Conv 3

Conveyor Tracking
On-line
ABB Flexible Automation

ABB Robotics Products AB
DPT / MT
S-72168 VÄSTERÅS
SWEDEN
Telephone: (0) 21 344000
Telefax: (0) 21 132592
Art.nr 3HAC 0966-48 Conveyor Tracking
CONTENTS
Page
1 Introduction ..................................................................................................................... 3
2 Overview of Conveyor Tracking.................................................................................... 3
2.1 Physical Components ............................................................................................. 4
2.2 Features................................................................................................................... 4
2.3 Limitations.............................................................................................................. 6
3 Principles of Conveyor Tracking in S4C....................................................................... 7
3.1 Start Window and Queue Tracking Distance.......................................................... 8
3.2 Coordinate Systems ................................................................................................ 10
4 Programming Conveyor Tracking................................................................................. 11
4.1 Working with the Object Queue ............................................................................. 11
4.2 Activating the Conveyor......................................................................................... 12
4.3 Defining a Conveyor Coordinated Work Object .................................................... 12
4.4 Waiting for a Work Object...................................................................................... 13
4.5 Programming the Conveyor Coordinated Motion .................................................. 13
4.6 Dropping a Work Object......................................................................................... 14
4.7 Entering and Exiting Conveyor Tracking Motion in Corner Zones ....................... 15
4.8 Information on Teach Pendant................................................................................ 15
4.9 Programming Considerations ................................................................................. 16
4.10 Finepoint Programming........................................................................................ 16
4.11 Modes of Operation .............................................................................................. 17
5 RAPID Instructions ........................................................................................................ 19
5 WaitWObj - Wait for Work Object on Conveyor ........................................................ 19
5 Arguments ................................................................................................................. 19
5 Program execution..................................................................................................... 19
5 Limitations................................................................................................................. 20
5 Error handling............................................................................................................ 20
5 Syntax ........................................................................................................................ 20
5 DropWObj - Drop Work Object on Conveyor............................................................. 21
5 Arguments ................................................................................................................. 21
5 Program execution..................................................................................................... 21
5 Limitations................................................................................................................. 21
5 Syntax ........................................................................................................................ 21
6 Additional Features for the DSQC 354 Revision 2 ...................................................... 22
7 Hardware Configuration and Connections .................................................................. 22
7.1 Encoder Type Selection .......................................................................................... 22
Conveyor Tracking 1
Coveyor Tracking
Page
7.2 Encoder Location ................................................................................................... 23
7.3 Encoder Connection to DSQC 354 ........................................................................ 23
7.4 Synchronization Switch.......................................................................................... 24
7.5 Connecting the DSQC 354 to the S4C Cabinet...................................................... 24
8 Software Installation....................................................................................................... 25
8.1 Installation of 2 Conveyors .................................................................................... 26
9 Conveyor Setup and Calibration ................................................................................... 26
9.1 Direction of Positive Motion from Encoder........................................................... 26
9.2 Calibration of Counts per Meter............................................................................. 27
9.3 Defining the Queue Tracking Distance .................................................................. 28
9.4 Conveyor Base Frame Calibration ......................................................................... 28
9.5 Conveyor Start Window and Sync Separation ....................................................... 32
9.6 Conveyor Maximum and Minimum Distances ...................................................... 33
9.7 Robot Adjustment Speed........................................................................................ 33
9.8 Motion System Parameters..................................................................................... 34
9.9 Motion Mechanical Unit Parameters...................................................................... 35
9.10 Configuration for Track Motion following Conveyor.......................................... 35
10 Circular Conveyor Tracking........................................................................................ 37
10.1 Encoder Type Selection and Location.................................................................. 37
10.2 Software Installation............................................................................................. 38
10.3 Direction of Positive Motion from Encoder......................................................... 38
10.4 Calibration of Counts per Meter........................................................................... 38
10.5 Defining the Queue Tracking Distance ................................................................ 38
10.6 Circular Conveyor Base Frame Calibration - Manual Method ............................ 39
10.7 Circular Conveyor Base Frame Calibration - TCP Measurement Method .......... 40
10.8 Conveyor Start Window and Sync Separation ..................................................... 42
10.9 Conveyor Maximum and Minimum Distances .................................................... 43
10.10 Conveyor Adjustment Speed.............................................................................. 43
10.11 Motion System Parameters................................................................................. 43
10.12 Motion Mechanical Unit Parameters.................................................................. 43
10.13 Motion Transmission and Single Type............................................................... 43
11 Conveyor Tracking System Parameters...................................................................... 44
11.1 Topic: I/O Signals Topic....................................................................................... 44
11.2 Topic: Process....................................................................................................... 45
11.3 Topic: Manipulator ............................................................................................... 46
Index..................................................................................................................................... 49
2 Conveyor Tracking
Conveyor Tracking Introduction
1 Introduction
This document contains a description of the Conveyor Tracking functionality for S4C.
Conveyor Tracking, or Line Tracking, is the function whereby the robot follows a work
object which is mounted on a moving conveyor. This document describes how a
conveyor tracking application is installed, programmed, and operated.
The document is organised as follows:
Section 2 presents an overview of the conveyor tracking features and necessary

physical components.
Section 3 describes the principles of conveyor tracking in S4C, the coordinate systems,
and object queues.
Section 4 provides information on how conveyor tracking is to be programmed.
Section 5 presents the new RAPID instructions.
Section 6 describes the features available with the Revision 2 of the DSQC 354.
Sections 7 and 8 present information on the hardware requirements and software

installation.
Section 9 goes through the configuration and calibration of a linear conveyor.
Section 10 marks the differences for configuration and calibration of a circular

conveyor.
Finally, a complete listing of all conveyor system parameters is provided in Section 11 .
Follow Section 9 Conveyor Setup and Calibration for the steps in configuring a
standard linear conveyor.
2 Overview of Conveyor Tracking

In conveyor tracking, the robot’s Tool Centre Point (TCP) will automatically follow a
work object that is defined on the moving conveyor. While tracking the conveyor the
S4C will maintain the programmed TCP speed relative to the work object even if the
conveyor runs at different speeds.
Conveyor Tracking 3
Overview of Conveyor Tracking Conveyor Tracking
2.1 Physical Components

Sync Switch
Conveyor
Encoder
Encoder Unit
DSQC 354
IRB robot
S4C Controller
Figure 1 Physical Components in Conveyor Tracking
The S4C solution for conveyor tracking consists of the following components:
S4C Controller and IRB robot
24V Encoder
Option 285, DSQC 354 Encoder Interface Unit, Original or Revision 2.
Synchronization Switch, indicating object presence on conveyor
Conveyor
The encoder and synchronization switch are connected to the DSQC 354.
One encoder can be connected to several Encoder Interface Units but each S4C
controller must have a DSQC 354 if more than one robot is to track the conveyor.
2.2 Features
The S4C conveyor tracking option provides the following features:
Accuracy:
In Auto operation, at 150 mm/s constant conveyor speed, the Tool Centre Point (TCP)
of the robot will stay within +/- 2 mm of the path as seen with no conveyor motion. This
is valid as long as the robot is within its dynamic limits with the added conveyor
motion. This figure depends upon the calibration of the robot and conveyor and is
applicable for linear conveyor tracking only.
Object Queue:
The DSQC 354 Encoder Interface Unit will maintain a queue of up to 254 objects that
have passed the synchronization switch.
Start Window:
4 Conveyor Tracking
Conveyor Tracking Overview of Conveyor Tracking
A program can choose to wait for an object that is within a window past the normal
starting point, or wait for an object to pass a specific distance, or immediately take the
first object in the object tracking queue. Objects that go beyond the start window are
automatically skipped.
RAPID Access to Queue and Conveyor Data:
A RAPID program has access to the number of objects in the object queue, and the
current position and speed of the conveyor. A RAPID program may also remove the
first object in the tracking queue or all objects in the queue.
Maximum Distance:
A maximum tracking distance may be specified to stop the robot from tracking outside
of the working or safety area.
Track follows Conveyor
If the robot is mounted on a linear track, then the system can be configured such that
the track will follow the conveyor and maintain the relative position to the conveyor.
The TCP speed relative the work object on the conveyor will still be the programmed
speed.
Enter and Exit Conveyor Tracking in Corner Zones
It is possible to enter and exit conveyor tracking via corner zones as well as via fine
points. Using corner zones allows a minimum cycle time to be achieved.
Exit and Re-enter Conveyor Tracking to Same Object
It is possible to exit and re-enter to the same object on the conveyor unlimited times
until the object moves outside the working area, reaches the maximum distance, or is
explicitly dropped by the RAPID program.
Multiple Conveyors
Up to 2 conveyors are supported via the standard option. Each conveyor must have a
DSQC 354.
Coordinated Finepoint
A finepoint may be programmed while making motions relative to the conveyor. This
conveyor coordinated finepoint will ensure that the robot stops moving relative to the
conveyor and will follow the conveyor while the RAPID program continues execution.
The robot will hold the position within +/- 0.7 mm depending upon calibration of the
robot and conveyor.
Calibration of Linear Conveyors
A calibration method is provided for easy calibration of the position and direction of
the conveyor motion in the robot’s workspace. The linear conveyor may take any
position and orientation.
Conveyor Tracking 5
Overview of Conveyor Tracking Conveyor Tracking
2.3 Limitations
Small Orientation Error with SingArea\Wrist
There can be a small orientation error of the TCP while following the conveyor and
make long motions with SingArea\Wrist. This error can be eliminated by making
several short motions with SingArea\Wrist.
Track Parallel to Conveyor
If the robot is mounted on a track and the track is to be used to follow the conveyor
motions, then the track and conveyor must be parallel.
The motion on the track and the motion on the conveyor must have the same direction
of positive motion. See Section 9.10 Configuration for Track Motion following
Conveyor.
Calibration of Circular Conveyors
There are no built-in methods for the calibration of circular conveyors. This limitation
can be relaxed if the user is willing to calculate a quaternion orientation manually or
with other tools during base frame calibration.
Limitation on External Axes
Each conveyor is considered an external axis. Thus the system limitation of 6 active
external axes must be reduced by the number of active and installed conveyors.
The first installed conveyor will use measurement node 6 and the second conveyor will
use measurement node 5. These measurement nodes are not available for external axes
and no resolvers should be connected to these nodes on any external axes measurement
boards.
Object Queue Lost on Warm Start or Power Failure
The object queue is kept on the DSQC 354. If the system is restarted with a Warm Start
or if the power supply to either the S4C controller or the DSQC 354 fails, then the
object queue will be lost.
Minimum and Maximum Speed
There is a minimum conveyor speed in order to maintain smooth and accurate motions.
This speed is dependant upon the encoder selection and can vary from 4 mm/s to 8 mm/
s. See Minimum Number of Counts per Second - Minimum Conveyor Speed.
There is no explicit maximum speed for the conveyor. Accuracy will degrade at speeds
above the specification and with high speed robot motions or with very high conveyor
speeds (> 500 mm/s) and the robot will no longer be able to follow the conveyor.
WaitWObj after DropWObj
If a WaitWObj instruction is used immediately after a DropWObj instruction, it may

