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Currently, only the Linear Conveyor is supported.
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One robot can support up to two conveyors.
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When connecting one conveyor, it is necessary to have one encoder, which can measure the traveling distance of the conveyor, and one triggering switch, which detects objects passing through a particular starting point.
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The encoder signal and triggering switch can only be used in one robot. In other words, one conveyor cannot be connected to more than two robots.
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The encoder and triggering switch are connected to the encoder terminals (TBEN1, TBEN2) of the controller. Connect the encoder with A phase or A/B phase depending on the specifications, and connect the triggering switch to S phase. For details about sensor selection and connection, refer to Installation Manual 4.2.6.
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The encoder resolution is selected by taking into account the resolution of the encoder itself and every reduction ratio from encoder input up to workpiece traveling mechanism. Select an encoder resolution that allows the entire system resolution to be at least 5000 count/m. If the entire system resolution is greater than 10000 count/m, there is no point in upgrading system performance.
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If the above recommended resolution is maintained, the conveyor speed supports a range of 10 mm/s ~ 500 mm/s.
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All task motions are supported during conveyor tracking. However, Absolute motion only allows Base, World and Conveyor Coordinates, and Relative motion allows all.
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The Compliance Control command can be executed during conveyor tracking.
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In the current version, the Force Control command cannot be executed during conveyor tracking.
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If no task motion is present during Conveyor Tracking, both Set Tool Weight and Set Tool Center Position commands are allowed.
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A pattern cannot be added from a skill during conveyor tracking. Skills requiring skill and force control integrated with the machine/boltfeeder are not supported. The skill functions Contact Sensing or Force Control are not supported.Skills not supported:Skills including the machine/boltfeeder: INTLK_Pick, INTLK_Place, PickBoltSkills requiring Force Control: Insert, Contact
