Omron SCARA YRCX Series User manual

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CONTENTS Tracking System
User’s Manual
T-1
Introduction 1
Safety cautions and marks 2
1. Warranty 3
1. Overview 5
1.1 Features and functions 5
1.2 Systemconguration 6
1.2.1 TrackingSystemconguration 6
1.2.2 RobotcongurationwhenusingtheTrackingSystem 7
1.3 Component names and functions 7
1.4 Required items 8
2. Preparations for Tracking System use 9
3. Connections 10
3.1 Wiring 10
3.1.1 WiringtheABphaseinputconnector 10
3.1.2 WiringtheoptionalABphaseinputcable(Type:KX0-M66AF-00) 11
3.2 ConnectingandremovingtheABphaseinputcableconnector 11
3.2.1 ConnectingtheABphaseinputcableconnector 11
3.2.2 DisconnectingtheABphaseinputcableconnector 12
3.3 Verifyingtherobotcontrollersettings 12
4. Parameter 13
4.1 Parameterlist 13
4.2 Parametersettings 13
4.3 Parameterdetails 14
5. Conveyor calibration 16
5.1 Interactiveconveyorcalibrationsettingmethod 18
5.2 Editingconveyorcalibrationdata 24
6. Tracking Monitor 25
7. Robot language commands 26
7.1 Robotlanguagecommandlist 26
7.2 Positionmonitoringqueueandqueueelement 27
7.2.1 Addingqueueelements 28
7.2.2 Deletingrobotpositiondatafromqueueelements 29
7.2.3 Deletingqueueelements 29

CONTENTS
T-2
7.3 Robot language command details 29
7.3.1 CADDIST 29
7.3.2 CADDQUE 30
7.3.3 CADDQUEV (Reserved) 32
7.3.4 CADDRSLT 33
7.3.5 CCHKQUE 34
7.3.6 CCLRRBT 35
7.3.7 CCOND 35
7.3.8 CGETPULS 36
7.3.9 CGETQUE 36
7.3.10 CGETRATE 37
7.3.11 CGETTAG 37
7.3.12 CGETVELX 37
7.3.13 CGETVELY 38
7.3.14 CQUECNT 39
7.3.15 CRMVQUE 39
7.3.16 CRSTPULS 40
7.3.17 CSETTAG 40
7.3.18 CTDRIVE 40
7.3.19 CTMOVE 42
7.3.20 CTRKEMGN 44
7.3.21 CTRKPADJ 45
7.3.22 CTRKSMGN 46
7.3.23 CTSTOP 46
7.3.24 CTVISION (Reserved) 47
7.3.25 CVELCOEF 47
7.4 Sample programs 48
7.4.1 One robot picks and places the workpiece 48
8. Troubleshooting 52
8.1 Alarm messages 52
8.2 When trouble occurs 56
8.3 Troubleshooting 57
9. Specicationslist 57

Introduction
1
Introduction
Thank you for purchasing the Tracking System OMRON Robot Controller. Please read this manual carefully
before using the Tracking System in order to ensure correct and safe operation.
Store this manual where it can be easily accessed for reference, and make sure that it is delivered to the end
user.
Before using this product, read this manual and related manuals and take safety Precautions to ensure correct
handling.
Although care has been taken to ensure the accuracy of this manual content, please contact your distributor
if content errors are found.
Refer to the relevant user's manuals for information regarding the robot, and regarding subjects other than
the installation, operations, and adjustments inherent to the Tracking System. Refer to the OMRON Robot
Controller YRCX Programming Manual for robot language information beyond basic items such as the robot
language command statement format, variables, and constants, and for information outside the scope of the
Tracking System's inherent robot language.