be necessary to add a WaitTime 0.1; after the DropWObj instruction.
6 Conveyor Tracking
Conveyor Tracking Principles of Conveyor Tracking in S4C
3 Principles of Conveyor Tracking in S4C

Conveyor Tracking is built upon the coordinated work object concept taken from
coordinated motion with external axes. See User’s Guide, Chapter 10 Calibration,
Section 2 Coordinated Axes for additional information.
Conveyor as a Mechanical Unit
Primary to this concept is the treatment of the conveyor as a mechanical unit. For the
S4C, the conveyor is a mechanical unit with all features of a mechanical unit except
that it is not under control of the S4C controller. As a mechanical unit it may be
activated, deactivated, the position of the conveyor appears in the Teach Pendant
Jogging Window and in the robtarget when a MODPOS operation is performed.
Conveyor Coordinated Work Object
For conveyor tracking, the robot movements are coordinated to the movements of a
user frame connected to the conveyor mechanical unit. E.g. a user frame is placed on
the conveyor and connected to its movements. An work object is used for this purpose
and it is marked with the name of the conveyor mechanical unit, and that the work
object is moveable. The conveyor tracking coordination will be active if the
mechanical unit is active, and the conveyor coordinated work object is active. When
the conveyor coordinated work object is used, in jogging or in a move instruction, the
data in the “uframe” component will be ignored and the location of the user coordinate
system will only depend on the movements of the conveyor mechanical unit. However
the “oframe” component will still work giving an object frame related to the user frame
and also the displacement frame may be used.
Waiting for a Work Object on the Conveyor
The difference between a conveyor coordinated work object and a work object that is
coordinated to another type of mechanical unit is that there is no work object for
coordination until an object appears on the conveyor. Before the robot can coordinate
the TCP positions to a conveyor, there must be a work object present on the conveyor.
Work objects on the conveyor are detected by means of the synchronization switch that
is connected to the DSQC 354 Encoder Interface Unit. This unit will track all objects
that have gone past the synchronization switch and are within specified distances in the
work area. Before starting coordinated motion with the conveyor, the RAPID program
must first check with the Encoder Interface Unit whether or not there is a work object
available on the conveyor. If an object is available then execution continues and the
motions may use the coordinated work object. If there is no object, then the RAPID
program waits until a work object is available.
Connecting to a Work Object
The RAPID instruction WaitWObj, see Section 5 RAPID Instructions below for more
details, is used to wait for a work object on the conveyor before starting conveyor
coordinated motion. When the WaitWObj instruction is successful then the conveyor
work object is said to be “connected” to the RAPID program.
Once a RAPID program has connected to a work object on the conveyor then robot
motion instructions and jogging commands may use this work object just as any other
Conveyor Tracking 7
Principles of Conveyor Tracking in S4C Conveyor Tracking
work object. When using the conveyor connected coordinated work object then all
motions are relative to the work object on the conveyor. The user may change work
objects several times and thus coordinate the robot to other work objects in the system
and still return to the conveyor coordinated work object.
Disconnecting from a Work Object
The S4C controller and Encoder Interface Unit will maintain the connection to the
work object until one of the following events occurs:
A DropWObj instruction is issued,
the Maximum Distance, as defined for the conveyor, is reached,
restart of the controller,
power supply failure to either the Encoder Interface Unit or controller.
The connection to the work object will not be lost with deactivation of the conveyor
mechanical unit and will return upon re-activation.
The DropWObj instruction is used to end the connection before the Maximum
Distance is reached. After a DropWObj instruction is issued it is possible to
immediately wait for and connect to the next work object in the conveyor object queue.
If a DropWObj instruction is not issued, then the object will be automatically

disconnected and dropped when the Maximum Distance is reached.
3.1 Start Window and Queue Tracking Distance

The S4C controller and DSQC 354 will maintain the object queue based upon a set of
distances relative to the conveyor and synchronization switch. The following figure
shows these relationships:
Work Object
Synchronization User Frame
Switch z
y
2 1
x Conveyor Direction
7 6 5 4 3
Minimum Dist. Working Area
Start Window Width
Queue Track. Dist. Maximum Distance
- 0.0 m +
8 Conveyor Tracking
Conveyor Tracking Principles of Conveyor Tracking in S4C
Figure 2 Relationships between Distances along the Conveyor
Queue Tracking Distance This distance defines the placement of the 0.0 meter point
relative to the synchronization switch on the conveyor. The
Encoder Interface Unit tracks all objects in this distance. The
position returned from the Encoder unit for the object will be
negative, relative to the 0.0 m point.
Start Window Width This distance defines the start window. The start window
defines the area that if a program starts using an object within
the window, then all program coordination can end before the
Maximum Distance or work area is reached. All objects
within this window are tracked and are eligible for use in a
coordinated work object. A WaitWObj instruction will
connect to the first object in the window.
Maximum Distance This distance is the maximum distance that a connected object
may have before being automatically dropped. If an object is
dropped, then any coordinated motions are terminated with an
error message.
Minimum Distance This is the minimum distance that a connected object may
have before being automatically dropped. If the conveyor
stops and runs backwards, then there will be an automatic
drop when the connected object goes past the minimum
distance. This may be greater than or less than the Queue
Tracking Distance.
Using the above distance definitions the conditions and states of objects 1...7 in Figure
2 may be described:
Object 1 This object is connected as indicated by the coordinate frame

attached to the object’s position on the conveyor.
Object 2 Object 2 is outside the start window and is no longer tracked by the
Encoder unit. This object will be skipped and cannot be connected
by a WaitWObj instruction. It is skipped because the conveyor
speed is such that coordination with the object could not be
completed before the object moved outside the maximum distance
or work area of the robot.
Objects 3 and 4 These objects are within the start window and are tracked by the
Encoder unit. If Object 1 was dropped via a DropWObj instruction
then Object 3 would be the next object to be connected when a
WaitWObj instruction was issued. Because Objects 3 and 4 were in
the start window, the WaitWObj instruction will not wait but return
immediately with object 3.
Conveyor Tracking 9
Principles of Conveyor Tracking in S4C Conveyor Tracking
Objects 5 and 6 These objects lie within the queue tracking distance and are tracked
by the Encoder unit. If objects 3 and 4 were not present, then a
WaitWObj instruction would stop program execution until object 5
entered the start window.
Object 7 This object has not yet passed the synchronization switch and has
not yet been registered by the Encoder Interface Unit.
3.2 Coordinate Systems
Synchronization z
Object Frame
z User Frame y
Switch y z
x
y
x
Base Frame x Conveyor Direction
(conveyor)
Minimum Dist.
Start Window Width
Queue Track. Dist. Maximum Distance
0.0 m
z
z
y
x
x
World Frame y
Base Frame (Robot)
Figure 3 Conveyor Tracking Coordinate Systems
The above figure shows the principle coordinate frames used in conveyor tracking. The
table below provides an overview of these coordinate frames
Coordinate System Defined Where Relative to
Base Frame of robot Service/View: BaseFrame.
Base frame definition of robot gives World Frame

relation between world and base
frame.
World Frame No definition needed Nothing
Base Frame of conveyor Defined from measurements using
robot. See Installation and Calibration World Frame
below.
10 Conveyor Tracking
Conveyor Tracking Principles of Conveyor Tracking in S4c
Coordinate System Defined Where Relative to
User Frame, coordinated to Program/View: Data Types - wobjdata World Frame via
conveyor Base Frame of
Select conveyor mechanical unit conveyor.
Object Frame (not shown) Program/View: Data Types - wobjdata User Frame
The two key frames in conveyor tracking are the Base Frame of the conveyor and the
User Frame in the conveyor coordinated work object.
The position of User Frame in the conveyor coordinated work object is determined
from the position of the conveyor Base Frame and the linear position of the conveyor
in meters.
The DSQC 354 Encoder Interface Unit provides the position of the conveyor relative
the synchronization switch and the Queue Tracking Distance. When the encoder unit
sends a value of 0.0 meters to the S4C controller, then the User Frame for the conveyor
coordinated work object is coincident with the Base Frame of the conveyor. As the
conveyor moves, then the User Frame in the conveyor coordinated work object moves
along the X-axis of the conveyor Base Frame.
4 Programming Conveyor Tracking

