder, which can measure the traveling distance of the conveyor, and one triggering switch, which detects objects passing through a particular starting point.

  • The encoder signal and triggering switch can only be used in one robot. In other words, one conveyor cannot be connected to more than two robots.

  • The encoder and triggering switch are connected to the encoder terminals (TBEN1, TBEN2) of the controller. Connect the encoder with A phase or A/B phase depending on the specifications, and connect the triggering switch to S phase. For details about sensor selection and connection, encoder output type selection and wiring precautions, refer to Setting Encoder Input Terminal (TBEN1, TBEN2) in the User manual.

  • The encoder resolution is selected by taking into account the resolution of the encoder itself and every reduction ratio from encoder input up to workpiece traveling mechanism. Select an encoder resolution that allows the entire system resolution to be at least 5000 count/m. Increasing the entire system resolution beyond 10000 count/m does not provide any further improvement in performance.

  • If the above recommended resolution is maintained, the conveyor speed supports a range of 10 mm/s ~ 500 mm/s.

  • All task motions are supported during conveyor tracking. However, Absolute motion only allows Base, World and Conveyor Coordinates, and Relative motion allows all.

  • Joint velocity clamping and power clamping are not applied during conveyor tracking. If the conveyor speed and the motion speed together exceed the joint velocity limit of the robot, an error occurs and the robot stops. It is recommended to set the conveyor speed and the motion speed with enough margin below the joint velocity limit.

  • The [Conveyor Tracking] and [Conveyor Coordinates] commands are also supported while a task motion is in progress. [Conveyor Coordinates] is also supported while compliance control or force control is applied, as long as no task motion is in progress. Neither command is supported in any other state.

  • During conveyor tracking, the Compliance Control command can be executed only while no task motion is in progress.

  • [Conveyor Tracking] cannot be started while Compliance Control is applied.

  • In the current version, the Force Control command cannot be executed during conveyor tracking.

  • If no task motion is present during Conveyor Tracking, both Set Tool Weight and Set Tool Center Position commands are allowed.

  • A [Pattern] cannot be set in a command during conveyor tracking. Commands integrated with the [Machine] / [Feeder] and commands that require Force Control are not supported. The [Contact Sensing Setting] option within a command is also not supported.

    • Unsupported commands:

      • Commands including the [Machine] / [Feeder]: Interlock Pick, Interlock Place, Pick Bolt

      • Commands requiring Force Control: Insert, Contact