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ID : 5822
Conveyor Tracking
Conveyor tracking-related parameters.
Setting with the Teach Pendant
Items with A in the auto-setting column on the table below are automatically set in a series of the conveyor tracking setting operation. For details about operation, refer to "Setup of the Sensor Tracking" and "Setup of the Vision Tracking System" of CONVEYOR TRACKING MANUAL.
To set a parameter manually, from the top menu, press [F10 Tracking]-[F12 Detail]. For details about operation, refer to "Parameter Setting" in the Sensor Tracking or "Parameter Setting" in the Vision Tracking under the CONVEYOR TRACKING MANUAL.
Parameter List
Each item has 16 parameter numbers for Conveyor 1 to 16.
For example, in Item name "Conveyor Type", parameter number 1 to 4 correspond to Conveyor 1 to 4, parameter number 209 to 212 correspond to Conveyor 5 to 8, parameter number 413 to 416 correspond to Conveyor 9 to 12, and parameter number 617 to 620 correspond to Conveyor 13 to 16. (If your controller is Ver.1.11.* or lower, available parameters are the ones for conveyor 1 and 2.)
| No. | Item Name | Unit | Default | Description | Auto-setting |
|---|---|---|---|---|---|
| 1 to 4 | Conveyor Type | - | 0 | Set the conveyor type. | A |
| 209 to 212 | |||||
| 413 to 416 | |||||
| 617 to 620 | |||||
| 5 to 8 | Master/Slave | - | 0 | Set the controller state. 0: Master 1: Slave |
A |
| 213 to 216 | |||||
| 417 to 420 | |||||
| 621 to 624 | |||||
| 9 to 12 | Master IP Address | - | 0.0.0.0 | Set the IP address of the Master controller. | A |
| 217 to 220 | |||||
| 421 to 424 | |||||
| 625 to 628 | |||||
| 13 to 44 | Slave IP Address | - | 0.0.0.0 | Set the IP address of the Slave controller. Up to eight controller can be set. |
A |
| 221 to 252 | |||||
| 425 to 456 | |||||
| 629 to 660 | |||||
| 45 to 48 | Number of Slave Robot | - | 0 | Set the number of the slave controller. | A |
| 253 to 256 | |||||
| 457 to 460 | |||||
| 661 to 664 | |||||
| 49 to 52 | Conveyor Channel Number | - | 0 | Set the joint number where conveyor's encoder connects to. | A |
| 257 to 260 | |||||
| 461 to 464 | |||||
| 665 to 668 | |||||
| 53 to 56 | Encoder Rotation Direction | - | 0 | Set the rotational direction of encoder when the conveyor is moved from upstream to the downstream. 0: Undecided 1: Normal -1: Reverse |
A |
| 261 to 264 | |||||
| 465 to 468 | |||||
| 669 to 672 | |||||
| 57 to 60 | Encoder Pulse | pulse/rev | 0 | Set the encoder pulse. | A |
| 265～268 | |||||
| 469～472 | |||||
| 673～676 | |||||
| 61 to 64 | Conveyor Feed Rate | mm/rev | 0 | Set the amount of conveyor movement per one rotation of encoder. | A |
| 269 to 272 | |||||
| 473 to 476 | |||||
| 677 to 680 | |||||
| 65 to 68 | Conveyor CALDATA (X, Y) | rad | 0 | Set the rotating angle around the Z axis of the base coordinate that shows the motion direction of a conveyor. | A |
| 273 to 276 | |||||
| 477 to 480 | |||||
| 681 to 684 | |||||
| 69 to 72 | Conveyor CALDATA (Z) | rad | 0 | Set the inclination seen from the XY plane of the base coordinate that shows the motion direction of a conveyor. | A |
| 277 to 280 | |||||
| 481 to 484 | |||||
| 685 to 688 | |||||
| 73 to 76 | Upstream limit of the Tracking range | mm | 0 | This is the tracking limit on the upstream of the conveyor. Once a workpiece passes this limit, a robot starts the conveyor catch-up motion. | A |
| 281 to 284 | |||||
| 485 to 488 | |||||
| 689 to 692 | |||||
| 77 to 80 | Downstream limit of the Tracking range | mm | 0 | This is the tracking limit on the downstream of the conveyor. Once a workpiece reaches this limit, robot stops the conveyor catch-up motion and starts deceleration. | A |