In order to make a program that uses conveyor tracking and a conveyor coordinated
work object, one must first make sure that a work object is present within the start
window of the Encoder Interface Unit. To accomplish this an object must be moved
past the synchronization switch and into the start window. If there are several objects
already on the conveyor, then it may be necessary to first clear the object queue and
then move the conveyor.
4.1 Working with the Object Queue

The S4C conveyor option provides several I/O signals which allow a user or RAPID
program to monitor and control the Object Queue on the encoder unit. The following
table shows the I/O signals which impact the Object Queue.
I/O Signal Description

c1ObjectsInQ Group input showing the number of objects in the Object
Queue. These objects have passed the synchronization switch
but have not gone outside the startwindow.
Conveyor Tracking 11
Programming Conveyor Tracking Conveyor Tracking
c1Rem1PObj Remove First Pending Object from the Object Queue. Setting
this signal will cause the first pending object to be dropped
from the Object Queue. Pending objects are objects that are in
the queue but are not connected to a work object.
c1RemAllPObj Remove All Pending Objects. Setting this signal will cause
the Encoder Interface Unit to empty all objects from the
Object Queue. If an object is connected, then it is not
removed.
c1DropWObj Setting this signal will cause the encoder unit to drop the
tracked object and disconnect that object. The object is
removed from the queue.
4.2 Activating the Conveyor

As an external axis and mechanical unit the conveyor must be activated before it may
be used for work object coordination. The usual ActUnit instruction is used to activate
the conveyor and DeactUnit may be used to deactivate the conveyor.
By default, the conveyor is installed non-active on start. If desired, the conveyor may
be configured to be always active upon start. See Section 9.9 Motion Mechanical Unit
Parameters below.
Automatic Connection upon Activation:
When a conveyor mechanical unit is activated, it first checks the state of the encoder
unit to see whether the object was previously connected. If the encoder unit, via the I/
O signal c1Connected, indicates connection, then the object on the conveyor will
automatically be connected upon activation. The purpose of this feature is to
automatically reconnect in case of a power failure with power backup on the Encoder
Interface Unit.
4.3 Defining a Conveyor Coordinated Work Object

From the programming window, view the wobjdata and create a new work object,
wobjcnv1. Set the ufprog and ufmec as follows:
ufprog (user frame programmed)Data type: bool
Defines whether or not a fixed user coordinate system is used:
- FALSE-> Movable user coordinate system, i.e. coordinated to conveyor.
ufmec (user frame mechanical unit)Data type: string
The conveyor mechanical unit with which the robot movements are coordinated.
Conveyor Tracking Programming Conveyor Tracking
Specified with the name that is defined in the system parameters, e.g. “CNV1”.
4.4 Waiting for a Work Object

Motions that are to be coordinated to the conveyor can not be programmed until an
object on the conveyor has been connected via a WaitWObj instruction.
If the object on the conveyor is already connected from a previous WaitWObj or if

connection was established during activation, then execution of a 2nd WaitWObj
instruction will cause an error. This error can be handled in an error handler if desired.
The details of the WaitWObj are given in Section 5 RAPID Instructions.
4.5 Programming the Conveyor Coordinated Motion

1. Create a program with the following instructions:
ActUnit CNV1;
ConfL/Off;
MoveL waitp, v1000, fine, tool;
WaitWObj wobjcnv1;
2. Single-step the program past the WaitWObj instruction. If there is an object
already in the start window on the conveyor then the instruction will return, else
execution will stop while waiting for an object on the conveyor.
3. Run the conveyor until an object passes the sync signal. The program should exit
the WaitWObj and is now ‘connected’ to the object. Stop the conveyor with the
object in an accessible portion of the workspace.
4. Teach the MoveL, MoveC, PaintL, or PaintC instructions using the wobjcnv1
conveyor coordinated work object.
5. End the coordinated motion with a fixed-frame work object (not coordinated to
the conveyor). Note that this is the only way to end the use of the work object.
6. Program a DropWObj wobjcnv1; instruction
7. If this is the end of the program, or the conveyor is no longer needed, then program
a DeactUnit CNV1; instruction.
Example:
The following program shows an example for a conveyor tracking program.
ConfL\Off;
MoveJ p0, vmax, fine, tool1;
ActUnit CNV1;
WaitWObj wobjcnv1;
MoveL p10, v1000, z1, tool1\Wobj:=wobjcnv1;
MoveL p40, v500, fine, tool1;

DropWObj wobjcnv1;
MoveL p0, v500, fine;
DeactUnit CNV1;
4.6 Dropping a Work Object

A connected work object may be dropped once conveyor coordinated motion has
ended. It is important to make sure that the robot motion is no longer using the conveyor
positions when the work object is dropped. If motion still requires the positions then a
Stop will occur when the object is dropped.
Conveyor coordinated motion does not end in a finepoint. As long as the work object
is coordinated to the conveyor, the robot motion will be coupled to the conveyor even
in a finepoint. A fixed-frame or non-conveyor work object must be used in a motion
instruction before dropping the conveyor work object.
Care must be taken when ending coordination in a corner zone and executing the
DropWObj instruction as the work object will be dropped before the robot has left the
corner zone and the motion still requires the conveyor coordinated work object.
It is not necessary to be connected in order to execute a DropWObj instruction. No

error will be returned if there was no connected object.
4.7 Entering and Exiting Conveyor Tracking Motion in Corner Zones

Once a WaitWObj instruction has connected to a work object on the conveyor then it
is possible to enter and exit coordinated motion with the conveyor via corner zones.
The following is an example:

WaitWObj wobjcnv1;
MoveL p20, v1000, z50, tool1; - enter coordination in zone
MoveL p60, v1000, z50, tool1; - exit coordination in zone
DropWObj wobjcnv1;
The move instruction ending coordination must be a ‘fixed’ work object. e.g. ufprog is
TRUE.
As noted above, care must be taken when exiting coordination in a corner zone and
executing a DropWObj instruction. The following example shows an incorrect
method for ending coordination in corner zones:
...

MoveL p60, v1000, z50, tool1; - exit coordination in zone
DropWObj wobjcnv1;
- ERROR, work object is dropped while robot is still in corner zone.
4.8 Information on Teach Pendant

The user has access to the conveyor position and speed via the Teach Pendant.
Jog Window:
The position in millimeters of the conveyor object is shown in the jog window. This
value will be negative if a Queue Tracking Distance is defined. When an object passes
the synchronization switch then the position will be automatically updated in the jog
window.
I/O Window:
From the I/O Window the user has access to all the signals that are defined on the
Encoder Interface Unit. From this window it is possible to view the conveyor position
in meters, and the conveyor speed in meters/s. The speed will be 0 m/s until an object
has passed the synchronization switch.
4.9 Programming Considerations
Performance Limits
Conveyor tracking will be lost if joint speed limits are reached, particularly in
singularities. It is the responsibility of the programmer to ensure that the path during
tracking does not exceed the robots speed and motion capabilities.
Motion Commands
Only Linear and Circular motion commands are allowed for conveyor tracking.
Change of Tool
Changing the tool is not allowed during conveyor tracking as the motion during a tool
change is a joint motion.
Finepoints
Finepoints are allowed during conveyor tracking. The robot will hold the TCP still
relative to the conveyor and RAPID execution will continue, see Section 4.10
Finepoint Programming below.
ConfL
The RAPID instruction ConfL\Off must be executed before coordination with the
conveyor. The purpose is to avoid configuration errors that would otherwise occur as
the robot changes configuration during conveyor tracking.
Other RAPID Limitations
The commands, StorePath, RestoPath do not function during conveyor tracking.
No Search commands function during conveyor tracking.
EoffsSet, EoffsOn, EoffsOff have no effect for the conveyor external axis.
4.10 Finepoint Programming

While tracking the conveyor it is possible to use a finepoint. The following program
example shows how motion may be stopped with respect to the conveyor so that an I/
O signal may be set:
WaitWObj wobjcnv1
MoveL p2, v500, fine, tool1\Wobj:=wobjcnv1;
SetDO release_gripper;
WaitTime 0.1;
DropWObj wobjcnv1;
In the above example the SetDO will be executed after the robot arrives at p2. The
robot will then track the conveyor for 0.1 seconds while the WaitTime instruction is
executed. It will then move to p3 and on to p4 via a corner zone before ending
coordination with a fixed work object (wobj0 in this case).
4.11 Modes of Operation
Operation under Manual Reduced Speed Mode (< 250 mm/s)
When the conveyor is not moving, then the FWD, BWD buttons may be used to step
through the program. New instructions may be added and MODPOS may be used to
modify programmed positions.
In order to facilitate programming, the conveyor may be moved to new positions