Safety cautions and marks
2
Safety cautions and marks
This manual uses the symbol marks shown below to indicate safety instructions which must be heeded, and to
specify handling cautions, prohibitions, instructions, and important procedural points, etc.
Please familiarize yourself with the meanings of these symbols before reading the manual.
DANGER
This indicates an immediately hazardous situation which, if not avoided, will result in death or
serious injury.
WARNING
This indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury.
CAUTION
This indicates a potentially hazardous situation which, if not avoided, could result in minor or
moderate injury, or damage to the equipment.
Examples Meaning
Fire hazard Electric shock hazard
These warning symbols indicate a caution or warning you must heed.
The specific caution or warning is often indicated by a pictorial sign. Always follow these
instructions to ensure correct and safe product use.
No disassembly No wet hands
These symbols indicate a prohibited action.
The specific prohibited action is often indicated by a pictorial sign. Never attempt the
prohibited action.
Mandatory action Cut off power
This symbol indicates a mandatory action.
The specific instruction is often indicated by a pictorial sign. Read the instructions carefully
and always use the specified procedure.
This manual also uses the following marks to indicate key points and tips for operation.
NOTE
Explains the key point in the operation in a simple and clear manner.
TIP
Gives supplementary information related to robot controller operation.

Warranty
3
1. Warranty
The OMRON robot and/or related product you have purchased are warranted against the defects or
malfunctions as described below.
■Warranty description
If a failure or breakdown occurs due to defects in materials or workmanship in the genuine parts constituting this
OMRON robot and/or related product within the warranty period, then OMRON shall supply free of charge the necessary
replacement/ repair parts.
■Warranty period
The warranty period ends 24 months after the date of manufacturing as shown on the products.
■Exceptions to the warranty
This warranty will not apply in the following cases:
1. Fatigue arising due to the passage of time, natural wear and tear occurring during operation (natural fading of painted
or planted surfaces, deterioration of parts subject to wear, etc.)
2. Minor natural phenomena that do not affect the capabilities of the robot and/or related product (noise from computers,
motors, etc.)
3. Programs, point data and other internal data were changed or created by the user.
Failures resulting from the following causes are not covered by warranty.
1. Damage due to earthquakes, storms, floods, thunderbolt, fire or any other natural or man-made disaster.
2. Troubles caused by procedures prohibited in this manual.
3. Modifications to the robot and/or related product not approved by OMRON or OMRON sales representative.
4. Use of any other than genuine parts and specified grease and lubricant.
5. Incorrect or inadequate maintenance and inspection.
6. Repairs by other than authorized dealers.
WARRANTY
OMRON's exclusive warranty is that the products are free from defects in materials and workmanship for a
period of one year (or other period if specified) from date of sale by OMRON.
OMRON MAKES NO WARRANTY OR REPRESENTATION, EXPRESS OR IMPLIED, REGARDING
NONINFRINGEMENT, MERCHANTABILITY, OR FITNESS FOR PARTICULAR PURPOSE OF THE PRODUCTS.
ANY BUYER OR USER ACKNOWLEDGES THAT THE BUYER OR USER ALONE HAS DETERMINED THAT THE
PRODUCTS WILL SUITABLY MEET THE REQUERIMENTS OF THEIR INTENDED USE. OMRON DISCLAIMS ALL
OTHER WARRANTIES, EXPRESS OR IMPLIED.
LIMITATIONS OF LIABILITY OMRON SHALL NOT BE RESPONSIBLE FOR SPECIAL, INDIRECT OR
CONSEQUENTIAL DAMAGES, LOSS OF PROFITS OR COMERCIAL LOSS IN ANY WAY CONNECTED WITH
THE PRODUCTS, WETHER SUCH CLAIM IS BASED ON CONTRACT, WARRANTY, NEGLIGENCE OR STRICT
LIABILITY.
In no event shall the responsibility of OMRON for any act exceed the individual price of the product on
which liability is asserted. IN NO EVENT SHALL OMRON BE RESPONSIBLE FOR WARRANTY, REPAIR
OR OTHER CLAIMS REGARDING THE PRODUCTS UNLESS OMRON'S ANALYSIS CONFIRMS THAT THE
PRODUCTS WERE PROPERLY HANDLED, STORED, INSTALLED AND MAINTAINED AND NOT SUBJECT TO
CONTAMINATION, ABUSE, MISUSE OR INAPPROPIATE MODIFICATION OR REPAIR.