| 285 to 288 | |||||
| 489 to 492 | |||||
| 693 to 696 | |||||
| 81 to 84 | Tracking Start Range | mm | 0 | Tracking start range is a position that the upstream limit of the tracking range is offset to the upstream direction in specified distance. | - |
| 289 to 292 | |||||
| 493 to 496 | |||||
| 697 to 700 | |||||
| 85 to 88 | I/O Interrupt Port Number | - | 0 | Set the I/O number. | A |
| 293 to 296 | |||||
| 497 to 500 | |||||
| 701 to 704 | |||||
| 89 to 92 | Interrupt Timing | - | 0 | Set the signal type. 0: Rise 1: Fall 2: Both |
A |
| 297 to 300 | |||||
| 501 to 504 | |||||
| 705 to 708 | |||||
| 93 to 96 | Minimum Interval between workpieces (Vision Sensor) | mm | 0 | This is a threshold value which prevents duplicate data of the work that already exits in the tracking buffer from being registered by TrackSetVision command. | - |
| 301 to 304 | |||||
| 505 to 508 | |||||
| 709 to 712 | |||||
| 97 to 100 | CALDATA (00) | - | 0 | Calculation results of vision calibration will be set. ・Calculation result differs depending on the version used (Ver.1.11.* or lower, or Ver.1.12.* or higher). ・Calculation result differs depending on the sensor tracking or vision tracking. For details, refer to Terminology and Definitions of CONVEYOR TRACKING MANUAL. |
A |
| 305 to 308 | |||||
| 509 to 512 | |||||
| 713 to 716 | |||||
| 101 to 104 | CALDATA (01) | - | 0 | A | |
| 309 to 312 | |||||
| 513 to 516 | |||||
| 717 to 720 | |||||
| 105 to 108 | CALDATA (02) | - | 0 | A | |
| 313 to 316 | |||||
| 517 to 520 | |||||
| 721 to 724 | |||||
| 109 to 112 | CALDATA (03) | - | 0 | A | |
| 317 to 320 | |||||
| 521 to 524 | |||||
| 725 to 728 | |||||
| 113 to 116 | CALDATA (10) | - | 0 | A | |
| 321 to 324 | |||||
| 525 to 528 | |||||
| 729 to 732 | |||||
| 117 to 120 | CALDATA (11) | - | 0 | A | |
| 325 to 328 | |||||
| 529 to 532 | |||||
| 733 to 736 | |||||
| 121 to 124 | CALDATA (12) | - | 0 | A | |
| 329 to 332 | |||||
| 533 to 536 | |||||
| 737 to 740 | |||||
| 125 to 128 | CALDATA (13) | - | 0 | A | |
| 333 to 336 | |||||
| 537 to 540 | |||||
| 741 to 744 | |||||
| 129 to 132 | CALDATA (20) | - | 0 | A | |
| 337 to 340 | |||||
| 541 to 544 | |||||
| 745 to 748 | |||||
| 133 to 136 | CALDATA (21) | - | 0 | A | |
| 341 to 344 | |||||
| 545 to 548 | |||||
| 749 to 752 | |||||
| 137 to 140 | CALDATA (22) | - | 0 | A | |
| 345 to 348 | |||||
| 549 to 552 | |||||
| 753 to 756 | |||||
| 141 to 144 | CALDATA (23) | - | 0 | A | |
| 349 to 352 | |||||
| 553 to 556 | |||||
| 757 to 760 | |||||
| 149 to 152 | Calibration Type | - | 0 | Set the calibration type. 0: Senor 1: Camera |
A |
| 357 to 360 | |||||
| 561 to 564 | |||||
| 765 to 768 | |||||
| 153 to 176 | Conveyor reference coordinate (X, Y, Z, RX, RY, RZ) |
mm, deg | 0 | This consists of the conveyor reference position and the default posture of holding the work. It is position type data. | A |
| 361 to 384 | |||||
| 565 to 588 | |||||
| 769 to 792 | |||||
| 177 to 180 | Conveyor Pulse Counter Size | bit | 32 | Set the pulse counter size of encoder. | A |
| 385 to 388 | |||||
| 589 to 592 | |||||
| 793 to 796 | |||||
| 181 to 184 | Low pass filter TC for conveyor pulse | ms | 40 | This controls a sudden fluctuation of value by filtering the input value form the encoder. Setting a value too high lowers the responsiveness to the fluctuation of input value. |
- |
| 389 to 392 | |||||
| 593 to 596 | |||||
| 797 to 800 | |||||