between instructions. The robot will return to the correct position when FWD or
BWD is pressed.
The robot will recover as normal if the Enable switch is released during motion.
The robot cannot perform coordinated motions to the conveyor while in Manual
Reduced Speed mode and the conveyor is moving.
Operation under AUTO
Once a WaitWObj instruction has been executed, then it is no longer possible to step
through the program with FWD and BWD while the conveyor is moving.
Start/Stop
The robot will stop and no longer track the conveyor if the STOP button is pressed or
Stop, StopMove RAPID instructions are executed between the WaitWObj and
DropWObj instructions.
The conveyor coordinated work object will not be lost but if the conveyor is moving
then the object will quickly move out of the working area. RESTART from the
current instruction is not possible and the program must be restarted from
either from MAIN or a WaitWObj instruction.
Emergency Stop/Restart
When the Emergency Stop is pressed the robot will stop immediately. If the program
was stopped after a WaitWObj then the coordinated work object will not be lost but
if the conveyor is moving then the object will quickly move out of the working area.
RESTART from the current instruction is not possible and the program must be
restarted either from MAIN or a WaitWObj instruction.
Operation under Manual Full Speed Mode (100%)
Operation under Manual (100%) is similar to operation under AUTO. The program
may be run by holding the START button, but once a WaitWObj instruction has been
executed then it is no longer possible to step through the program with the FWD and
BWD buttons while the conveyor is moving.
Stop/Restart
When the START button is released, or Emergency Stop is pressed, the robot will stop
immediately. If the program was stopped after a WaitWObj then the coordinated
work object will not be lost but if the conveyor is moving then the object will quickly
move out of the working area. RESTART from the current instruction is not
possible and the program must be restarted either from MAIN or a WaitWObj
instruction.
Conveyor Tracking RAPID Instructions
5 RAPID Instructions
WaitWObj Wait for Work Object on Conveyor
WaitWObj (Wait Work Object) connects to a work object in the start window on the
conveyor mechanical unit.
Example
WaitWObj wobj_on_cnv1;
The program connects to the first object in the object queue that is within the start
window on the conveyor. If there is no object in the start window then execution
stops and waits for an object.
Arguments
WaitWObj WObj [ \RelDist ]
WObj (Work Object) Data type: wobjdata
The moving work object (coordinate system) to which the robot position in the
instruction is related. The mechanical unit conveyor is to be specified by the ufmec in
the work object.
[ \RelDist ] (Relative Distance) Data type: num
Waits for an object to enter the start window and go beyond the distance specified
by the argument. If the work object is already connected, then execution stops
until the object passes the given distance. If the object has already gone past the
Relative Distance then execution continues.
Program execution
If there is no object in the start window then program execution stops. If an object is
present, then the work object is connected to the conveyor and execution continues.
If a second WaitWObj instruction is issued while connected then an error is returned

unless the \RelDist optional argument is used.
Examples
WaitWObj wobj_on_cnv1\RelDist:=500.0;
If not connected, then wait for the object to enter the start window and then wait
for the object to pass the 500 mm point on the conveyor.
If already connected to the object, then wait for the object to pass 500 mm.
RAPID Instructions Conveyor Tracking
If not connected, then wait for an object in the start window.
If already connected, then continue execution as the object has already gone past
0.0 mm.
WaitWObj wobj_on_cnv1;
The first WaitWObj connects to the object in the start window. The second
WaitWObj will return immediately if the object is still connected, but will wait
for the next object if the previous object had moved past the Maximum Distance
or was dropped.
Limitations
It requires 100 ms to connect to the first object in the start window. Once connected, a
second WaitWObj with \RelDist optional argument will take only normal RAPID
instruction execution time.
Error handling
If following errors occurs during execution of the WaitWobj instruction, the system
variable ERRNO will be set. These errors can then be handled in the error handler.
ERR_CNV_NOT_ACTThe conveyor is not activated.
ERR_CNV_CONNECTThe WaitWobj instruction is already connected.
ERR_CNV_DROPPEDThe object that the instruction WaitWobj was

waiting for has been dropped by another task.
(DSQC 354Revision 2: an object had passed
the start window)
Syntax
WaitWObj
[ WObj ’:=’]< persistent (PERS) of wobjdata> ‘;’
[ ’\’ RelDist ’:=’ < expression (IN) of num > ]
Conveyor Tracking RAPID Instructions
DropWObj Drop Work Object on Conveyor

DropWObj (Drop Work Object) is used to disconnect from the current object and the
program is ready for the next.
Example
MoveL *, v1000, fine, tool, \WObj:=wobj_on_cnv1;
DropWObj wobj_on_cnv1;
MoveL *, v1000, z10, tool, \WObj:=wobj0;
Arguments
DropWObj WObj
WObj (Work Object) Data type: wobjdata
The moving work object (coordinate system) to which the robot position in the
instruction is related. The mechanical unit conveyor is to be specified by the
ufmec in the work object.
Program execution
Dropping the work object means that the encoder unit not longer tracks the object. The
object is removed from the object queue and cannot be recovered.
Limitations
If the instruction is issued while the robot is actively using the conveyor coordinated
work object then the motion stops.
Syntax
DropWObj
[ WObj ’:=’] < persistent (PERS) of wobjdata> ‘;’
Additional Features Conveyor Tracking
6 Additional Features for the DSQC 354 Revision 2

The S4C software supports the additional feature that is available in the DSQC 354
Revision 2:
Notification of Passed Start Window:
In certain applications it is important to know whether an object has gone through the
start window without being connected. The DSQC 354 Revision 2 Encoder interface
unit supports an additional feature which allows the S4C software to detect when an
object has passed the start window without being connected and is thus lost.
The detection of the lost object is done on the next WaitWObj instruction. The next
WaitWObj instruction, following after an object has moved outside the start window,
will return with the error ERR_CNV_DROPPED. This error can be handled in the
RAPID Error handler.
The DSQC 354 Revision 2 unit returns a new I/O signal, c1PassStw, on physical signal
12 from the Encoder interface unit. This signal will go high when the next connect is
attempted and one or more objects have left the start window without being connected.
It may be desirable to use this signal in the user’s RAPID application and disable the
WaitWObj feature.
Disabling the Passed Start Window Feature in WaitWObj:
This feature of the DSQC 354 Revision 2 unit may not be desirable in all applications
as it may limit backwards compatibility or may complicate the application.
The feature can be disabled via renaming Conveyor I/O signals:
Under System Parameters, Process, Types: Conveyor Systems. Change the signal
name used for PassStartW signal to use the simulated I/O signal.
This will stop the ERR_CNV_DROPPED from occurring on the next WaitWObj
instruction.
7 Hardware Configuration and Connections

The conveyor interface to the S4C controller is via the DSQC 354 Encoder Interface
unit. Two versions of the DSQC 354 exist, namely the original unit and a Revision 2
unit. The Revision 2 unit is clearly marked and is electrically compatible with the
original.
7.1 Encoder Type Selection

The encoder provides a series of pulses indicating the motion of the conveyor. This is
used to synchronize the motions of the robot to the motion of the conveyor.
The encoder has two pulse channels, A and B which differ in phase by 90 ° . Each
channel will send a fixed number of pulses per revolution depending upon the
construction of the encoder.
Conveyor Tracking Hardware Configuration and Connections
The number of pulses per revolution for the encoder must be selected in relation to the
gearing between the conveyor and the encoder. The pulse ratio from the encoder should
be in the range of 1250 - 2000 pulses per meter of conveyor motion. The pulses from
channels A and B are used in quadrature to multiply the pulse ratio by 4 to get counts.
This means that the control software will measure 5000 - 10000 counts per meter for
an encoder with the pulse ratio given above. Reducing the number of measured counts
below 5000 will reduce the accuracy of the robot tracking. Increasing the number of
measured counts beyond 10000 will have no significant effect as inaccuracies in robot
and cell calibration will be the dominating factors for accuracy.
The encoder must be of 2 phase type for quadrature pulses, to enable registration of
reverse conveyor motion, and to avoid false counts due to vibration etc. when the
conveyor is not moving.
Output signal: Open collector NPN (or PNP) output

Voltage: 10 - 30 V (normally supplied by 24 VDC from DSQC 354)
Current 50 - 100 mA
Phase: 2 phase with 90 degree phase shift
Duty cycle: 50%
An example encoder is the Lenord & Bauer GEL 262.
Minimum Number of Counts per Second - Minimum Conveyor Speed
There is a lower limit on the number of counts per second before the encoder unit
signals zero speed. This limit is 40 counts per second. If the speed of the conveyor is
lower than this value, zero speed will be indicated.
At 10,000 counts per meter, the minimum conveyor speed is 4 mm/s.
7.2 Encoder Location

The encoder is normally installed on the conveyor drive unit. The encoder may be
connected to an output shaft on the drive unit, directly or via a gear belt arrangement.
If the encoder is connected directly to a drive unit shaft, it is important to install a
specially designed flexible coupling to prevent applying mechanical forces to the
encoder rotor. A coupling using a plastic/rubber hose should be avoided. If the drive
unit includes a clutch arrangement, the encoder must be connected on the conveyor
side of the clutch.
If the conveyor drive unit is located a long distance away from the robot then the
conveyor itself may be a source of inaccuracy as the conveyor will stretch or flex over
the distance from the drive unit to the robot cell. In such a case it may be better to
mount the encoder closer to the robot cell with a different coupling arrangement.
7.3 Encoder Connection to DSQC 354

One encoder may be connected to one or more Encoder Interface Units. The Encoder
Interface Units may be connected to the same S4C cabinet as in the case for 2
conveyors, or to different S4C cabinets when two different robots shall follow the same
Hardware Configuration and Connections Conveyor Tracking
conveyor.
If the encoder is connected to Encoder Interface Units that are connected to different
S4C cabinets, a diode should be installed on each of the 24 V DC connections to the
encoder to prevent parallel wiring of the power supplies.
The encoder should be connected to the robot by a screened cable to reduce noise. If
this cable is long, the inductance in the cable will produce spike pulses on the encoder
signal which may, over a period of time, damage the opto couplers in the Encoder
Interface Unit. The spike pulses can be removed by installing a capacitor between the
signal wire and ground for each of the 2 phases. The capacitors should be connected on
the terminal board where the encoder is connected and not on the DSQC 354. Typical
capacitor values are 100 nF - 1 µ F, depending on the length of the cable. The longer the
cable, the larger the capacitor. The correct capacitance value can be determined by
viewing the encoder signal on an oscilloscope.
See the Product Manual, Installation and Commissioning, for details on connecting the
encoder to the Encoder Interface Unit.
7.4 Synchronization Switch

