System Configuration for Three Robots and One Conveyor

This system configuration is effective in the case where the conveyor moves so fast that two robots are not enough to pick up all workpieces. Use three robots for one conveyor.

This page describes the system configuration and the details in the following sections.

• System Configuration Layout
• Wiring Diagram
• Attention

System Configuration Layout

The above figure shows the configuration example of Vision Tracking system.

Wiring Diagram

The above figure shows the configuration example of Vision Tracking system.

For information about the number of encoders available for an encoder hub and the joint number, refer to "Number of Available Encoders and the Joint Number".

Encoder Hub

For encoder hub, there are old model and new model.

In the above wiring diagram, only new model is available. New model has two robot connector ports.

For details about the external diagram and the precaution on installation, refer to "Encoder HUB".

Attention

Hereafter, a robot controller which uses the dual arm control function is called a "dual arm controller", a robot controller which does not use the dual arm control function is called a "normal controller".

• When you examine and design this robot system, the knowledge of the dual arm control function is required. Please read "DUAL ARM CONTROL FUNCTION MANUAL" as well.

• If both the dual arm control function and the conveyor tracking function are used together, only the following robot models are available. In addition, extended joints are not available for this application.

  • HSR
  • HSA1
  • Robots that are controlled by the MC8 series motion controller.

  This restriction is not applied to the normal controller.

• When installing robots, pay attention that robots do not interrupt each other in operation.
• A dual arm controller requires only one license of the conveyor tracking function. You do not need to prepare two licenses. For about normal controllers, one license is required for each normal controller. (In the figure above, two license is required in total.)
• Use the extended-joint supporting dual arm controller.

• Connect the conveyor's encoder line and the visual device trigger line to the dual arm controller. If these lines are connected to the normal controller, the system does not work properly (see the following figure).

  

• If four robots are used for picking of workpieces on one conveyor, the dual arm control function can be used for one robot controller only. It is impossible to apply the dual arm control function for two robot controllers so that four robots run as two dual arm controlled-robot pairs for the conveyor tracking.