5
1
Overview
1. Overview
1.1 Features and functions
The OMRON robot controller "Tracking System" is a dedicated board that is installed in the YRCX robot
controller to track the conveyor based on counter information obtained from the conveyor’s encoder.
By using this system, the preliminary man-hours required for the robot to handle a workpiece can be greatly
reduced.
■Easy conveyor calibration
"Conveyor calibration" refers to the process in which the conveyor coordinates are aligned with the robot coordinates.
With this Tracking System, the conveyor calibration can be completed easily in a short time using interactive operations
with the programming box.
■Various operations controlled in the robot language
The conveyor tracking can be controlled using a robot language dedicated to the Tracking System.

6
1
Overview
1.2 System configuration
1.2.1 Tracking System configuration
The Tracking System enables a system configuration like that shown below.
YRCX
Programming box
Robot
System configuration illustration (Example)
Encoder
Tracking board
* Connections to the STD.DIO, ACIN, and SAFETY connectors are not shown in the above illustration.

7
1
Overview
1.2.2 Robot configuration when using the Tracking System
■Robot configuration when using the Tracking System
The axis configuration of the robot using the Tracking System is limited.
Although a robot purchased for use with a Tracking System can be used without modification, the robot axis configuration
must be confirmed if adding a Tracking System to an existing robot.
Contact your distributor for more information when adding a Tracking System to an existing robot.
■Robot axis configuration when using a Vision System
As shown in the figure below, the standard coordinates of SCARA robots must be set such that the Y-axis plus direction is
set at 90 degrees counterclockwise with respect to the X-axis plus direction. Also, the R-axis plus direction must be set
counterclockwise.
Connectable axis configuration Example of non-connectable axis configuration
Y-axis plus direction
X-axis
plus direction
R-axis
plus direction
R-axis
plus direction
Y-axis plus direction
X-axis
plus direction
1.3 Component names and functions
This section explains the names and functions for each component of the tracking board.
Names and functions of tracking board components
This is an encoder pulse (AB phase)
input interface.
AB phase input interface
This LED shows the tracking board power input status.
The LED lights when power is input to the tracking board.
Power LED

8
1
Overview
1.4 Required items
The following items are required for conveyor tracking.
1. YRCX tracking board
The tracking board is used to add the conveyor tracking function to the YRCX robot controller.
[Tracking board accessories]
AB phase input cable connector
Type: KX0-M657L-20 1 piece
AB phase input cable connector case Set type: KX0-M657K-20
Type: KX0-M657M-20 1 piece
2. Encoder
In this manual, the encoder used for tracking is called a counter.
The encoder connected to the tracking board ch1 is Counter 1, and the encoder connected to ch2 is Counter 2.
Use an encoder that satisfies the following conditions.
Power supply : 5V DC
Current consumption : A total of less than 500mA for two counters
Output phase : A, A, B, B, Z, Z
Output format : Line driver output (RS422 compliant: with built-in 26LS31 or 26C31 or equivalent)
Max. response frequency : 2MHz or less
3. Encoder input cable
[Recommended cable]
Shielded twisted pair multi cable: 0.3SQ SPMCU-08 (KANEKO CORD CO., LTD.)
Except for the encoder connection, the cable should be connected directly (no relay).
For the AB phase input cable, a cable already wired to the AB phase input cable connector is available as an optional
part.
[Optional AB phase input cable]
Type: KX0-M66AF-00, dedicated cable for connecting Counter 1 (10m)
Refer to section "3.1 Wiring" for details on wiring.