The synchronization switch indicates the presence of objects on the conveyor. This
switch should be chosen so that it provides a reliable and repeatable signal for objects
on the conveyor regardless of conveyor speed.
If the conveyor can run backwards, then the switch should be constructed not to give a
signal if an object runs backwards past the switch.
If the synchronization switch can give multiple signals when an object passes then the
parameter SyncSeparation can be set to so that only one signal is accepted as an object
before a given distance is covered on the conveyor. See Section 9.5 Conveyor Start
Window and Sync Separation.
7.5 Connecting the DSQC 354 to the S4C Cabinet

See the documentation on the CAN bus distributed I/O and DSQC 354 for information
on physically connecting to the CAN bus in the S4C.
Conveyor Tracking Software Installation
8 Software Installation
The conveyor tracking feature and the RAPID instructions WaitWObj, DropWObj,
are specified in the key disk for the S4C disk pack. Normally the Conveyor software is
preloaded at the factory and does not need to be re-installed unless access to the Motion
System parameters is necessary.
The following instructions are intended for use when the Conveyor option is to be
added to an existing system.
The conveyor option will install three additional configurations: I/O for the DSQC 354,
Conveyor process description, and a Motion mechanical unit description.
Choose ‘Query’ during boot and select ‘Service’ for motion parameters in order to gain
full access to the Motion system parameters that must be modified for conveyor
tracking installation.
The DSQC 354 should be connected to the CAN bus before installing the conveyor
tracking software. The conveyor tracking software will automatically install an
External I/O configuration for the encoder unit on address 15 on the CAN bus. If the
encoder unit is not at this address, I/O errors will occur at startup.
The recommended installation sequence can be described as follows:
1. Connect the DSQC 354 to the CAN bus. Note the CAN address on the unit.
2. Install the Conveyor Tracking software. If the DSQC 354 is not on address 63 then
I/O errors can be expected.
3. If necessary, correct the address for the encoder unit specified in the System
Parameters: I/O System.
4. Reload the manipulator calibration parameters. Use Add or Replace Parameters
from the File menu under System Parameters window. Load the original
calibration parameters from the Manipulator Parameters disk. Note: if you must
reload the old MOC saved parameters then see Reloading MOC Saved Parameters
below.
5. Restart the system. There should be no errors and the CNV1 mechanical unit
should be available under the Jog Window of the Teach Pendant.
Reloading MOC Saved Parameters
During installation, the conveyor option will load a specific conveyor external axis
configuration file into the motion system parameters. If during Step 4 above, you
loaded saved motion system parameters that were defined before the installation of
conveyor software then the CNV1 mechanical unit will not appear on the Teach
Pendant in Step 5.
In order to recover the CNV1 mechanical unit the motion configuration file must be
loaded manually off of disk 8 of the System Pack.
1. Insert disk 8 into the floppy drive
Conveyor Setup and Calibration Conveyor Tracking
2. Under the System Parameters window, File: Add new parameters, load the file
cnv1_moc from the OPTCNV directory.
3. Restart the system.
The CNV1 mechanical unit should now be available under the Jog Window of the
Teach Pendant.
8.1 Installation of 2 Conveyors

The conveyor option from the key disk automatically installs one conveyor into the S4C
system parameters. If two conveyors are to be used with the same S4C cabinet then the
system parameters for the 2nd conveyor must be loaded manually.
The 2nd conveyor I/O configuration for the 2nd DSQC 354 will use address 16 by
default.
1. Connect the 2nd DSQC 354 to the CAN bus. Note the address on the CAN bus.
2. Insert disk 8 into the floppy drive
3. Under the System Parameters window, File: Add new parameters, load the files:
cnv2_eio, cnv2_prc, and cnv2_moc from the OPTCNV directory.
4. Restart the system.
5. If necessary, correct the address for the Encoder2 unit specified in the System
Parameters: I/O System.
The CNV1 and CNV2 mechanical units should now be available under the Jog Window
of the Teach Pendant.
9 Conveyor Setup and Calibration

This section describes how the conveyor and encoder are to be calibrated with respect
to the robot and the robot world frame.
9.1 Direction of Positive Motion from Encoder

The encoder direction of positive motion may be checked after the correct installation
of the conveyor tracking software.
Run an object past the synchronization switch while viewing the conveyor position
from either the Jog Window or the I/O Window.
If the value is negative, reverse the A and B inputs from the encoder to the Encoder
Interface Unit.
Conveyor Tracking Conveyor Setup and Calibration
9.2 Calibration of Counts per Meter

If the exact gear ratio between the encoder and the conveyor is unknown (typically
the case) then the user must make a manual calibration of the counts per meter using
either a tape-measure or the robot TCP as a measuring device.
If the robot TCP is to be used as the measuring device then an accurately defined tool
should be used.
First configure the Encoder Interface Unit for 10000 counts per meter (default) and
a Queue Tracking Distance of 0.0 m.
The encoder unit I/O parameters are accessible via the System Parameters windows
under the I/O Signals topic.
• Choose Topics: I/O Signals

• Choose Types: Units
• Select Encoder and press Enter .
• Select CountsPerMeter and change its value to 10000
• Press OK to confirm.
• Select QueueTrckDist and change its value to 0.0
Parameter Description
CountsPerMeter Gives the number of counts per meter of motion of the

conveyor. Should be in the range of 5000-10000 for linear
conveyors.
QueueTrckDist Queue Tracking Distance, this distance defines the

placement of the synchronization switch relative to the 0.0
meter point on the conveyor. The encoder unit tracks all
the objects in this distance but does not allow connection
until object has passed 0.0 meters.
Move an object past the sync switch and stop the conveyor. Read the conveyor
position from the Jog Window, position_1. Move the conveyor at least 1 meter and
read the Jog Window, position_2. The accuracy will be best if this distance is large
as possible within the workspace.
Use a tape-measure (or differences in robot tool position) to find the exact number of
meters from position_1 to position_2, call this value measured_meters.
The counts per meter are calculated:
( position_2 - position_1 ) × 10000

counts per meter = ---------------------------------------------------------------------------------
measured_meters
Enter the correctly calculated counts per meter into the I/O configuration for the
Encoder Interface Unit CountsPerMeter.
9.3 Defining the Queue Tracking Distance

Before proceeding with conveyor setup and calibration it is necessary to define the
desired Queue Tracking Distance. As presented earlier, the Queue Tracking Distance
establishes the distance between the synchronization switch and the 0.0 m point on the
conveyor. The encoder unit will keep track of all objects that have passed the
synchronization switch but have not yet passed the 0.0 m point. It is not possible to
connect to these objects.
Under the System Parameters window:

• Select QueueTrckDist and change its value.
QueueTrckDistQueue Tracking Distance (meters), this distance defines the

placement of the synchronization switch relative to the 0.0
meter point on the conveyor. The encoder unit tracks all the
objects in this distance but does not allow connection until
the object has passed 0.0 meters.
9.4 Conveyor Base Frame Calibration

The accuracy of the conveyor tracking is highly dependent upon the accuracy in
calibrating the conveyor base frame. For linear conveyors a method is provided which
uses the robot TCP in order to measure the position and orientation of the conveyor in
the workspace.
Before calibrating the base frame of the conveyor the values for the CountsPerMeter
and QueueTrkDist must have been entered into the S4C controller and verified to be
correct.
The conveyor base frame calibration method will use the measurement of 3 positions
of the same object on the conveyor to determine the conveyor base frame, as shown in
Figure 4.
Synchronization Base Frame

Switch z
y
QueueTrckDist Conveyor Direction
x
p_1 p_2 p_3
0.0 m
Conveyor distance
Figure 4 Definition points for a Linear Conveyor
Prior to defining the 3 positions, an object must be defined on the

conveyor:
1. Step FWD through a RAPID program containing the two commands:
ActUnit CNV1;
WaitWObj wobjcnv1;
Define the conveyor coordinated work object as described in Section 4.3 Defining
a Conveyor Coordinated Work Object.
2. Run the conveyor until an object passes through the sync switch and beyond the
0.0 m point. The WaitWObj instruction will end execution. Stop the conveyor.
Once a object is on the conveyor and beyond the 0.0 m point, it is possible to use the
base frame calibration method to define the conveyor position and orientation in the
workspace:
• Press the Miscellaneous key and select the Service window.

• Choose View:BaseFrame.
A dialog containing all synchronized mechanical units is shown.
• Select the conveyor mechanical unit and press Enter or Def.
A dialog like the one in Figure 5 will appear.
Lin Single User Frame Definition

Unit : CNV1
Method : n points (n=3)...

Point Status
1(3)
Point 1 Modified
Point 2 -
Point 3 -
ModPos Cancel (OK)
Figure 5 Dialog for definition of user frame for a rotational axis.
To choose a definition method

Before you start modifying any positions, make sure the desired method is displayed.
• Select the field Method and press Enter .