| 185 to 188 | Speed proportional gain | - | 1.0000 | Use this parameter when catch up accuracy of robot deteriorates when the speed of conveyor is increased. When the robot cannot catch up the workpiece, set this value higher than 1. When the robot overpasses the workpiece, set this value lower than 1. |
- |
| 393 to 396 | |||||
| 597 to 600 | |||||
| 801 to 804 | |||||
| 189 to 192 | Stationary deviation compensation | mm | 0.0000 | Use this parameter when the robot catches up the workpiece always with a certain amount of shift. Specify the value with a positive value [mm] when the robot cannot catch up the workpiece. Specify the value with a negative value [mm] when the robot overpasses the workpiece. |
- |
| 397 to 400 | |||||
| 601 to 604 | |||||
| 805 to 808 | |||||
| 197 | Multicast. Group address | - | 239.0.0.1 | Specify the group address used for multicast. Use the default value normally. To change the setting, use an IP address of Class D (224.0.0.0 to 239.255.255.255) |
- |
| 198 | Multicast. Port number | - | 5011 | Specify the port number used in multicast. Use the default value normally. |
- |
| 199 | Multicast. I/F | - | 255.255.255.255 | Specify IP address of the Ethernet board which performs multicasting. When doing the multicast with the Ethernet connector that was attached already, use the default value （"255.255.255.255"）. Input its IP address when doing the multicast for a expansion Ethernet board. For communicating with an expansion board of master controller, input its IP address; for communicating with an expansion board of slave controller, input its IP address respectively. |
- |
| 204 | Lower limit of Conveyor Feed Rate | - | 1.0000 | If the gap between the upstream value and the downstream value of the conveyor is smaller than this value at the calibration, an error occurs. | - |
| 205 to 208 | Minimum Interval between workpieces (sensor) | mm | 0 | This is a threshold value which prevents duplicate data of the work that already exits in the tracking buffer from being registered by TrackSetSensor command. | - |
| 409 to 412 | |||||
| 613 to 616 | |||||
| 817 to 820 | |||||
| 821 to 836 | I/O Interrupt Settings | - | 0 | 0 (default): After the execution of TrackSetVision command or TrackSetSensor command, the encoder value that has been obtained at the timing of sensor's interruption is deleted. 1: After the execution of TrackSetVision command or TrackSetSensor command, the encoder value that has been obtained at the timing of sensor's interruption is NOT deleted. |
- |
| 837 to 852 | X Coordinate of Zero point | - | 0 | X coordinate of the reference point on the image coordinate which is used to define the Vision sensor detection position. | A |
| 853 to 868 | Y Coordinate of Zero point | - | 0 | Y coordinate of the reference point on the image coordinate which is used to define the Vision sensor detection position. | A |
| 885 to 900 | Table Center Position X | mm | 0 |
They are parameters for circular tracking. These coordinates indicate a center position of a turntable in the base coordinate system. |
A |
| 901 to 916 | Table Center Position Y | ||||
| 917 to 932 | Table Center Position Z | ||||
| 949 to 964 | RobotID of Master Robot | - | 0 |
A robot controller using the dual arm control function is connected to two robot units. This robot number determines which robot will be the master robot. Set it in the [Master/Slave] window. |
- |
| 965 to 980 | Margin Length for Data Holding in buffer | mm or degrees | 0 |
This determines the range within which data of a workpiece beyond the lower end limit is not deleted. For details, refer to the following links. |
- |
ID : 5822