2
Preparations for Tracking System use
9
2. Preparations for Tracking System use
This section explains the basic preparation procedures from the point when the Tracking System is purchased,
until it is operated. The preparation items are as shown in the illustration below. Refer to the relevant user’s
manuals for information regarding robot operation and regarding subjects other than the installation,
operation, and adjustment procedures inherent to the Tracking System.
Verify the robot
type
Verify that the robot type specified at the robot controller
matches the type of robot actually being used.
Dedicated procedures required when using the Tracking System.
Standard procedures when using the YRCX controller.
(These procedures are required even when using the Tracking System.)
Refer to: Basic procedures
3.1 Wiring
Install the controller.
Verify that the wiring and power supply voltage are correct, then turn the power on.
Verify that safety devices such as the emergency stop circuit, etc., are functioning properly.
Perform a trial run by step operation, etc., and
make any necessary adjustments.
Perform return-to-origin, and teach the origin position.
Verify no alarms have been activated after the power was turned on (operation check).
• Connect the cables and connectors.
• Ground the controller.
• Create an emergency stop circuit.
Return-to-origin
Specify the following settings
to optimize robot operation.
• Tip weight
• Soft limits
* For Multi robots and axes specified
as additional, set the "Axis tip weight".
* A return-to-origin must first be
performed if the soft limit positions
are to be specified by jog movement.
* These parameters must always be specified when using the robot for the
first time. Afterward, set the parameters as necessary.
Specify station number and baud rate settings, etc., which are
required when equipped with a serial I/O board.
(Settings vary according to the serial I/O board type used.)
Specify the standard coordinates (XY coordinate system with the X-axis rotation
center set as the origin).
Connect the cables and
connectors.
Robot controller connection
settings
Parameter
settings
Set the parameters according to
the operation conditions.
Various parameter settings
Conveyor calibration
Use the monitor function.
Start operation.
Use the monitor function.
Parameter
setting
Point data
editing Create or edit the point data according to the robot operation.
Programming Create programs according to
the robot operation.
Create programs using
dedicated commands.
3.3 Verifying the robot controller settings
4.2 Parameter settings
5. Conveyor calibration
* Perform for all the robots to be used
in conveyor tracking.
7. Robot language commands
Installation, connection, wiring Installation, connection, wiring
Power ONPower ON
Initial setting Initial settingInitial setting Data settingData setting Trial
operation Trial operation
OperationOperation
This must be performed at first use.
Subsequently, perform it in the following cases.
• For incremental axis: Before turning on the power and starting robot
operation, or if the origin point becomes indeterminate (origin incomplete).
• For absolute axis: When the origin point becomes indeterminate (origin incomplete).

3
Connections
10
3. Connections
3.1 Wiring
DANGER
Always turn the power for the entire system off before starting wiring work. Failing to do so could result in electrical
shocks.
3.1.1 Wiring the AB phase input connector
Wire the AB phase input cable connector as shown in the following signal table.
NOTE
This step is not required when using the optional AB phase input cable.
■AB phase input interface signal table
Terminal No. Signal Name Signal Description
1+5V Counter power +5V
2NC Use is prohibited
3PA1+ Counter 1 + A phase
4PA1- Counter 1 - A phase
5PB1+ Counter 1 +B phase
6PB1- Counter 1 - B phase
7PZ1+ Counter 1 +Z phase
8PZ1- Counter 1 - Z phase
90V Counter power 0V
10 NC Use is prohibited
11 +5V Counter power +5V
12 NC Use is prohibited
13 PA2+ Counter 2 + A phase
14 PA2- Counter 2 - A phase
15 PB2+ Counter 2 +B phase
16 PB2- Counter 2 - B phase
17 PZ2+ Counter 2 +Z phase
18 PZ2- Counter 2 - Z phase
19 0V Counter power 0V
20 NC Use is prohibited
Solder the FG wire to the shield mesh to connect to the FG terminal of the AB phase input cable connector.
Soldered
Soldered
AB phase input cable connector
Connector soldering surface
FG terminal
13
15
11
19
17
14
16
12
20
18
3
5
1
9
7
4
6
2
10
8
AB phase
input interface