• Choose number of points to use for definition and press OK. (Currently only the three
point method is implemented.)
To record reference points

• Select the first point Point 1. This point will be the origin for the user frame in the
conveyor coordinated work object.
• Point out Point 1 on the object on the conveyor with the robot’s TCP.
• Modify the position by pressing the function key ModPos.
• Move the conveyor in the positive direction and repeat the above for the points Point
2 and Point 3.
To calculate the base frame

• Press OK to calculate the base frame for the selected conveyor mechanical unit.
When the calculation is finished a dialog like the one in Figure 6 will appear.
Lin Single User Frame Calc Result

Unit : CNV1
Calculation Log
1(10)
Method n points (n=3)
Mean error 1.12
Max error 2.31
Cartesian X 7.08
File... Cancel OK
Figure 6 The result of a base frame calculation for a linear conveyor.
The calculation log shows the conveyor base frame expressed in the world coordinate
system.
FieldDescription
Unit The name of the mechanical unit for which the definition of
base frame has be done.
List contents Description
Method Displays the selected calibration method.
Mean error The accuracy of the robot positioning against the reference
point.
Max error The maximum error for one positioning.
Cartesian X The x coordinate for the base frame.
Cartesian Y The y coordinate for the base frame.
Cartesian Z The z coordinate for the base frame.
Quaternion 1-4 Orientation components for the base frame.
The calculation result can be saved in a separate file for later use in a PC:
- Press the function key File.

- Specify a name and a location where to save the result.
- Choose OK to confirm the save.
If the estimated error is
- acceptable, press OK to confirm the new user frame.

- not acceptable, redefine by pressing Cancel.
• Choose File: Restart in the Service window to activate the user frame.
Verify the Results of the Calibration
After restarting the controller, verify the conveyor base frame calibration as follows:

ActUnit CNV1;
WaitWObj wobjcnv1;
2. Run the conveyor until another object passes through the sync switch and beyond
the 0.0 m point. The WaitWObj instruction will end execution. Stop the conveyor.
3. Move the robot Tool Centre Point back to the previously chosen Point 1 on the
work object.
4. From the Jogging Window, read the X, Y, Z position of the Tool Centre Point. Use
the accurate tool and use wobjcnv1.
5. The robot’s TCP x, y, and z position in the work object coordinates should be 0.0
mm (or very close to that).
6. Select WObj: wobjcnv1 together with Coord: WObj in the Jogging Window and
jog the robot in the conveyor’s x, y, and z directions. Verify that the x-direction is
in the direction of positive motion of the conveyor.
9.5 Conveyor Start Window and Sync Separation

The Start Window is the length along the conveyor in which objects are tracked by the
encoder unit and are ready for connection. When a WaitWObj instruction is issued the
system will connect to the first object inside the start window or wait otherwise.
If an object goes beyond the start window then it is no longer tracked and it is not
available for connection. Such objects are automatically skipped.
The purpose of the start window is to provide a buffer of objects for speed variations of
the conveyor. If an object is connected within the start window then it should be certain
that the motion coordinated to the object can be completed before the working area
limit or maximum distance is reached.
The Sync Separation parameter is used to filter out unwanted sync signals from a
synchronization switch. This parameter establishes a minimum distance that the
conveyor must move after one sync signal before a new sync signal is accepted as a
valid object.

• Select the parameters and change values.
StartWinWidthStart Window Width (meters), this distance defines the size of the
start window. All objects within this window are tracked
and are eligible for use in a coordinated work object. A
WaitWObj instruction will connect to the first object in
the window.
SyncSeparationSync Signal Separation (meters), this distance defines the minimum

distance that the conveyor must move after a sync signal
before a new sync signal is accepted as a valid object.
9.6 Conveyor Maximum and Minimum Distances

It is possible to monitor the position of the conveyor and automatically drop any
connected objects which move outside the maximum or minimum specified distance.
The purpose is to prevent coordination of motion beyond the work area of the robot for
both forward and backward operation of the conveyor.
Under the System Parameters window,
• Choose Topics: Process.

• Choose Types: Conveyor Systems.
• Select CONVEYOR1 and press Enter .
• Select the parameters Maximum distance and Minimum distance and change the
values.
Maximum distance The maximum distance (in millimeters) that a connected

object may have before being automatically dropped. If an object is dropped during
coordinated motion, then the motion is stopped and an error is produced.
Minimum distance The minimum distance (in millimeters) that a connected
object may have before being automatically dropped. If an object is dropped during
coordinated motion, then the motion is stopped and an error is produced.
9.7 Robot Adjustment Speed

When entering conveyor tracking, the robot must adjust its speed up to the speed of the
conveyor. The rate at which the robot ‘catches up’ to the conveyor for the first motion
is controlled by the Adjustment Speed parameter.
If the conveyor has a speed above 200 mm/s then this parameter may have to be
increased in order for the robot to quickly move to the first point on the conveyor.
• Choose Topics: Process.

• Select the parameter Adjustment Speed and change the values.
Adjustment Speed The speed (in mm/s) at which the robot should catch up to the
conveyor for the first point coordinated to the conveyor position. It must be higher than
the conveyor speed or the robot may never catch up to the conveyor.
9.8 Motion System Parameters

There are two parameters that should be adjusted under the motion system. These
parameters regulate the cpu load and the accuracy of the conveyor tracking under
extreme conditions.
The first parameter is Path resolution. This parameter specifies the period of the path
planner in planning steps along the path (no units). Step calculations require lots of cpu
time and if steps cannot be calculated in time to keep the robot on the path then error
50082 Deceleration Limit may occur. As conveyor tracking increases the general cpu
load then the Path resolution parameter must be increased in order to prevent this error.
The second parameter is Process update time. This parameter specifies the period (in
seconds) at which the conveyor process should update the robot kinematics for path
planning purposes. This parameter will affect conveyor accuracy only when the robot
must make large reductions of programmed TCP speed due to dynamic considerations
(singularities, large reorientations, and slow external axes).
If the Process update time is set too large then errors in tracking will be small in the
beginning of tracking but get larger after reductions of TCP speed. Decreasing Process
update time will increase the cpu load and an increase of the Path resolution will be
necessary.
• Choose Topics: Manipulator.

• Choose Types: Motion system.
• Select system_1 and press Enter .
• Select the parameters Path resolution, and Process update time and change the values.
Path resolution The period at which steps along the path are calculated.
Increase by 20% for conveyor tracking.
Process update time The time (in seconds) at which the conveyor process updates
the robot kinematics on the conveyor position. Set to 0.09677
9.9 Motion Mechanical Unit Parameters

The mechanical unit parameters define the name used by the conveyor for RAPID and
the Teach Pendant as well as the conditions for activation and deactivation.
These parameters may be changed to give a customer defined name to the conveyor and
to ensure activation of the conveyor.

• Choose Types: Mechanical Unit
• Select CNV1 and press Enter .
• Select the parameters and change the values:
Name The name of the unit (max. 7 characters).
This name will subsequently be used in the Jogging window and from the program,
e.g. when an unit is to be activated.
Activate at start up The conveyor is to be activated automatically at start up.
Do not allow deact. The conveyor cannot be deactivated.
9.10 Configuration for Track Motion following Conveyor

If the robot is mounted on a track, and the track is parallel to the conveyor, then the
motion can be configured such that the track follows the conveyor.
The IRB robot manipulator and track must be configured for Coordinated Track
Motion. See the User’s Guide for information on configuring the robot and track for
coordinated motion.
Once the robot and track are configured for coordinated motion, then conveyor
tracking will automatically use the track to follow the conveyor. The track will
maintain the same position relative to the object as the object moves on the conveyor as
it was during programming.
The track and robot base frame must be defined such that positive motion of the track
is in the same direction as the conveyor. In some installations this may require a re-
definition of the track’s direction of positive motion and calibration position. See
Figure 7 below.
Yconveyor Conveyor Direction
X conveyor
YWorld, Track
X robot
X Yrobot
World, Track
- + Direction of Track
0.0 m
Conveyor Quaternion: 1, 0, 0, 0
Robot Base Quaternion: 0.7071, 0, 0, 0.7071
Track Base Quaternion: 1, 0, 0, 0
Figure 7 Example Configuration of Track and Conveyor Directions
Performance Considerations:
Avoid moving the track when making the conveyor coordinated portion of the RAPID
program. All motions of the track relative to the conveyor are saved and played back
during conveyor tracking.
Tracks typically have an acceleration ability that is far below that of the robot joints. If
the track must move relative to the object then this will require an acceleration that will
cause a reduction of the robot’s TCP speed along the path in order to maintain
coordination.
Conveyor Tracking Circular Conveyor Tracking
10 Circular Conveyor Tracking

The conveyor tracking software provides the capability of tracking circular conveyors.
The fundamental principle for configuration of circular conveyor tracking is to replace
all references to ‘meters’ by ‘radians’ and proceed with the configuration as given in
the Section 9 Conveyor Setup and Calibration. This section will review the steps in
setup and configuration and note those places where the configuration must be
changed to accommodate a circular conveyor.
The following figure shows an example of circular conveyor tracking with example
units and distances:
CountsPerMeter = 40000 counts per radian

At 6 m radius, one count = 0.15 mm
Direction of Rotation
Minimum Distance = -100 milliradians
At 6 m radius, = -600 mm
Conveyor Base Frame:
Base frame x = 8.0 m
Base frame y = 0.0 m
2.44 rad radius = 6 meter Base frame z = 0.0 m
The X axis is rotated 2.44 rad from

Y the World X,
X
Base frame q1 = 0.3420
Synch Switch Base frame q2 = 0.0000
SyncSeparation = 0.005 rad Base frame q3 = 0.0000
At 6 m radius, = 30 mm Base frame q4 = 0.9397
QueueTrkDist = 0.017 rad

At 6 m radius, = 100 mm Maximum Distance = 420 milliradians
0.0 rad At 6 m radius, = 2520 mm
Xworld
StartWinWidth = 0.017 rad

At 6 m radius, = 100 mm
Yworld
Figure 8 Example Configuration of Circular Conveyor Tracking
10.1 Encoder Type Selection and Location