3
Connections
11
3.1.2 Wiring the optional AB phase input cable (Type: KX0-M66AF-00)
As shown in the illustration below, there is no connector at the end which connects to the encoder. This
connector must be prepared by the user.
ENC1
Wiring preparation work is required
The cable core wires and their corresponding signals are shown in the table below.
Core Wire Color Signal Name Signal Description
Blue PA1+ Counter 1 + A-phase
Orange PA1- Counter 1 - A-phase
Green PB1+ Counter 1 +B-phase
Brown PB1- Counter 1 - B-phase
Gray PZ1+ Counter 1 +Z-phase
Red PZ1- Counter 1 - Z-phase
Black 0V Counter power supply 0V
Yellow +5V Counter power supply +5V
Gray (thick) FG Frame ground for shielded wire
3.2 Connecting and removing the AB phase input cable connector
3.2.1 Connecting the AB phase input cable connector
Connect the AB phase input cable connector to the AB phase input interface.
AB phase input
interface AB phase input cable AB phase input
cable connector
Encoder
YRCX

3
Connections
12
3.2.2 Disconnecting the AB phase input cable connector
To disconnect the AB phase input cable connector, press the cable connector's snap-on lock areas (see
illustration below), then pull the connector straight out of the connector port.
Snap-on lock areas
3.3 Verifying the robot controller settings
Mounting of the tracking board in the robot
controller can be confirmed from the programming
box.
Use the following steps to verify the robot controller
settings.
From the initial screen, select "System" - "Properties"
to access the properties screen.
Press the F2 key (OPTION); the type and version of
the option boards connected to the option slots of
the controller are displayed.
If "Tracking" is shown as a Board Name, the tracking
board is installed.
■ "OPTION" screen

4
Parameter
13
4. Parameter
4.1 Parameter list
The following parameters are set for the tracking board.
Name Identifier Setting range Default
setting Units Restart
Conveyor velocity coef.
(conveyor 1 / conveyor 2) CVELCOE1 / CVELCOE2 0 to 10000 100 %Not required
Tracking Start Margin
(conveyor 1 / conveyor 2) TRKSMGN1 / TRKSMGN2 0 to 10000 0ms Not required
Tracking End Margin
(conveyor 1 / conveyor 2) TRKEMGN1 / TRKEMGN2 0 to 10000 0ms Not required
Tracking Position Adjust
(conveyor 1 / conveyor 2) TRKPADJ1 / TRKPADJ2 -9999999 to 9999999 00.001 mm Not required
This is an option parameter below. For details about how to set it, refer to "Option board related parameters" in
the YRCX Operator's Manual.
Name Identifier Setting range Default
setting Units Restart
Tracking CADDQUE Distance
(conveyor 1 / conveyor 2) CADDST1 / CADDST2 0 to 9999999 00.001 mm Not required
4.2 Parameter settings
The methods for setting the parameters are explained below.
Step 1Open the "Tracking" screen.
Select "Edit" - "Parameter" from the main screen.
Press the F10 key (TRACKING) on the "Parameter" screen.
Step 2Select the parameter to edit. Selecting the parameter
Step 2
Use the cursor keys to select the parameter
to edit. Press the F1 key (EDIT).
NOTE
Changing "Tracking Velocity Limit 1" parameter
may influence to robot control even though it is
selectable. Contact your distributor for changing
this parameter.
TIP
When the F2 key (JUMP) is pressed, a popup
screen will appear. Select the parameter to edit
by inputting the parameter number.
Step 3Input a value in the parameter. Inputting the parameter
Step 3
Input a value using 0 to 9 and ".", and press
the ENTER key.
After inputting the value, press the ESC key
to finish editing the parameters.

4
Parameter
14
4.3 Parameter details
■Conveyor velocity coefficient (conveyor 1 / conveyor 2) ‹CVELCOE1 / CVELCOE2›
If the robot’s follow-up of a workpiece on the conveyor is delayed, this parameter is used to compensate that delay.
Set the coefficient for compensating the robot follow-up position in % units.
The follow-up position compensation amount (distance) is as follows.
Conveyor velocity [mm/sec] x Conveyor velocity coefficient [%] ÷10000 (unit: mm)
The setting range is 0 to 10000. This parameter is set to 0 when initialized.
This parameter can be set by robot for each conveyor.
* The robot movement will change if this parameter is changed while following-up operation or following-up state.
Take care to change this parameter1.
NOTE
•If the conveyor velocity coefficient is set too high, the robot could vibrate or abnormal noise may be generated.
•Unlike the tracking position adjustment, changing conveyor flow speed changes the compensation amount
(distance) of follow-up position by specified ratio.
•The compensation amount of follow-up position by this parameter is not considered in "CCHKQUE" function.
Therefore, the target position of follow-up may be outside the working area depending on the "conveyor
velocity coef." value. For details on working area, refer to "5. Conveyor calibration".
[Setting example]
To compensate the follow-up position when conveyor speed is 100 [mm/sec], and follow-up delay to workpiece position
is 5 [mm]:
Before setting After setting
Conveyor velocity
coefficient 0 [%] 500 [%]
Follow-up position
compensation 0 [mm] 5 [mm] in the conveyor flow direction
Motion
Conveyor flow direction
Changes in workpiece position
Follow-up state
Follow-up delay
Conveyor flow direction
Follow-up position compensation
■Tracking start margin (conveyor 1 / conveyor 2) ‹TRKSMGN1 / TRKSMGN2›
This parameter is used when starting the robot follow-up operation before the workpiece on the conveyor enters the
working area.
Specify the amount of time needed in milliseconds [ms] to advance the workpiece for robot follow-up operations.
The workpiece will be judged as follow-able if it is in the position of <Conveyor velocity [mm/sec] x Tracking start
margin [ms] ÷ 1000 (unit: mm)> before the upstream position of the working area.
The setting range is 0 to 10000. This parameter is set to 0 when initialized.
This parameter can be set by robot for each conveyor.
NOTE
•Set the parameter so that the complete position of the follow-up operation does not exceed the robot
movement range.
•The return value when the CCHKQUE function is executed is the value including the tracking start margin.
Refer to section "7.3.4 CCHKQUE" for details on the CCHKQUE function.
•If this parameter is changed, the follow-up operation could end before the working area. The robot will shift to
follow-up state in this case.

4
Parameter
15
[Setting example]
To start follow-up operation 50 mm before entering the working area at conveyor speed of 100 [mm/sec] (0.1 [mm/ms]):
Before setting After setting
Tracking start margin 0 [ms] 500 [ms]
Position judged as
follow-able Upstream position 50 [mm] before upstream position
Motion
Conveyor flow direction
Follow-up
operation
Follow-up
operation start
Follow-up
operation end
Changes in workpiece position
Working area
Upstream
position
Downstream
position
Conveyor flow direction
Start margin
Follow-up
operation start
Follow-up
operation end
Working area
Upstream
position
Downstream
position
■Tracking end margin (conveyor 1 / conveyor 2) ‹TRKEMGN1 / TRKEMGN2›
This parameter is used to set the work time for a workpiece on the conveyor.
The robot follow-up operation will start only if the work can be completed before the workpiece reaches the downstream
position of the working area.
NOTE
In this manual, the time required for the work (picking with an end tool, etc.) carried out while the robot is
following the workpiece is called the work time.
Specify the workpiece work time in milliseconds [ms].
The workpiece will be judged as follow-able if it is in the position of <Conveyor velocity [mm/sec] x Tracking end margin
[ms] ÷ 1000 (unit: mm)> before the downstream position of the working area.
The setting range is 0 to 10000. This parameter is set to 0 when initialized.
This parameter can be set by robot for each conveyor.
NOTE
•If the workpiece being followed by the robot reaches the downstream position of the working area, the
corresponded alarms will occur.
•This parameter is taken into consideration when judging whether the CTMOVE command can be executed. If
the follow-up target workpiece will exit the working area after [the movement time instructed by CTMOVE + the
tracking end margin] time has elapsed, it is judged that CTMOVE command cannot be executed, and an
alarm will occur.
•To continue the process after an alarm has occurred, use the "ON ERROR GOTO" statement to recover the state.
[Setting example]
When work time for a workpiece is 1 sec (1000 [ms]) at conveyor speed of 100 [mm/sec] (0.1 [mm/ms]):
Before setting After setting
Tracking end margin 0 [ms] 1000 [ms]
Position judged as
passing the working
area
Downstream position 100 [mm] before downstream position
Motion
Conveyor flow direction Follow-up
state
Changes in workpiece position
Follow-up
operation
Follow-up
operation end
Working area
Follow-up
canceled
Upstream
position
Downstream
position
Conveyor flow direction
End margin
Working area
Downstream
position
Upstream
position
Follow-up operation
not possible