The goal in selecting an encoder for circular conveyor tracking is to have 0.1 mm to
0.2 mm resolution per count at the maximum radius of conveyor tracking.
Example:
Following Figure 8 , at a 6 meter radius in order to have 0.15 mm per count, we must
have 40,000 counts per radian at the centre of the table.
The counts are quadrature encoded (four counts per pulse), thus the encoder must give
10,000 pulses per radian of circular conveyor movement. For a full revolution there are
Circular Conveyor Tracking Conveyor Tracking
2π radians per revolution, giving a requirement for 10000 × 2π = 62831,85 pulses per
revolution of the circular conveyor.
Gear Ratio Selection:
If an encoder with 1000 pulses per revolution is selected, then we require a gear ratio
of 1 to 62.83185 between the circular conveyor and the encoder shaft.
Note: The maximum value for configuration of CountsPerMeter in the encoder

software is 50000. This limitation should be taken into consideration when selecting
gearing and encoder.
10.2 Software Installation

The DSQC 354 Encoder Interface Unit and conveyor tracking software are connected
and installed in the same manner as for linear conveyors.
10.3 Direction of Positive Motion from Encoder

See the description for linear conveyors, Section 9.1.
10.4 Calibration of Counts per Meter

For a circular conveyor, the setting of the CountsPerMeter parameter should be known
from the selection of the encoder and the gear ratio between the circular conveyor and
the encoder shaft.
If the value is not known, then it is possible to measure the value following the same
steps as outlined for a linear conveyor with extra equipment for measuring the change
in angle of the conveyor between position_1, and position_2.
10.5 Defining the Queue Tracking Distance

Before proceeding with conveyor setup and calibration it is necessary to define the
desired Queue Tracking Distance. The Queue Tracking Distance establishes the
distance between the synchronization switch and the 0.0 rad point on the circular
conveyor. The encoder unit will keep track of all objects that have passed the
synchronization switch but have not yet passed the 0.0 rad point.

• Select QueueTrckDist and change its value.
QueueTrckDist Queue Tracking Distance (radians for circular conveyor). This

distance defines the placement of the synchronization switch
relative to the 0.0 rad point on the conveyor. The encoder unit
tracks all objects in this distance but does not allow connection
until an object has passed 0.0 rad.
10.6 Circular Conveyor Base Frame Calibration - Manual Method

The accuracy of the circular conveyor tracking is highly dependent upon the accuracy
in specifying the conveyor base frame. In this software release, there are two choices
available for base frame calibration of a circular conveyor:
1) Enter the orientation and position of the base frame based on drawings of the
robot installation and simple TCP measurements.
2) Use the robot TCP as a measuring tool and measure several points along the
conveyor with some trigonometric calculations to calculate the conveyor base
frame position and quaternion.
In this section, the first choice using a manually calculated quaternion is described.
However, the second choice is the recommended approach and is discussed in Section
10.7 Circular Conveyor Base Frame Calibration - TCP Measurement Method.
Orientation - Manual Method
Definition of the quaternion for conveyor orientation will also define the location of the
0.0 rad point on the circular conveyor. The direction of the X axis will define the 0.0
rad point while the direction of the Z axis will define the direction of positive rotation
using the right-hand-rule.
The following figure shows two installations, one with clockwise rotation and the other
with counterclockwise rotation and the corresponding quaternions. In cases where the
0.0 rad point is not an even multiple of 90 ° from the World frame, calculation of the
conveyor orientation quaternion must be done using manual calculations of the
quaternion. The TCP can be used to help make measurements, see Section 10.7.
QueueTrckDist
0.0 rad
0.0 rad X X
Y Y
Xworld Xworld
Yworld Yworld
Quaternion: 0.7071, 0, 0, 0.7071 Quaternion: 0, 0.7071, -0.7071, 0
Figure 9 Circular Conveyor Orientation Quaternions
Base Frame Position and Start Window Start Calibration - Manual Method
The conveyor base frame x, y, and z position must be specified relative to the world
frame. This position must be calculated from the installation drawings or by using the
robot as a measuring tool. Using the robot, one point may be marked on the edge of the
circular conveyor and the TCP position is recorded for several points and the centre
point of the circle can be found. This is described in detail in the following section.
10.7 Circular Conveyor Base Frame Calibration - TCP Measurement Method

It is possible to use TCP measurements and RAPID programs to assist in the calculation
of the conveyor base frame position and quaternion. This section outlines the necessary
steps for a circular conveyor.
Base Frame X, Y, Z Position
The following method uses 3 measured points on the circular conveyor to calculate the
centre of rotation. The 3 points should be spaced as far apart as possible around the
periphery.
1. Use Wobj0 on the Teach Pendant. Pick out a reference point on the circular
conveyor, jog the TCP to this point and record p_0.
2. Run the conveyor to another position. Jog the TCP back to the reference point and
record p_1.
3. Run the conveyor to a third position, jog the TCP back to the reference point and
record p_2.
4. Use the utility function, UTL_cirCntr, with the points p_0, p1, and p_2, to
calculate the centre of the circle, p_centre.
5. Take the X and Y values from p_centre and enter them into the Base Frame values
for the Conveyor, converting to meters, see Section 11.3. These are shown in
Figure 9. The Z value will be entered later, once the work object zero position has
been chosen.
Base Frame Orientation and Start Window Start Calibration
The purpose of this section is to define the base frame quaternion and the Z value of
the base frame. The base frame quaternion will define where the 0.0 rad point is for the
robot motion.
The following figure shows an example of the angles that are to be used in defining the
base frame orientation for the circular conveyor:
Counter-Clockwise
Rotation
p_centre
X, Y Base θ
Pθ
Synch Switch
TPθ Qθ
p_0 0.0 rad
X_0, Y_0
Xworld Qθ = Queue Tracking Distance angle

TP θ = Angle shown on Teach Pendant
Pθ = Angle calculated from p_0 position.
Base θ = Base frame angle to be converted into a
quaternion.
Yworld
Figure 10 Example Measurement Points for Base Frame Calculation on a Circular Conveyor
The following procedure can be used to calculate the quaternion for the base frame
orientation.
1. Define a temporary conveyor base frame quaternion as 1, 0, 0, 0

2. Define a conveyor coordinated work object wobjcnv1
ActUnit CNV1;
WaitWObj wobjcnv1;
4. Run the conveyor until an object passes through the sync switch and beyond the
Queue Tracking Distance. The WaitWObj instruction will end execution. Stop the
conveyor.
5. Using wobjcnv1, move the robot Tool Centre Point to the desired zero position on
the work object, record this point, p_0. Write down the X_0, Y_0, and Z_0
coordinates of the point p_0 as shown on the Teach Pendant when using the
wobjcnv1 work object.
6. Write down the angle shown in the Jogging Window for the CNV1 conveyor. This
is angle TP θ , see Figure 10
7. Calculate P θ from the X_0 and Y_0 coordinates of p_0 and the atan function. X_0
and Y_0 should both be positive when using the atan function. Check the value, it
may be necessary to add 90 degrees:
P θ = atan  -------------
Y_0
 X_0 
8. Calculate the value of Base θ :
Base θ = P θ – TP θ
9. Calculate the quaternion for the Base frame taking into account the direction of
rotation:
Counter clockwise rotation:
q1 = cos ( Baseθ ⁄ 2 )
q2 = 0.0
q3 = 0.0
q4 = sin ( Base θ ⁄ 2 )
Clockwise rotation:
q1 = 0.0
q2 = cos ( Baseθ ⁄ 2 )
q3 = – sin ( Baseθ ⁄ 2 )
q4 = 0.0
10. Enter the value for Z (in meters) from p_0, and the values for the quaternions, q1,
q2, q3, and q4, into the base frame for the Conveyor, see System Parameters,
Section 11.3 Topic: Manipulator.
10.8 Conveyor Start Window and Sync Separation

For circular conveyor tracking these distances are to be specified in radians.
10.9 Conveyor Maximum and Minimum Distances

For circular conveyor tracking these distances are to be specified in milliradians.
10.10 Conveyor Adjustment Speed

The same as for linear conveyors.
10.11 Motion System Parameters

10.12 Motion Mechanical Unit Parameters

10.13 Motion Transmission and Single Type

The motion configuration of the conveyor must be adjusted to account for a circular
motion of the conveyor. There are two parameters that must be adjusted.

• Choose Types: Transmission.
• Select the parameter Rotating move and change the value.
Rotating move Specifies if the conveyor is rotating (Yes) or linear (No).

• Choose Types: Single type.
• Select the parameter Mechanics and change the value.
Mechanics Specifies the mechanical structure of the conveyor. Choose

EXT_ROT
Conveyor Tracking System Parameters Conveyor Tracking
11 Conveyor Tracking System Parameters

This section presents a summary of all system parameters that affect conveyor tracking.
They are organised by topic as found under the System Parameters window on the
Teach Pendant.
11.1 Topic: I/O Signals Topic

CountsPerMeter Gives the number of quadrature pulses per meter of

motion of the conveyor. Should be in the range of 5000-
10000 for linear conveyors.
SyncSeparation Sync Signal Separation (meters), this distance defines the

minimum distance that the conveyor must move after a
sync signal before a new sync signal is accepted as a valid
object.
QueueTrckDist Queue Tracking Distance (meters), this distance defines

the placement of the synchronization switch relative to the
0.0 meter point on the conveyor. The encoder unit tracks
all objects in this distance but does not allow connection
until an object has passed 0.0 meters.
StartWinWidth Start Window Width (meters), this distance defines the

size of the start window. All objects within this window are
tracked and are eligible for use in a coordinated work
object. A WaitWObj instruction will connect to the first
object in the window.
IIRFPeriod Internal Use: Specifies the period of the speed filter on the
encoder unit, must be the same as the PollRate.
IIRFNoOfPoles Internal Use: Specifies the number of poles in the Infinite

Impulse Response (IIR) speed filter.
IIRFNoOfZeros Internal Use: Specifies the number of zeros in the speed

filter.
IIRFXfrmMetPol Internal Use: Specifies the transform method for

discreting the speed filter coefficients for the filter poles.
IIRFXfrmMetZero Internal Use: Specifies the transform method for

discreting the speed filter coefficients for the filter zeros.
IIRFFZ Internal Use: Specifies the location of the real part of the
zeros in the left-half plane (in Hz) when zeros have been
Conveyor Tracking Conveyor Tracking System Parameters
given.
IIRFDZ Internal Use: Specifies the damping of the zeros and thus
the imaginary portion of the zero location in the left-half
plane.
IIRFFP Specifies the location of the real part of the poles in the
left-half plane (in Hz). This is the break frequency for the
speed filters in the encoder unit and regulates how hard the
speed is filtered in the encoder unit.
IIRFDP Internal Use: Specifies the damping of the poles and thus
the imaginary portion of the zero location in the left-half
plane.
IIRFGain Internal Use: Specifies gain of the speed filter. Must be

1.0
FIRLengh Internal Use: Specifies the length of the Finite Impulse

Response (FIR) filter on the position.
FIRB0 Internal Use: Specifies the weight on the first coefficient

in the FIR position filter.
FIRB1 Internal Use: Specifies the weight on the second

coefficient in the FIR position filter.
11.2 Topic: Process

Adjustment Speed The speed (in mm/s) at which the robot should
catch up to the conveyor for the first point
coordinated to the conveyor position. It must be
higher than the conveyor speed or the robot may
never catch up to the conveyor.
Minimum distance The minimum distance (in millimeters) that a
connected object may have before being
automatically dropped. If an object is dropped
during coordinated motion, then the motion is
stopped and an error is produced.
Maximum distance The maximum distance (in millimeters) that a
connected object may have before being
automatically dropped. If an object is dropped
during coordinated motion, then the motion is
stopped and an error is produced.
• Choose Types: CAN Sensors.

• Select CAN1 and press Enter .
Signal delay Internal Use: The delay (in milliseconds) for adjusting the
prediction time of the conveyor position using the conveyor
speed.
Connected signal Name of the digital input signal for connection.
Position signal Name of the analog input signal for conveyor position.
Velocity signal Name of the analog input signal for conveyor speed.
Null speed signal Name of the digital input signal indicating zero speed on the
conveyor.
Data ready signal Name of the digital input signal indicating a poll of the encoder
unit.
WaitWObj signal Name of the digital output signal to indicate that a connection
is desired to an object in the queue.
DropWObj signal Name of the digital output signal to drop a connected object on
the encoder unit.
PassStartW signal Name of the digital input signal to indicate that an object has
gone past the start window without being connected.
11.3 Topic: Manipulator

• Choose Types: Motion system.
• Select system_1and press Enter .
Path resolution The period at which steps along the path are calculated.
Process update time The time (in seconds) at which the conveyor process updates
the robot kinematics on the conveyor position.
• Choose Types: Mechanical Unit

Name The name of the unit (max. 7 characters).
This name will subsequently be used in the Jogging window and from the program, e.g.
when an unit is to be activated.
Activate at start up The conveyor is to be activated automatically at start up.
Do not allow deact. The conveyor cannot be deactivated.
Conveyor Tracking Conveyor Tracking System Parameters
• Choose Types: Single.

Base frame x The X-coordinate of the conveyor’s base coordinate system’s

position in relation to the world coordinate system (in metres).
Base frame y The Y-coordinate of the conveyor’s base coordinate system (in
metres).
Base frame z The Z-coordinate of the conveyor’s base coordinate system (in
metres).
Base frame q1-q4 The orientation of the conveyor base coordinate system in
relation to the world coordinate system (expressed in quaternions q1-q4).
• Choose Types: Single type.

Mechanics Specifies the mechanical structure of the conveyor.
• Choose Types: Transmission.

Rotating move Specifies if the conveyor is rotating (Yes) or linear (No).
Coveyor Tracking Index
A
Activating the Conveyor 14
Additional Features for the DSQC 354 Revision 2 25
B
BaseFrame 32
C
Calibration of Counts per Meter 30, 41
Circular Conveyor Base Frame Calibration - Manual Method 42
common drive unit 21, 24
Configuration for Track Motion following Conveyor 38
Connecting the DSQC 354 to S4C Cabinet 27
Conveyor Adjustment Speed 46
Conveyor Base Frame Calibration 31
Conveyor Maximum and Minimum Distances 36, 46
Conveyor Setup and Calibration 29
Conveyor Start Window and Sync Separation 35, 45
Coordinate Systems 12
D
DeactUnit 21, 24
Defining a Conveyor Coordinated Work Object 15
Defining the Queue Tracking Distance 31, 41
Direction of Positive Motion from Encoder 29, 41
Drop Work Object on Conveyor 24
Dropping a Work Object 16
DropWObj 24
E
Encoder Connection to DSQC 354 27
Encoder Location 26
Encoder Type Selection 25
Encoder Type Selection and Location 40
Entering and Exiting Conveyor Tracking Motion in Corner Zones 17
external axes
deactivate 21, 24
F
Features 6
Finepoint Programming 18
H
Hardware Configuration and Connections 25
I
Information on Teach Pendant 17
Installation of 2 Conveyors 29
Introduction 5
L
Limitations 8
M
mechanical unit
deactivate 21, 24
Modes of Operation 19
Index Coveyor Tracking
Motion Mechanical Unit Parameter 38

Motion Mechanical Unit Parameters 46
Motion System Parameters 37, 46
Motion Transmission and Single Type 46
Motor
parameters 36, 37, 38, 46, 48, 49, 50
O
Operation under AUTO 19
Operation under Manual Full Speed Mode (100%) 20
Operation under Manual Reduced Speed Mode ( 19
Overview of Conveyor Tracking 5
P
Physical Components 6
Principles of Conveyor Tracking in S4C 9
Programming Considerations 18
Programming Conveyor Tracking 13
Programming the Conveyor Coordinated Motion 15
R
Robot Adjustment Speed 37
S
Software Installation 28, 41
Start Window and Queue Tracking Distance 10
Synchronization Switch 27
T
TCP Measurement Method 43
Topic
I/O Signals Topic 47
Manipulator 49
Process 48
W
Wait for Work Object on Conveyor 21
Waiting for a Work Object 15
WaitWObj 21
Working with the Object Queue 14

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Conveyor Tracking

ABB Flexible Automation

The document is organised as follows:

Section 2 presents an overview of the conveyor tracking features and necessary

Section 4 provides information on how conveyor tracking is to be programmed.

Section 5 presents the new RAPID instructions.

Sections 7 and 8 present information on the hardware requirements and software

Section 9 goes through the configuration and calibration of a linear conveyor.

Section 10 marks the differences for configuration and calibration of a circular

Finally, a complete listing of all conveyor system parameters is provided in Section 11 .

2 Overview of Conveyor Tracking

2.1 Physical Components

Figure 1 Physical Components in Conveyor Tracking

S4C Controller and IRB robot

Option 285, DSQC 354 Encoder Interface Unit, Original or Revision 2.

Synchronization Switch, indicating object presence on conveyor

RAPID Access to Queue and Conveyor Data:

Track follows Conveyor

Enter and Exit Conveyor Tracking in Corner Zones

Exit and Re-enter Conveyor Tracking to Same Object

Calibration of Linear Conveyors

Track Parallel to Conveyor

Calibration of Circular Conveyors

Limitation on External Axes

Object Queue Lost on Warm Start or Power Failure

Minimum and Maximum Speed

WaitWObj after DropWObj

If a WaitWObj instruction is used immediately after a DropWObj instruction, it may

3 Principles of Conveyor Tracking in S4C

Conveyor as a Mechanical Unit

Conveyor Coordinated Work Object

Waiting for a Work Object on the Conveyor

Connecting to a Work Object

Disconnecting from a Work Object

A DropWObj instruction is issued,

the Maximum Distance, as defined for the conveyor, is reached,

restart of the controller,

power supply failure to either the Encoder Interface Unit or controller.

If a DropWObj instruction is not issued, then the object will be automatically

3.1 Start Window and Queue Tracking Distance

Queue Track. Dist. Maximum Distance

Figure 2 Relationships between Distances along the Conveyor

Object 1 This object is connected as indicated by the coordinate frame

3.2 Coordinate Systems

Queue Track. Dist. Maximum Distance

Figure 3 Conveyor Tracking Coordinate Systems

Coordinate System Defined Where Relative to

Base Frame of robot Service/View: BaseFrame.

Base frame definition of robot gives World Frame

Coordinate System Defined Where Relative to

4 Programming Conveyor Tracking

4.1 Working with the Object Queue

I/O Signal Description

4.2 Activating the Conveyor

Automatic Connection upon Activation:

4.3 Defining a Conveyor Coordinated Work Object

ufprog (user frame programmed)Data type: bool

Defines whether or not a fixed user coordinate system is used:

- FALSE-> Movable user coordinate system, i.e. coordinated to conveyor.

ufmec (user frame mechanical unit)Data type: string

4.4 Waiting for a Work Object

If the object on the conveyor is already connected from a previous WaitWObj or if

The details of the WaitWObj are given in Section 5 RAPID Instructions.