4
Conveyor calibration
16
■Tracking position adjust (conveyor 1 / conveyor 2) ‹TRKPADJ1 / TRKPADJ2›
This parameter compensates delay of robot follow-up for the workpiece flowing on the conveyor. The compensation
distance is specified in 0.001 mm units.
The compensation amount is adjustment of tracking position in the conveyor flowing direction.
Setting range is between -9999999 and 9999999. When this parameter is initialized, "0" is set.
This parameter can be set by robot for each conveyor.
NOTE
•Unlike the "Conveyor velocity coef. 1/2", this parameter always compensates interval in the conveyor flowing
direction even though the conveyor velocity changes.
•The compensation amount of follow-up position by this parameter is not considered in "CCHKQUE" function.
Therefore, the target position of follow-up may be outside the working area depending on the "conveyor
velocity coef." value. For details on working area, refer to refer to "5. Conveyor calibration".
[Setting example]
To compensate the follow-up position at interval conveyor speed and 10 [mm] follow-up delay.
Before setting After setting
Tracking position
adjust 0 [0.001 mm] 10000 [0.001 mm]
Follow-up position
compensation 0 [mm] 10 [mm] in conveyor flow direction
Motion
Conveyor flow direction
Changes in workpiece position
Follow-up state
Follow-up delay
Conveyor flow direction
Follow-up position
compensation
■Tracking CADDQUE Distance (conveyor 1 / conveyor 2) ‹CADDST1 / CADDST2›
This parameter sets the radius (judgment area distance) for judging double-registration when adding a queue element to
position monitoring queue "CADDQUE/CADDQUEV" command (units: 0.001 mm). If there already is a queue element
that has been added as a position monitoring queue within the radius of the queue element that is about to be added to
the position monitoring queue, it is judged as double-registration. The queue that is judged as double-registration will not
be added to the position monitoring queue. No alarm occurs in this case.
The setting range is between 0 and 9999999.
When "0" is specified, judging double-registration is invalid. This parameter is set by conveyor.
The judgment area distance specified by "CADDQUE" or "CADDQUEV" command is prior to this parameter.
5. Conveyor calibration
Conveyor calibration refers to the process of aligning the conveyor position with the robot coordinates.
By calibrating the conveyor, it can be seen where the positions of the queue elements added to the conveyor
position monitoring queue are in relation to the robot coordinates, and conveyor tracking becomes possible.
Conveyor calibration must be carried out for all the robots to use the conveyor tracking function.
Carry out conveyor calibration after the conveyor, camera, and robot have been installed.
If the position of the conveyor, camera, or robot changes, the conveyor must be calibrated again.
TIP
Refer to section "7.2 Position monitoring queue" for details on the position monitoring queue and the queue
elements.